From 64b0a9217c90853a0d67bae561e17d93bb96811f Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Tue, 10 Nov 2020 19:34:32 +0200
Subject: [PATCH] get camera matrix, python ctors
---
SDK/CPP/public/CMakeLists.txt | 5 +-
.../public/include/voltu/types/intrinsics.hpp | 15 +++-
SDK/CPP/public/python/README.md | 2 +-
SDK/CPP/public/python/gen.py | 75 +++++++++++++++++--
SDK/CPP/public/src/types/intrinsics.cpp | 10 +++
SDK/CPP/public/{ => src}/voltu.cpp | 0
SDK/CPP/public/{ => src}/voltu_cv.cpp | 0
SDK/CPP/tests/CMakeLists.txt | 1 +
SDK/CPP/tests/test_intrinsics.py | 32 ++++++++
9 files changed, 129 insertions(+), 11 deletions(-)
create mode 100644 SDK/CPP/public/src/types/intrinsics.cpp
rename SDK/CPP/public/{ => src}/voltu.cpp (100%)
rename SDK/CPP/public/{ => src}/voltu_cv.cpp (100%)
create mode 100644 SDK/CPP/tests/test_intrinsics.py
diff --git a/SDK/CPP/public/CMakeLists.txt b/SDK/CPP/public/CMakeLists.txt
index 51c276271..1128913e5 100644
--- a/SDK/CPP/public/CMakeLists.txt
+++ b/SDK/CPP/public/CMakeLists.txt
@@ -30,14 +30,15 @@ else()
endif()
set(VOLTU_SRCS
- voltu.cpp
+ src/voltu.cpp
+ src/types/intrinsics.cpp
)
set(OPTIONAL_DEPENDENCIES)
if (WITH_OPENCV)
list(APPEND OPTIONAL_DEPENDENCIES ${OpenCV_LIBS})
- list(APPEND VOLTU_SRCS voltu_cv.cpp)
+ list(APPEND VOLTU_SRCS src/voltu_cv.cpp)
set(CMAKE_REQUIRED_INCLUDES ${OpenCV_INCLUDE_DIRS})
endif()
diff --git a/SDK/CPP/public/include/voltu/types/intrinsics.hpp b/SDK/CPP/public/include/voltu/types/intrinsics.hpp
index cc4ee4caa..8571c9ea1 100644
--- a/SDK/CPP/public/include/voltu/types/intrinsics.hpp
+++ b/SDK/CPP/public/include/voltu/types/intrinsics.hpp
@@ -6,9 +6,14 @@
#pragma once
+#include "../defines.hpp"
+
+#include <Eigen/Eigen>
+
namespace voltu
{
+/** Intrinsic camera paramters */
struct Intrinsics
{
unsigned int width;
@@ -17,12 +22,20 @@ struct Intrinsics
float principle_y;
float focal_x;
float focal_y;
+
+ /** Projection matrix */
+ PY_API Eigen::Matrix3d matrix();
};
+/** Stereo camera intrinsic parameters.
+ *
+ * Baseline can be used to estimate depth accuracy for known depth. Assuming 1px
+ * disparity accuracy, accuracy of given depth z, the accuracy of depth is
+ * z^2/(f*T), where f is focal length and T baseline.
+ */
struct StereoIntrinsics : public Intrinsics
{
float baseline;
- float doffs;
float min_depth;
float max_depth;
};
diff --git a/SDK/CPP/public/python/README.md b/SDK/CPP/public/python/README.md
index 076ec86e3..1b8dcfddd 100644
--- a/SDK/CPP/public/python/README.md
+++ b/SDK/CPP/public/python/README.md
@@ -39,7 +39,7 @@ build. Several (empty) macros are used in headers to annoate Python API details.
## Not supported (yet) in automatic binding generation:
* Nested classes
* Static members
- * Constructors
+ * Constructors for non-POD structs.
* Automatic documentation (Doxygen)
* Generator does not verify that shared_ptr<> is used consistently/correctly
* Member variables of singleton classes
diff --git a/SDK/CPP/public/python/gen.py b/SDK/CPP/public/python/gen.py
index c284c737e..7bb7643ca 100755
--- a/SDK/CPP/public/python/gen.py
+++ b/SDK/CPP/public/python/gen.py
@@ -50,12 +50,47 @@ def print_err(msg, loc=None):
msg += " " + get_loc_msg(loc)
print("gen.py error: %s" % msg, file=sys.stderr)
+# Helpers ======================================================================
+
+def is_singleton_class(ccls):
+ # covers both cases PY_SINGLETON and PY_SINGLETON_OBJECT
+ return "PY_SINGLETON" in ccls["debug"]
+
+def is_member_of_singleton_class(func):
+ if func["parent"] is None:
+ return False
+
+ return is_singleton_class(func["parent"])
+
def include_in_api(data):
return "PY_API" in data["debug"]
def no_shared_ptr_cls(clsdata):
return (clsdata["declaration_method"] == "struct") or ("PY_NO_SHARED_PTR" in clsdata["debug"])
+def rv_bind_lifetime_to_parent(func):
+ if "PY_RV_LIFETIME_PARENT" in func["debug"]:
+ if func["parent"] is None:
+ print_err("PY_RV_LIFETIME_PARENT can not be used for function or singleton", func)
+ sys.exit(2) # generated code most likely wrong and unsafe (crash/UB)
+ return False
+
+ if is_member_of_singleton_class(func):
+ print_warn(("Return value of %s lifetime bound to parent, but " +
+ "parent is singleton of %s. This is possibly an " +
+ "error (lifetime of the return value is the lifetime " +
+ "of the program).") %
+ (func["name"], func["parent"]["name"]))
+
+ return True
+
+ return False
+
+def is_struct(clsdata):
+ return clsdata["declaration_method"] == "struct"
+
+# Code generation ==============================================================
+
def create_enum_bindigs(enum, parent=[], pybind_handle="", export_values=False):
name_full = parent + [enum["name"]]
name_py = enum["name"]
@@ -76,6 +111,35 @@ def create_enum_bindigs(enum, parent=[], pybind_handle="", export_values=False):
return "\n\t".join(cpp)
+def create_struct_ctor(struct):
+ types = []
+ args = []
+ ctors = ["def(py::init<>())"]
+
+ for item in struct["properties"]["public"]:
+ types.append(item["type"])
+ arg = "py::arg(\"%s\")" % item["name"]
+ has_defaults = False
+
+ if "default" in item:
+ has_defaults = True
+ arg += "=%s" % item["default"]
+
+ args.append(arg)
+
+ if len(struct["inherits"]) > 0 or has_defaults:
+ # NOTE: Structs which inherit another struct require managing state,
+ # as base class possibly defines its own members from base
+ # class(es). Move everything to class?
+ # NOTE: Non-POD structs which do not inherit base class but set default
+ # values can be supported by generating lambda which assigns
+ # the values.
+ print_warn("Only aggregate initialization supported for structs")
+ return ctors
+
+ ctors.append("def(py::init<%s>(), %s)" % (", ".join(types), ", ".join(args)))
+ return ctors
+
def process_func_args(func):
args = []
@@ -133,11 +197,7 @@ def create_function_bindings(func, parent=[], pybind_handle=None, bind_to_single
args += process_func_args(func)
- if "PY_RV_LIFETIME_PARENT" in func["debug"]:
- if func["parent"] is None or bind_to_singleton is not None:
- print_err("PY_RV_LIFETIME_PARENT used for function or singleton", func)
- raise ValueError()
-
+ if rv_bind_lifetime_to_parent(func):
args.append("py::return_value_policy::reference_internal")
cpp = "def({0})".format(", ".join(args))
@@ -160,8 +220,8 @@ def create_class_bindings(clsdata, parent=[], pybind_handle=""):
cpp.append(cls_cpp.format(handle=pybind_handle, name=clsdata_name))
- if clsdata["declaration_method"] == "struct":
- cpp.append(".def(py::init<>())")
+ if is_struct(clsdata):
+ cpp += ["." + ctor for ctor in create_struct_ctor(clsdata)]
for method in clsdata["methods"]["public"]:
if include_in_api(method):
@@ -172,6 +232,7 @@ def create_class_bindings(clsdata, parent=[], pybind_handle=""):
field_cpp = ".def_property_readonly(\"{name}\", &{cpp_name})"
else:
field_cpp = ".def_readwrite(\"{name}\", &{cpp_name})"
+
field_name = field["name"]
field_name_cpp = "::".join(full_name + [field_name])
cpp.append(field_cpp.format(name=field_name, cpp_name=field_name_cpp))
diff --git a/SDK/CPP/public/src/types/intrinsics.cpp b/SDK/CPP/public/src/types/intrinsics.cpp
new file mode 100644
index 000000000..63cfbc590
--- /dev/null
+++ b/SDK/CPP/public/src/types/intrinsics.cpp
@@ -0,0 +1,10 @@
+#include <voltu/types/intrinsics.hpp>
+#include <Eigen/Eigen>
+
+Eigen::Matrix3d voltu::Intrinsics::matrix() {
+ Eigen::Matrix3d K;
+ K << focal_x, 0.0, -principle_x,
+ 0.0, focal_y, -principle_y,
+ 0.0, 0.0, 1.0;
+ return K;
+}
diff --git a/SDK/CPP/public/voltu.cpp b/SDK/CPP/public/src/voltu.cpp
similarity index 100%
rename from SDK/CPP/public/voltu.cpp
rename to SDK/CPP/public/src/voltu.cpp
diff --git a/SDK/CPP/public/voltu_cv.cpp b/SDK/CPP/public/src/voltu_cv.cpp
similarity index 100%
rename from SDK/CPP/public/voltu_cv.cpp
rename to SDK/CPP/public/src/voltu_cv.cpp
diff --git a/SDK/CPP/tests/CMakeLists.txt b/SDK/CPP/tests/CMakeLists.txt
index 489f6e338..d7f25424e 100644
--- a/SDK/CPP/tests/CMakeLists.txt
+++ b/SDK/CPP/tests/CMakeLists.txt
@@ -13,3 +13,4 @@ function(add_python_test TEST_NAME TEST_SCRIPT)
endfunction()
add_python_test(Py_TestLoad test_load.py)
+add_python_test(Py_TestIntrinsics test_intrinsics.py)
diff --git a/SDK/CPP/tests/test_intrinsics.py b/SDK/CPP/tests/test_intrinsics.py
new file mode 100644
index 000000000..52d3fdab7
--- /dev/null
+++ b/SDK/CPP/tests/test_intrinsics.py
@@ -0,0 +1,32 @@
+import unittest
+import voltu
+import numpy as np
+
+class Intrinsics(unittest.TestCase):
+
+ def test_default_ctor(self):
+ intr = voltu.Intrinsics()
+ self.assertIsNotNone(intr)
+
+ def test_create(self):
+ fx = 2.0
+ fy = 3.0
+ cx = 4.0
+ cy = 5.0
+
+ intr = voltu.Intrinsics(
+ width = 6,
+ height = 7,
+ focal_x = fx,
+ focal_y = fy,
+ principle_x = -cx,
+ principle_y = -cy
+ )
+
+ K = np.array([
+ [fx , 0.0, cx],
+ [0.0, fy, cy],
+ [0.0, 0.0, 1.0],
+ ])
+
+ self.assertTrue(np.array_equal(intr.matrix(), K))
--
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