Merge pull request #1788 from alicevision/dev/swig

Add SWIG binding of camera shared pointers

pyTests/camera/test_equidistant.py

@@ -5,6 +5,7 @@
 import pytest
 
 from pyalicevision import camera as av
+from pyalicevision import numeric as avnum
 
 ##################
 ### List of functions:
@@ -163,12 +164,10 @@ def test_equidistant_default_constructor():
     assert intrinsic.h() == 1, "The Equidistant intrinsic's default height should be 1"
 
     scale = intrinsic.getScale()
-    # TODO: uncomment check on the scale when Vec2 is binded
-    # assert scale[0] == 1.0 and scale[1] == 1.0
+    assert avnum.getX(scale) == 1.0 and avnum.getY(scale) == 1.0
 
     offset = intrinsic.getOffset()
-    # TODO: uncomment check on the offset when Vec2 is binded
-    # assert offset[0] == 0.0 and offset[1] == 0.0
+    assert avnum.getX(offset) == 0.0 and avnum.getY(offset) == 0.0
 
     assert intrinsic.sensorWidth() == 36.0
     assert intrinsic.sensorHeight() == 24.0
@@ -200,12 +199,10 @@ def test_equidistant_constructors():
     assert intrinsic1.h() == height, "The Equidistant intrinsic's height has not been correctly set"
 
     scale = intrinsic1.getScale()
-    # TODO: uncomment check on the scale when Vec2 is binded
-    # assert scale[0] == focal and scale[1] == focal
+    assert avnum.getX(scale) == focal and avnum.getY(scale) == focal
 
     offset = intrinsic1.getOffset()
-    # TODO: uncomment check on the offset when Vec2 is binded
-    # assert offset[0] == offset_x and offset[1] == offset_y
+    assert avnum.getX(offset) == offset_x and avnum.getY(offset) == offset_y
 
     assert intrinsic1.sensorWidth() == 36.0
     assert intrinsic1.sensorHeight() == 24.0
@@ -225,12 +222,10 @@ def test_equidistant_constructors():
     assert intrinsic2.h() == height, "The Equidistant intrinsic's height has not been correctly set"
 
     scale = intrinsic2.getScale()
-    # TODO: uncomment check on the scale when Vec2 is binded
-    # assert scale[0] == focal and scale[1] == focal
+    assert avnum.getX(scale) == focal and avnum.getY(scale) == focal
 
     offset = intrinsic2.getOffset()
-    # TODO: uncomment check on the offset when Vec2 is binded
-    # assert offset[0] == offset_x and offset[1] == offset_y
+    assert avnum.getX(offset) == offset_x and avnum.getY(offset) == offset_y
 
     assert intrinsic2.sensorWidth() == 36.0
     assert intrinsic2.sensorHeight() == 24.0
@@ -335,8 +330,7 @@ def test_equidistant_get_set_circle():
     assert intrinsic.getCircleCenterY() == center_y
 
     center = intrinsic.getCircleCenter()
-    # TODO: uncomment when Vec2 is binded
-    # assert center[0] == center_x and center[1] == center_y
+    assert avnum.getX(center) == center_x and avnum.getY(center) == center_y
 
 
 def test_equidistant_ratio_lock_unlock():

pyTests/camera/test_pinhole.py

@@ -5,6 +5,7 @@
 import pytest
 
 from pyalicevision import camera as av
+from pyalicevision import numeric as avnum
 
 ##################
 ### List of functions:
@@ -157,8 +158,7 @@ def test_pinhole_default_constructor():
         "The Pinhole intrinsic's focal length in Y should be 1.0"
 
     offset = intrinsic.getOffset()
-    # TODO: uncomment check on the offset when Vec2 is binded
-    # assert offset[0] == 0.0 and offset[1] == 0.0
+    assert avnum.getX(offset) == 0.0 and avnum.getY(offset) == 0.0
 
     assert intrinsic.sensorWidth() == 36.0
     assert intrinsic.sensorHeight() == 24.0

pyTests/camera/test_undistortion_3de.py

@@ -5,6 +5,7 @@
 import pytest
 
 from pyalicevision import camera as av
+from pyalicevision import numeric as avnum
 
 ##################
 ### List of functions:
@@ -46,8 +47,7 @@ def test_undistortion_3de_constructor():
     undistortion = av.Undistortion3DEAnamorphic4(WIDTH, HEIGHT)
 
     size = undistortion.getSize()
-    # TODO: uncomment when Vec2 is binded
-    # assert size[0] == WIDTH and size[1] == HEIGHT
+    assert avnum.getX(size) == WIDTH and avnum.getY(size) == HEIGHT
 
     assert undistortion.getType() == av.UNDISTORTION_3DEANAMORPHIC4
 
@@ -117,14 +117,12 @@ def test_undistortion_3de_get_set_size():
     size. """
     undistortion = av.Undistortion3DEAnamorphic4(WIDTH, HEIGHT)
     size = undistortion.getSize()
-    # TODO: uncomment when Vec2 is binded
-    # assert size[0] == WIDTH and size[1] == HEIGHT
+    assert avnum.getX(size) == WIDTH and avnum.getY(size) == HEIGHT
 
     undistortion.setSize(HEIGHT, WIDTH)
     assert size != undistortion.getSize()
     size = undistortion.getSize()
-    # TODO: uncomment when Vec2 is binded
-    # assert size[0] == HEIGHT and size[1] == WIDTH
+    assert avnum.getX(size) == HEIGHT and avnum.getY(size) == WIDTH
 
 
 @pytest.mark.skip(reason="Vec2 not binded")

pyTests/camera/test_undistortion_radial.py

@@ -5,6 +5,7 @@
 import pytest
 
 from pyalicevision import camera as av
+from pyalicevision import numeric as avnum
 
 ##################
 ### List of functions:
@@ -46,8 +47,7 @@ def test_undistortion_radial_constructor():
     undistortion = av.UndistortionRadialK3(WIDTH, HEIGHT)
 
     size = undistortion.getSize()
-    # TODO: uncomment when Vec2 is binded
-    # assert size[0] == WIDTH and size[1] == HEIGHT
+    assert avnum.getX(size) == WIDTH and avnum.getY(size) == HEIGHT
 
     assert undistortion.getType() == av.UNDISTORTION_RADIALK3
 
@@ -117,14 +117,12 @@ def test_undistortion_radial_get_set_size():
     size. """
     undistortion = av.UndistortionRadialK3(WIDTH, HEIGHT)
     size = undistortion.getSize()
-    # TODO: uncomment when Vec2 is binded
-    # assert size[0] == WIDTH and size[1] == HEIGHT
+    assert avnum.getX(size) == WIDTH and avnum.getY(size) == HEIGHT
 
     undistortion.setSize(HEIGHT, WIDTH)
     assert size != undistortion.getSize()
     size = undistortion.getSize()
-    # TODO: uncomment when Vec2 is binded
-    # assert size[0] == HEIGHT and size[1] == WIDTH
+    assert avnum.getX(size) == HEIGHT and avnum.getY(size) == WIDTH
 
 
 @pytest.mark.skip(reason="Vec2 not binded")

pyTests/sfmData/test_sfmdata.py

@@ -16,7 +16,7 @@
 # - ImageInfos& getAncestors()
 # - Poses& getPoses() => DONE
 # - Rigs& getRigs() => DONE
-# - Intrinsics& getIntrinsics() => DONE / Intrinsics derived classes not fully binded
+# - Intrinsics& getIntrinsics() => DONE 
 # - Landmarks& getLandmarks() => DONE
 # - Constraints2D& getConstraints2D() => DONE
 # - RotationPriors& getRotationPriors() => DONE
@@ -102,12 +102,11 @@ def test_sfmdata_get_intrinsics():
     assert len(intrinsics) == 0, \
         "The SfMData object is empty, there should not be any Intrinsic in it"
 
-    # TODO: Add Intrinsic object to the list once derived classes are fully binded
-    # Create an Intrinsic object and add it to the list
-    # intrinsic = av.IntrinsicBase()
-    # intrinsics[INTRINSIC_ID] = intrinsic
-    # assert len(data.getIntrinsics()) == len(intrinsics) == 1, \
-    #     "The list of Intrinsics should have been updated"
+    #Create an Intrinsic object and add it to the list
+    intrinsic = av.Pinhole()
+    intrinsics[INTRINSIC_ID] = intrinsic
+    assert len(data.getIntrinsics()) == len(intrinsics) == 1, \
+        "The list of Intrinsics should have been updated"
 
 
 def test_sfmdata_get_landmarks():

src/aliceVision/aliceVision.i

@@ -9,6 +9,7 @@
 %include <aliceVision/global.i>
 %include <aliceVision/version.hpp>
 
+%import <aliceVision/numeric/numeric.i>
 %import <aliceVision/camera/Camera.i>
 %import <aliceVision/geometry/Geometry.i>
 %import <aliceVision/hdr/Hdr.i>
@@ -19,5 +20,12 @@
 
 %{
 #include <aliceVision/version.hpp>
+
+//For unknown reason, we need to declare cameras here too
+#include <aliceVision/camera/IntrinsicBase.hpp>
+#include <aliceVision/camera/Pinhole.hpp>
+#include <aliceVision/camera/Equidistant.hpp>
+
 using namespace aliceVision;
+
 %}

src/aliceVision/camera/Equidistant.cpp

@@ -12,6 +12,11 @@
 namespace aliceVision {
 namespace camera {
 
+std::shared_ptr<Equidistant> Equidistant::cast(std::shared_ptr<IntrinsicBase> sptr)
+{
+    return std::dynamic_pointer_cast<Equidistant>(sptr);
+}
+
 Vec2 Equidistant::transformProject(const Eigen::Matrix4d& pose, const Vec4& pt, bool applyDistortion) const
 {
     const double rsensor = std::min(sensorWidth(), sensorHeight());

src/aliceVision/camera/Equidistant.hpp

@@ -59,6 +59,8 @@ class Equidistant : public IntrinsicScaleOffsetDisto
 
     Equidistant* clone() const override { return new Equidistant(*this); }
 
+    static std::shared_ptr<Equidistant> cast(std::shared_ptr<IntrinsicBase> sptr);
+
     void assign(const IntrinsicBase& other) override { *this = dynamic_cast<const Equidistant&>(other); }
 
     bool isValid() const override { return _scale(0) > 0 && IntrinsicBase::isValid(); }

src/aliceVision/camera/Equidistant.i

@@ -4,6 +4,9 @@
 // v. 2.0. If a copy of the MPL was not distributed with this file,
 // You can obtain one at https://mozilla.org/MPL/2.0/.
 
+%include <std_shared_ptr.i>
+%shared_ptr(aliceVision::camera::Equidistant)
+
 %include <aliceVision/camera/IntrinsicScaleOffsetDisto.i>
 %include <aliceVision/camera/Equidistant.hpp>
 

src/aliceVision/camera/IntrinsicBase.i

@@ -4,11 +4,11 @@
 // v. 2.0. If a copy of the MPL was not distributed with this file,
 // You can obtain one at https://mozilla.org/MPL/2.0/.
 
-
-%include <aliceVision/camera/IntrinsicBase.hpp>
+%include <std_shared_ptr.i>
+%shared_ptr(aliceVision::camera::IntrinsicBase)
 
 %{
 #include <aliceVision/camera/IntrinsicBase.hpp>
-using namespace aliceVision;
-using namespace aliceVision::camera;
 %}
+
+%include <aliceVision/camera/IntrinsicBase.hpp>

src/aliceVision/camera/IntrinsicScaleOffset.cpp

@@ -28,6 +28,11 @@ bool IntrinsicScaleOffset::operator==(const IntrinsicBase& otherBase) const
     return _scale.isApprox(other._scale) && _offset.isApprox(other._offset);
 }
 
+std::shared_ptr<IntrinsicScaleOffset> IntrinsicScaleOffset::cast(std::shared_ptr<IntrinsicBase> sptr)
+{
+    return std::dynamic_pointer_cast<IntrinsicScaleOffset>(sptr);
+}
+
 Vec2 IntrinsicScaleOffset::cam2ima(const Vec2& p) const { return p.cwiseProduct(_scale) + getPrincipalPoint(); }
 
 Eigen::Matrix2d IntrinsicScaleOffset::getDerivativeCam2ImaWrtScale(const Vec2& p) const

src/aliceVision/camera/IntrinsicScaleOffset.hpp

@@ -26,6 +26,8 @@ class IntrinsicScaleOffset : public IntrinsicBase
 
     ~IntrinsicScaleOffset() override = default;
 
+    static std::shared_ptr<IntrinsicScaleOffset> cast(std::shared_ptr<IntrinsicBase> sptr);
+
     void copyFrom(const IntrinsicScaleOffset& other) { *this = other; }
 
     bool operator==(const IntrinsicBase& otherBase) const override;

src/aliceVision/camera/IntrinsicScaleOffset.i

@@ -4,6 +4,9 @@
 // v. 2.0. If a copy of the MPL was not distributed with this file,
 // You can obtain one at https://mozilla.org/MPL/2.0/.
 
+%include <std_shared_ptr.i>
+%shared_ptr(aliceVision::camera::IntrinsicScaleOffset)
+
 %include <aliceVision/camera/IntrinsicBase.i>
 %include <aliceVision/camera/IntrinsicScaleOffset.hpp>
 

src/aliceVision/camera/IntrinsicScaleOffsetDisto.cpp

@@ -9,6 +9,11 @@
 namespace aliceVision {
 namespace camera {
 
+std::shared_ptr<IntrinsicScaleOffsetDisto> IntrinsicScaleOffsetDisto::cast(std::shared_ptr<IntrinsicBase> sptr)
+{
+    return std::dynamic_pointer_cast<IntrinsicScaleOffsetDisto>(sptr);
+}
+
 bool IntrinsicScaleOffsetDisto::operator==(const IntrinsicBase& otherBase) const
 {
     if (!IntrinsicScaleOffset::operator==(otherBase))

src/aliceVision/camera/IntrinsicScaleOffsetDisto.hpp

@@ -59,6 +59,8 @@ class IntrinsicScaleOffsetDisto : public IntrinsicScaleOffset
         }
     }
 
+    static std::shared_ptr<IntrinsicScaleOffsetDisto> cast(std::shared_ptr<IntrinsicBase> sptr);
+
     void assign(const IntrinsicBase& other) override { *this = dynamic_cast<const IntrinsicScaleOffsetDisto&>(other); }
 
     bool operator==(const IntrinsicBase& otherBase) const override;

src/aliceVision/camera/IntrinsicScaleOffsetDisto.i

@@ -4,6 +4,9 @@
 // v. 2.0. If a copy of the MPL was not distributed with this file,
 // You can obtain one at https://mozilla.org/MPL/2.0/.
 
+%include <std_shared_ptr.i>
+%shared_ptr(aliceVision::camera::IntrinsicScaleOffsetDisto)
+
 %include <aliceVision/camera/IntrinsicScaleOffset.i>
 %include <aliceVision/camera/IntrinsicScaleOffsetDisto.hpp>
 

src/aliceVision/camera/Pinhole.cpp

@@ -9,6 +9,11 @@
 namespace aliceVision {
 namespace camera {
 
+std::shared_ptr<Pinhole> Pinhole::cast(std::shared_ptr<IntrinsicBase> sptr)
+{
+    return std::dynamic_pointer_cast<Pinhole>(sptr);
+}
+
 Mat3 Pinhole::K() const
 {
     Mat3 K;

src/aliceVision/camera/Pinhole.hpp

@@ -49,6 +49,8 @@ class Pinhole : public IntrinsicScaleOffsetDisto
 
     void assign(const IntrinsicBase& other) override { *this = dynamic_cast<const Pinhole&>(other); }
 
+    static std::shared_ptr<Pinhole> cast(std::shared_ptr<IntrinsicBase> sptr);
+
     double getFocalLengthPixX() const { return _scale(0); }
 
     double getFocalLengthPixY() const { return _scale(1); }

src/aliceVision/camera/Pinhole.i

@@ -4,11 +4,15 @@
 // v. 2.0. If a copy of the MPL was not distributed with this file,
 // You can obtain one at https://mozilla.org/MPL/2.0/.
 
-%include <aliceVision/camera/IntrinsicScaleOffsetDisto.i>
-%include <aliceVision/camera/Pinhole.hpp>
+%include <std_shared_ptr.i>
+%shared_ptr(aliceVision::camera::Pinhole)
+
 
 %{
 #include <aliceVision/camera/Pinhole.hpp>
 using namespace aliceVision;
 using namespace aliceVision::camera;
 %}
+
+%include <aliceVision/camera/IntrinsicScaleOffsetDisto.i>
+%include <aliceVision/camera/Pinhole.hpp>

src/aliceVision/multiview/rotationAveraging/l1.cpp

@@ -29,6 +29,8 @@
 #include "ceres/ceres.h"
 #include "ceres/rotation.h"
 
+#include <aliceVision/numeric/BoxStats.hpp>
+
 #include <map>
 #include <queue>
 #include <stdint.h>