def test_simple(self, device, dtype):
        """Test the function with a simple plane equation to verify numerical correctness.

        Plane equation: z = 2 (plane normal [0, 0, 1], offset 2)
        Expected depth for any point is 2.
        """
        # Define plane parameters
        plane_normals = torch.tensor([[0.0, 0.0, 1.0]], device=device, dtype=dtype)  # Shape: (B, 3)
        plane_offsets = torch.tensor([[2.0]], device=device, dtype=dtype)

        # Define pixel coordinates
        points_uv = torch.tensor(
            [[[0.0, 0.0], [1.0, 0.0], [0.0, 1.0], [1.0, 1.0]]],
            device=device,
            dtype=dtype,
        )  # Shape: (B, N, 2)

        # Camera intrinsic matrix (identity)
        camera_matrix = torch.eye(3, device=device, dtype=dtype).unsqueeze(0)  # Shape: (B, 3, 3)

        # Expected depth values
        depth_expected = torch.tensor([[2.0, 2.0, 2.0, 2.0]], device=device, dtype=dtype)  # Shape: (B, N)

        # Compute depth
        depth = kornia.geometry.depth.depth_from_plane_equation(plane_normals, plane_offsets, points_uv, camera_matrix)

        # Assert that the computed depth matches the expected depth
        self.assert_close(depth, depth_expected, rtol=1e-6, atol=1e-6)
Test the function with a simple plane equation to verify numerical correctness.

        Plane equation: z = 2 (plane normal [0, 0, 1], offset 2)
        Expected depth for any point is 2.
        
tests/geometry/test_depth.py