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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include "pybind/camera/camera.h"
#include "open3d/camera/PinholeCameraIntrinsic.h"
#include "open3d/camera/PinholeCameraTrajectory.h"
#include "pybind/docstring.h"
namespace open3d {
namespace camera {
void pybind_camera_classes(py::module &m) {
// open3d.camera.PinholeCameraIntrinsic
py::class_<PinholeCameraIntrinsic> pinhole_intr(
m, "PinholeCameraIntrinsic",
"PinholeCameraIntrinsic class stores intrinsic camera matrix, and "
"image height and width.");
py::detail::bind_default_constructor<PinholeCameraIntrinsic>(pinhole_intr);
py::detail::bind_copy_functions<PinholeCameraIntrinsic>(pinhole_intr);
pinhole_intr
.def(py::init<int, int, const Eigen::Matrix3d>(), "width"_a,
"height"_a, "intrinsic_matrix"_a)
.def(py::init<int, int, double, double, double, double>(),
"width"_a, "height"_a, "fx"_a, "fy"_a, "cx"_a, "cy"_a)
.def(py::init([](PinholeCameraIntrinsicParameters param) {
return new PinholeCameraIntrinsic(param);
}),
"param"_a);
pinhole_intr
.def("set_intrinsics", &PinholeCameraIntrinsic::SetIntrinsics,
"width"_a, "height"_a, "fx"_a, "fy"_a, "cx"_a, "cy"_a,
"Set camera intrinsic parameters.")
.def("get_focal_length", &PinholeCameraIntrinsic::GetFocalLength,
"Returns the focal length in a tuple of X-axis and Y-axis"
"focal lengths.")
.def("get_principal_point",
&PinholeCameraIntrinsic::GetPrincipalPoint,
"Returns the principle point in a tuple of X-axis and."
"Y-axis principle points")
.def("get_skew", &PinholeCameraIntrinsic::GetSkew,
"Returns the skew.")
.def("is_valid", &PinholeCameraIntrinsic::IsValid,
"Returns True iff both the width and height are greater than "
"0.")
.def_readwrite("width", &PinholeCameraIntrinsic::width_,
"int: Width of the image.")
.def_readwrite("height", &PinholeCameraIntrinsic::height_,
"int: Height of the image.")
.def_readwrite("intrinsic_matrix",
&PinholeCameraIntrinsic::intrinsic_matrix_,
"3x3 numpy array: Intrinsic camera matrix ``[[fx, "
"0, cx], [0, fy, "
"cy], [0, 0, 1]]``")
.def("__repr__", [](const PinholeCameraIntrinsic &c) {
return std::string("PinholeCameraIntrinsic with width = ") +
std::to_string(c.width_) +
std::string(" and height = ") +
std::to_string(c.height_) +
std::string(
".\nAccess intrinsics with intrinsic_matrix.");
});
docstring::ClassMethodDocInject(m, "PinholeCameraIntrinsic", "__init__");
docstring::ClassMethodDocInject(m, "PinholeCameraIntrinsic",
"set_intrinsics",
{{"width", "Width of the image."},
{"height", "Height of the image."},
{"fx", "X-axis focal length"},
{"fy", "Y-axis focal length."},
{"cx", "X-axis principle point."},
{"cy", "Y-axis principle point."}});
docstring::ClassMethodDocInject(m, "PinholeCameraIntrinsic",
"get_focal_length");
docstring::ClassMethodDocInject(m, "PinholeCameraIntrinsic",
"get_principal_point");
docstring::ClassMethodDocInject(m, "PinholeCameraIntrinsic", "get_skew");
docstring::ClassMethodDocInject(m, "PinholeCameraIntrinsic", "is_valid");
// open3d.camera.PinholeCameraIntrinsicParameters
py::enum_<PinholeCameraIntrinsicParameters> pinhole_intr_params(
m, "PinholeCameraIntrinsicParameters", py::arithmetic(),
"PinholeCameraIntrinsicParameters");
pinhole_intr_params
.value("PrimeSenseDefault",
PinholeCameraIntrinsicParameters::PrimeSenseDefault,
"Default camera intrinsic parameter for PrimeSense.")
.value("Kinect2DepthCameraDefault",
PinholeCameraIntrinsicParameters::Kinect2DepthCameraDefault,
"Default camera intrinsic parameter for Kinect2 depth "
"camera.")
.value("Kinect2ColorCameraDefault",
PinholeCameraIntrinsicParameters::Kinect2ColorCameraDefault,
"Default camera intrinsic parameter for Kinect2 color "
"camera.")
.export_values();
pinhole_intr_params.attr("__doc__") = docstring::static_property(
py::cpp_function([](py::handle arg) -> std::string {
return "Enum class that contains default camera intrinsic "
"parameters for different sensors.";
}),
py::none(), py::none(), "");
// open3d.camera.PinholeCameraParameters
py::class_<PinholeCameraParameters> pinhole_param(
m, "PinholeCameraParameters",
"Contains both intrinsic and extrinsic pinhole camera parameters.");
py::detail::bind_default_constructor<PinholeCameraParameters>(
pinhole_param);
py::detail::bind_copy_functions<PinholeCameraParameters>(pinhole_param);
pinhole_param
.def_readwrite("intrinsic", &PinholeCameraParameters::intrinsic_,
"``open3d.camera.PinholeCameraIntrinsic``: "
"PinholeCameraIntrinsic "
"object.")
.def_readwrite("extrinsic", &PinholeCameraParameters::extrinsic_,
"4x4 numpy array: Camera extrinsic parameters.")
.def("__repr__", [](const PinholeCameraParameters &c) {
return std::string("PinholeCameraParameters class.\n") +
std::string(
"Access its data via intrinsic and extrinsic.");
});
// open3d.camera.PinholeCameraTrajectory
py::class_<PinholeCameraTrajectory> pinhole_traj(
m, "PinholeCameraTrajectory",
"Contains a list of ``PinholeCameraParameters``, useful to storing "
"trajectories.");
py::detail::bind_default_constructor<PinholeCameraTrajectory>(pinhole_traj);
py::detail::bind_copy_functions<PinholeCameraTrajectory>(pinhole_traj);
pinhole_traj
.def_readwrite("parameters", &PinholeCameraTrajectory::parameters_,
"``List(open3d.camera.PinholeCameraParameters)``: "
"List of PinholeCameraParameters objects.")
.def("__repr__", [](const PinholeCameraTrajectory &c) {
return std::string("PinholeCameraTrajectory class.\n") +
std::string("Access its data via camera.parameters.");
});
}
void pybind_camera(py::module &m) {
py::module m_submodule = m.def_submodule("camera");
pybind_camera_classes(m_submodule);
}
} // namespace camera
} // namespace open3d
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