pycvcam.core.Transform._inverse_transform#

abstractmethod Transform._inverse_transform(points, *, dx=False, dp=False, **kwargs)[source]#

Apply the inverse transformation to the given points.

This method must be implemented by subclasses to apply the inverse transformation to the input points.

Parameters:

  • points (ArrayLike) – The input points to be transformed. Shape (n_points, output_dim).

  • dx (bool, optional) – If True, compute the Jacobian of the transformed points with respect to the input points. Default is False.

  • dp (bool, optional) – If True, compute the Jacobian of the transformed points with respect to the parameters of the transformation. Default is False.

  • **kwargs – Additional keyword arguments for the transformation.

Returns:

A tuple containing:

  • transformed_points: The transformed points of shape (n_points, input_dim).

  • jacobian_dx: The Jacobian matrix with respect to the input points of shape (n_points, input_dim, output_dim) if dx is True, otherwise None.

  • jacobian_dp: The Jacobian matrix with respect to the parameters of the transformation of shape (n_points, input_dim, n_params) if dp is True, otherwise None.

Return type:

Tuple[numpy.ndarray, Optional[numpy.ndarray], Optional[numpy.ndarray]]