From d8f7516152debd5d104db02d6d72326604655371 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Tue, 10 Nov 2020 19:41:17 +0200
Subject: [PATCH] size() method
---
SDK/CPP/public/include/voltu/types/intrinsics.hpp | 2 ++
SDK/CPP/public/src/types/intrinsics.cpp | 4 ++++
SDK/CPP/tests/test_intrinsics.py | 11 +++++++++--
3 files changed, 15 insertions(+), 2 deletions(-)
diff --git a/SDK/CPP/public/include/voltu/types/intrinsics.hpp b/SDK/CPP/public/include/voltu/types/intrinsics.hpp
index 8571c9ea1..4157ab383 100644
--- a/SDK/CPP/public/include/voltu/types/intrinsics.hpp
+++ b/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.
diff --git a/SDK/CPP/public/src/types/intrinsics.cpp b/SDK/CPP/public/src/types/intrinsics.cpp
index 63cfbc590..a9f94944b 100644
--- a/SDK/CPP/public/src/types/intrinsics.cpp
+++ b/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 };
+}
diff --git a/SDK/CPP/tests/test_intrinsics.py b/SDK/CPP/tests/test_intrinsics.py
index 52d3fdab7..08fa3bf23 100644
--- a/SDK/CPP/tests/test_intrinsics.py
+++ b/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()))
--
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