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Pyreach sync 20220518
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‎pyreach/color_camera.py‎

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@@ -62,7 +62,7 @@ def color_image(self) -> np.ndarray:
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@property
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def calibration(self) -> Optional[calibration.Calibration]:
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"""Return the Calibration for for the ColorFrame."""
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"""Return the Calibration for the ColorFrame."""
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raise NotImplementedError
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def pose(self) -> Optional[core.Pose]:

‎pyreach/common/proto_gen/calibration_pb2.py‎

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‎pyreach/common/proto_gen/calibration_pb2.pyi‎

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# Copyright 2021 Google LLC
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""
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@generated by mypy-protobuf. Do not edit manually!
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isort:skip_file
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"""
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import builtins
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import frame_context_pb2
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import google.protobuf.descriptor
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import google.protobuf.internal.containers
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import google.protobuf.message
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import interval_pb2
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import pose_pb2
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import stats_pb2
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import typing
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import typing_extensions
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import vector_pb2
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DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
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class CameraSpecification(google.protobuf.message.Message):
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"""---------------------------------------------------------------------------
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Stats - Error statistics for calibration.
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Where error is represented as a Stats protobuf, the represented value is the
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per-pixel error of the metric.
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The average per-pixel scalar error will be saved in Stats.mean.
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The total error can be calculated as Stats.mean * Stats.count
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---------------------------------------------------------------------------
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Specifications for an ideal camera.
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"""
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DESCRIPTOR: google.protobuf.descriptor.Descriptor
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class ImageSpec(google.protobuf.message.Message):
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DESCRIPTOR: google.protobuf.descriptor.Descriptor
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COLS_FIELD_NUMBER: builtins.int
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ROWS_FIELD_NUMBER: builtins.int
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CHANNELS_FIELD_NUMBER: builtins.int
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cols: builtins.int
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"""Dimensions and encoding type of camera images."""
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rows: builtins.int
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channels: builtins.int
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def __init__(self,
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*,
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cols: builtins.int = ...,
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rows: builtins.int = ...,
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channels: builtins.int = ...,
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) -> None: ...
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def ClearField(self, field_name: typing_extensions.Literal["channels",b"channels","cols",b"cols","rows",b"rows"]) -> None: ...
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IMAGE_SPEC_FIELD_NUMBER: builtins.int
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FOV_FIELD_NUMBER: builtins.int
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CLIP_FIELD_NUMBER: builtins.int
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@property
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def image_spec(self) -> global___CameraSpecification.ImageSpec: ...
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@property
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def fov(self) -> vector_pb2.Vector2d:
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"""Field of View in screen radians for width and height."""
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pass
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@property
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def clip(self) -> interval_pb2.Intervald:
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"""Positive distance to near and far clip planes in meters.
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This is only used for rendering synthetic cameras as real cameras do not
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have clip planes.
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"""
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pass
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def __init__(self,
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*,
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image_spec: typing.Optional[global___CameraSpecification.ImageSpec] = ...,
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fov: typing.Optional[vector_pb2.Vector2d] = ...,
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clip: typing.Optional[interval_pb2.Intervald] = ...,
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) -> None: ...
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def HasField(self, field_name: typing_extensions.Literal["clip",b"clip","fov",b"fov","image_spec",b"image_spec"]) -> builtins.bool: ...
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def ClearField(self, field_name: typing_extensions.Literal["clip",b"clip","fov",b"fov","image_spec",b"image_spec"]) -> None: ...
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global___CameraSpecification = CameraSpecification
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class CameraIntrinsics(google.protobuf.message.Message):
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"""Camera matrix and distortion parameters.
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https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html
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https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html
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Camera matrix:
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| fx 0 cx |
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| 0 fy cy |
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| 0 0 1 |
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"""
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DESCRIPTOR: google.protobuf.descriptor.Descriptor
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FX_FIELD_NUMBER: builtins.int
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FY_FIELD_NUMBER: builtins.int
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CX_FIELD_NUMBER: builtins.int
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CY_FIELD_NUMBER: builtins.int
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K1_FIELD_NUMBER: builtins.int
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K2_FIELD_NUMBER: builtins.int
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K3_FIELD_NUMBER: builtins.int
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K4_FIELD_NUMBER: builtins.int
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K5_FIELD_NUMBER: builtins.int
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K6_FIELD_NUMBER: builtins.int
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P1_FIELD_NUMBER: builtins.int
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P2_FIELD_NUMBER: builtins.int
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EXTRA_FIELD_NUMBER: builtins.int
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ERROR_STATS_FIELD_NUMBER: builtins.int
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CAMERA_SPEC_FIELD_NUMBER: builtins.int
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fx: builtins.float
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"""Focal length in x."""
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fy: builtins.float
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"""Focal length in y."""
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cx: builtins.float
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"""Center in x."""
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cy: builtins.float
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"""Center in y."""
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k1: builtins.float
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"""(x,y) are projected coordinates in the z=1 plane.
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f = (1 + k1r^2 + k2r^4 + k3r^6) / (1 + k4r^2 + k5r^4 + k6r^6)
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x' = x * f
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y' = y * f
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r^2 distortion coefficient.
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"""
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k2: builtins.float
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"""r^4 distortion coefficient."""
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k3: builtins.float
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"""r^6 distortion coefficient."""
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k4: builtins.float
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"""Denominator coefficients.
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r^2 distortion coefficient.
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"""
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k5: builtins.float
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"""r^4 distortion coefficient."""
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k6: builtins.float
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"""r^6 distortion coefficient."""
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p1: builtins.float
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"""x' += 2p1xy + p2(r^2 + 2x^2)
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y' += 2p2xy + p1(r^2 + 2y^2)
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y distortion coefficient.
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"""
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p2: builtins.float
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"""x distortion coefficient."""
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@property
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def extra(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.float]:
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"""Additional distortion parameters beyond k6."""
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pass
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@property
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def error_stats(self) -> stats_pb2.Stats:
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"""Accumulated scalar error for intrinsics."""
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pass
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@property
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def camera_spec(self) -> global___CameraSpecification:
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"""Camera specification includes image size in pixels and field-of-view
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angles.
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"""
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pass
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def __init__(self,
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*,
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fx: typing.Optional[builtins.float] = ...,
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fy: typing.Optional[builtins.float] = ...,
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cx: typing.Optional[builtins.float] = ...,
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cy: typing.Optional[builtins.float] = ...,
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k1: typing.Optional[builtins.float] = ...,
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k2: typing.Optional[builtins.float] = ...,
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k3: typing.Optional[builtins.float] = ...,
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k4: typing.Optional[builtins.float] = ...,
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k5: typing.Optional[builtins.float] = ...,
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k6: typing.Optional[builtins.float] = ...,
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p1: typing.Optional[builtins.float] = ...,
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p2: typing.Optional[builtins.float] = ...,
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extra: typing.Optional[typing.Iterable[builtins.float]] = ...,
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error_stats: typing.Optional[stats_pb2.Stats] = ...,
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camera_spec: typing.Optional[global___CameraSpecification] = ...,
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) -> None: ...
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def HasField(self, field_name: typing_extensions.Literal["_cx",b"_cx","_cy",b"_cy","_fx",b"_fx","_fy",b"_fy","_k1",b"_k1","_k2",b"_k2","_k3",b"_k3","_k4",b"_k4","_k5",b"_k5","_k6",b"_k6","_p1",b"_p1","_p2",b"_p2","camera_spec",b"camera_spec","cx",b"cx","cy",b"cy","error_stats",b"error_stats","fx",b"fx","fy",b"fy","k1",b"k1","k2",b"k2","k3",b"k3","k4",b"k4","k5",b"k5","k6",b"k6","p1",b"p1","p2",b"p2"]) -> builtins.bool: ...
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def ClearField(self, field_name: typing_extensions.Literal["_cx",b"_cx","_cy",b"_cy","_fx",b"_fx","_fy",b"_fy","_k1",b"_k1","_k2",b"_k2","_k3",b"_k3","_k4",b"_k4","_k5",b"_k5","_k6",b"_k6","_p1",b"_p1","_p2",b"_p2","camera_spec",b"camera_spec","cx",b"cx","cy",b"cy","error_stats",b"error_stats","extra",b"extra","fx",b"fx","fy",b"fy","k1",b"k1","k2",b"k2","k3",b"k3","k4",b"k4","k5",b"k5","k6",b"k6","p1",b"p1","p2",b"p2"]) -> None: ...
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@typing.overload
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def WhichOneof(self, oneof_group: typing_extensions.Literal["_cx",b"_cx"]) -> typing.Optional[typing_extensions.Literal["cx"]]: ...
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@typing.overload
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def WhichOneof(self, oneof_group: typing_extensions.Literal["_cy",b"_cy"]) -> typing.Optional[typing_extensions.Literal["cy"]]: ...
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@typing.overload
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def WhichOneof(self, oneof_group: typing_extensions.Literal["_fx",b"_fx"]) -> typing.Optional[typing_extensions.Literal["fx"]]: ...
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@typing.overload
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def WhichOneof(self, oneof_group: typing_extensions.Literal["_fy",b"_fy"]) -> typing.Optional[typing_extensions.Literal["fy"]]: ...
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@typing.overload
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def WhichOneof(self, oneof_group: typing_extensions.Literal["_k1",b"_k1"]) -> typing.Optional[typing_extensions.Literal["k1"]]: ...
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@typing.overload
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def WhichOneof(self, oneof_group: typing_extensions.Literal["_k2",b"_k2"]) -> typing.Optional[typing_extensions.Literal["k2"]]: ...
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@typing.overload
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def WhichOneof(self, oneof_group: typing_extensions.Literal["_k3",b"_k3"]) -> typing.Optional[typing_extensions.Literal["k3"]]: ...
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@typing.overload
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def WhichOneof(self, oneof_group: typing_extensions.Literal["_k4",b"_k4"]) -> typing.Optional[typing_extensions.Literal["k4"]]: ...
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@typing.overload
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def WhichOneof(self, oneof_group: typing_extensions.Literal["_k5",b"_k5"]) -> typing.Optional[typing_extensions.Literal["k5"]]: ...
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@typing.overload
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def WhichOneof(self, oneof_group: typing_extensions.Literal["_k6",b"_k6"]) -> typing.Optional[typing_extensions.Literal["k6"]]: ...
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@typing.overload
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def WhichOneof(self, oneof_group: typing_extensions.Literal["_p1",b"_p1"]) -> typing.Optional[typing_extensions.Literal["p1"]]: ...
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@typing.overload
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def WhichOneof(self, oneof_group: typing_extensions.Literal["_p2",b"_p2"]) -> typing.Optional[typing_extensions.Literal["p2"]]: ...
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global___CameraIntrinsics = CameraIntrinsics
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class CameraExtrinsics(google.protobuf.message.Message):
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"""Pose of a camera in the world frame or with respect to a named object."""
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DESCRIPTOR: google.protobuf.descriptor.Descriptor
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WORLD_POSE_CAMERA_FIELD_NUMBER: builtins.int
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FRAME_CONTEXT_FIELD_NUMBER: builtins.int
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ERROR_STATS_FIELD_NUMBER: builtins.int
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@property
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def world_pose_camera(self) -> pose_pb2.Pose3d:
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"""Places the camera at an absolute position in the world."""
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pass
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@property
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def frame_context(self) -> frame_context_pb2.FrameContextRelative:
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"""Describes the camera pose relative to a, possibly moving, named frame of
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reference.
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"""
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pass
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@property
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def error_stats(self) -> stats_pb2.Stats:
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"""Accumulated scalar error for extrinsics."""
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pass
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def __init__(self,
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*,
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world_pose_camera: typing.Optional[pose_pb2.Pose3d] = ...,
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frame_context: typing.Optional[frame_context_pb2.FrameContextRelative] = ...,
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error_stats: typing.Optional[stats_pb2.Stats] = ...,
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) -> None: ...
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def HasField(self, field_name: typing_extensions.Literal["error_stats",b"error_stats","extrinsic_type",b"extrinsic_type","frame_context",b"frame_context","world_pose_camera",b"world_pose_camera"]) -> builtins.bool: ...
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def ClearField(self, field_name: typing_extensions.Literal["error_stats",b"error_stats","extrinsic_type",b"extrinsic_type","frame_context",b"frame_context","world_pose_camera",b"world_pose_camera"]) -> None: ...
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def WhichOneof(self, oneof_group: typing_extensions.Literal["extrinsic_type",b"extrinsic_type"]) -> typing.Optional[typing_extensions.Literal["world_pose_camera","frame_context"]]: ...
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global___CameraExtrinsics = CameraExtrinsics
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class CameraCalibration(google.protobuf.message.Message):
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"""Total calibration data for a camera."""
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DESCRIPTOR: google.protobuf.descriptor.Descriptor
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INTRINSICS_FIELD_NUMBER: builtins.int
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EXTRINSICS_FIELD_NUMBER: builtins.int
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@property
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def intrinsics(self) -> global___CameraIntrinsics:
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"""Intrinsics: image size, distortion, center, focal length"""
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pass
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@property
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def extrinsics(self) -> global___CameraExtrinsics:
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"""Extrinsics: 3D position of the camera with orientation, may be relative."""
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pass
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def __init__(self,
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*,
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intrinsics: typing.Optional[global___CameraIntrinsics] = ...,
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extrinsics: typing.Optional[global___CameraExtrinsics] = ...,
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) -> None: ...
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def HasField(self, field_name: typing_extensions.Literal["extrinsics",b"extrinsics","intrinsics",b"intrinsics"]) -> builtins.bool: ...
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def ClearField(self, field_name: typing_extensions.Literal["extrinsics",b"extrinsics","intrinsics",b"intrinsics"]) -> None: ...
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global___CameraCalibration = CameraCalibration

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