size() method

SDK/CPP/public/include/voltu/types/intrinsics.hpp

@@ -25,6 +25,8 @@ struct Intrinsics
 
 	/** Projection matrix */
 	PY_API Eigen::Matrix3d matrix();
+	/** Size (width, height) */
+	PY_API Eigen::Vector2i size();
 };
 
 /** Stereo camera intrinsic parameters.

SDK/CPP/public/src/types/intrinsics.cpp

@@ -8,3 +8,7 @@ Eigen::Matrix3d voltu::Intrinsics::matrix() {
 					0.0,			0.0,			 1.0;
 	return K;
 }
+
+Eigen::Vector2i voltu::Intrinsics::size() {
+	return { width, height };
+}

SDK/CPP/tests/test_intrinsics.py

@@ -13,10 +13,12 @@ class Intrinsics(unittest.TestCase):
         fy = 3.0
         cx = 4.0
         cy = 5.0
+        w = 6
+        h = 7
 
         intr = voltu.Intrinsics(
-            width = 6,
-            height = 7,
+            width = w,
+            height = h,
             focal_x = fx,
             focal_y = fy,
             principle_x = -cx,
@@ -30,3 +32,8 @@ class Intrinsics(unittest.TestCase):
         ])
 
         self.assertTrue(np.array_equal(intr.matrix(), K))
+
+        w_, h_ = intr.size()
+        self.assertEqual(w_, w)
+        self.assertEqual(h_, h)
+        self.assertTrue(np.array_equal((w, h), intr.size()))