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Transform many points #250

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merged 2 commits into from
Jan 24, 2024
Merged

Transform many points #250

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461c62a
Transform many points
sarlinpe Jan 24, 2024
30ac033
Fix
sarlinpe Jan 24, 2024
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47 changes: 38 additions & 9 deletions pycolmap/geometry/bindings.h
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Original file line number Diff line number Diff line change
Expand Up @@ -22,15 +22,27 @@ void BindGeometry(py::module& m) {

py::class_<Eigen::Quaterniond> PyRotation3d(m, "Rotation3d");
PyRotation3d.def(py::init([]() { return Eigen::Quaterniond::Identity(); }))
.def(py::init<const Eigen::Vector4d&>(), "xyzw"_a)
.def(py::init<const Eigen::Matrix3d&>(), "rotmat"_a)
.def(py::init<const Eigen::Vector4d&>(),
"xyzw"_a,
"Quaternion in [x,y,z,w] format.")
.def(py::init<const Eigen::Matrix3d&>(),
"rotmat"_a,
"3x3 rotation matrix.")
.def_property(
"quat",
py::overload_cast<>(&Eigen::Quaterniond::coeffs),
[](Eigen::Quaterniond& self, const Eigen::Vector4d& quat) {
self.coeffs() = quat;
},
"Quaternion in [x,y,z,w] format.")
.def(py::self * Eigen::Quaterniond())
.def(py::self * Eigen::Vector3d())
.def_property("quat",
py::overload_cast<>(&Eigen::Quaterniond::coeffs),
[](Eigen::Quaterniond& self, const Eigen::Vector4d& quat) {
self.coeffs() = quat;
})
.def("__mul__",
[](const Eigen::Quaterniond& self,
const py::EigenDRef<const Eigen::MatrixX3d>& points)
-> Eigen::MatrixX3d {
return points * self.toRotationMatrix().transpose();
})
.def("normalize", &Eigen::Quaterniond::normalize)
.def("matrix", &Eigen::Quaterniond::toRotationMatrix)
.def("norm", &Eigen::Quaterniond::norm)
Expand All @@ -53,8 +65,16 @@ void BindGeometry(py::module& m) {
.def_readwrite("translation", &Rigid3d::translation)
.def("matrix", &Rigid3d::ToMatrix)
.def("essential_matrix", &EssentialMatrixFromPose)
.def(py::self * Eigen::Vector3d())
.def(py::self * Rigid3d())
.def(py::self * Eigen::Vector3d())
.def("__mul__",
[](const Rigid3d& t,
const py::EigenDRef<const Eigen::MatrixX3d>& points)
-> Eigen::MatrixX3d {
return (points * t.rotation.toRotationMatrix().transpose())
.rowwise() +
t.translation.transpose();
})
.def("inverse", static_cast<Rigid3d (*)(const Rigid3d&)>(&Inverse))
.def_static("interpolate", &InterpolateCameraPoses)
.def("__repr__", [](const Rigid3d& self) {
Expand All @@ -76,8 +96,17 @@ void BindGeometry(py::module& m) {
.def_readwrite("rotation", &Sim3d::rotation)
.def_readwrite("translation", &Sim3d::translation)
.def("matrix", &Sim3d::ToMatrix)
.def(py::self * Eigen::Vector3d())
.def(py::self * Sim3d())
.def(py::self * Eigen::Vector3d())
.def("__mul__",
[](const Sim3d& t,
const py::EigenDRef<const Eigen::MatrixX3d>& points)
-> Eigen::MatrixX3d {
return (t.scale *
(points * t.rotation.toRotationMatrix().transpose()))
.rowwise() +
t.translation.transpose();
})
.def("transform_camera_world", &TransformCameraWorld)
.def("inverse", static_cast<Sim3d (*)(const Sim3d&)>(&Inverse))
.def("__repr__", [](const Sim3d& self) {
Expand Down
48 changes: 0 additions & 48 deletions pycolmap/scene/image.h
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Original file line number Diff line number Diff line change
Expand Up @@ -241,54 +241,6 @@ void BindImage(py::module& m) {

return valid_points2D;
})
.def(
"project",
[](const Image& self,
const std::vector<Eigen::Vector3d>& world_coords) {
std::vector<Eigen::Vector2d> image_points(world_coords.size());
for (int idx = 0; idx < world_coords.size(); ++idx) {
image_points[idx] =
(self.CamFromWorld() * world_coords[idx]).hnormalized();
}
return image_points;
},
"Project list of world points to image (xy).")
.def(
"project",
[](const Image& self, const std::vector<Point3D>& point3Ds) {
std::vector<Eigen::Vector2d> world_points(point3Ds.size());
for (int idx = 0; idx < point3Ds.size(); ++idx) {
world_points[idx] =
(self.CamFromWorld() * point3Ds[idx].xyz).hnormalized();
}
return world_points;
},
"Project list of point3Ds to image (xy).")
.def(
"transform_to_image",
[](const Image& self,
const std::vector<Eigen::Vector3d>& world_coords) {
std::vector<Eigen::Vector3d> image_points(world_coords.size());
for (int idx = 0; idx < world_coords.size(); ++idx) {
image_points[idx] = (self.CamFromWorld() * world_coords[idx]);
}
return image_points;
},
"Project list of points in world coordinate frame to image "
"coordinates (xyz).")
.def(
"transform_to_world",
[](const Image& self,
const std::vector<Eigen::Vector3d>& image_coords) {
std::vector<Eigen::Vector3d> world_points(image_coords.size());
for (int idx = 0; idx < image_coords.size(); ++idx) {
world_points[idx] =
(Inverse(self.CamFromWorld()) * image_coords[idx]);
}
return world_points;
},
"Project list of image points (with depth) to world coordinate "
"frame.")
.def("__repr__", &PrintImage);
MakeDataclass(PyImage);
}
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