1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
|
// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#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_declarations(py::module &m) {
py::module m_camera = m.def_submodule("camera");
py::class_<PinholeCameraIntrinsic> pinhole_intr(
m_camera, "PinholeCameraIntrinsic",
"PinholeCameraIntrinsic class stores intrinsic camera matrix, and "
"image height and width.");
// open3d.camera.PinholeCameraIntrinsicParameters
py::enum_<PinholeCameraIntrinsicParameters> pinhole_intr_params(
m_camera, "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(), "");
py::class_<PinholeCameraParameters> pinhole_param(
m_camera, "PinholeCameraParameters",
"Contains both intrinsic and extrinsic pinhole camera parameters.");
py::class_<PinholeCameraTrajectory> pinhole_traj(
m_camera, "PinholeCameraTrajectory",
"Contains a list of ``PinholeCameraParameters``, useful to storing "
"trajectories.");
}
void pybind_camera_definitions(py::module &m) {
auto m_camera = static_cast<py::module>(m.attr("camera"));
// open3d.camera.PinholeCameraIntrinsic
auto pinhole_intr = static_cast<py::class_<PinholeCameraIntrinsic>>(
m_camera.attr("PinholeCameraIntrinsic"));
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 fmt::format(
"PinholeCameraIntrinsic("
"width={}, "
"height={}, "
")",
c.width_, c.height_);
});
docstring::ClassMethodDocInject(m_camera, "PinholeCameraIntrinsic",
"__init__");
docstring::ClassMethodDocInject(m_camera, "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_camera, "PinholeCameraIntrinsic",
"get_focal_length");
docstring::ClassMethodDocInject(m_camera, "PinholeCameraIntrinsic",
"get_principal_point");
docstring::ClassMethodDocInject(m_camera, "PinholeCameraIntrinsic",
"get_skew");
docstring::ClassMethodDocInject(m_camera, "PinholeCameraIntrinsic",
"is_valid");
// open3d.camera.PinholeCameraParameters
auto pinhole_param = static_cast<py::class_<PinholeCameraParameters>>(
m_camera.attr("PinholeCameraParameters"));
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
auto pinhole_traj = static_cast<py::class_<PinholeCameraTrajectory>>(
m_camera.attr("PinholeCameraTrajectory"));
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.");
});
}
} // namespace camera
} // namespace open3d
|
