kornia.geometry.depth¶
-
depth_to_3d(depth: torch.Tensor, camera_matrix: torch.Tensor) → torch.Tensor[source]¶ Compute a 3d point per pixel given its depth value and the camera intrinsics.
- Parameters
depth (torch.Tensor) – image tensor containing a depth value per pixel.
camera_matrix (torch.Tensor) – tensor containing the camera intrinsics.
- Shape:
Input: \((B, 1, H, W)\) and \((B, 3, 3)\)
Output: \((B, 3, H, W)\)
- Returns
tensor with a 3d point per pixel of the same resolution as the input.
- Return type
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depth_to_normals(depth: torch.Tensor, camera_matrix: torch.Tensor) → torch.Tensor[source]¶ Compute the normal surface per pixel.
- Parameters
depth (torch.Tensor) – image tensor containing a depth value per pixel.
camera_matrix (torch.Tensor) – tensor containing the camera intrinsics.
- Shape:
Input: \((B, 1, H, W)\) and \((B, 3, 3)\)
Output: \((B, 3, H, W)\)
- Returns
tensor with a normal surface vector per pixel of the same resolution as the input.
- Return type
-
warp_frame_depth(image_src: torch.Tensor, depth_dst: torch.Tensor, src_trans_dst: torch.Tensor, camera_matrix: torch.Tensor) → torch.Tensor[source]¶ Warp a tensor from a source to destination frame by the depth in the destination.
Compute 3d points from the depth, transform them using given transformation, then project the point cloud to an image plane.
- Parameters
image_src (torch.Tensor) – image tensor in the source frame with shape (BxDxHxW).
depth_dst (torch.Tensor) – depth tensor in the destination frame with shape (Bx1xHxW).
src_trans_dst (torch.Tensor) – transformation matrix from destination to source with shape (Bx4x4).
camera_matrix (torch.Tensor) – tensor containing the camera intrinsics with shape (Bx3x3).
- Returns
the warped tensor in the source frame with shape (Bx3xHxW).
- Return type