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camera: add all_cams iterator, allow None camera, add camera size property (#31835) 

* camera: add neo_config for easy access

* camera: add all_cams iterator and cam size

* can be none

* use FakeCameraConfig

* rename to None
old-commit-hash: 30ce6af490
This commit is contained in:
YassineYousfi 2024-03-12 15:29:49 -07:00 committed by GitHub
parent 89b7275009
commit 09fcc544b5
1 changed files with 26 additions and 10 deletions
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36
common/transformations/camera.py
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@ -11,6 +11,10 @@ class CameraConfig:
height: int
focal_length: float
@property
def size(self):
return (self.width, self.height)
@property
def intrinsics(self):
# aka 'K' aka camera_frame_from_view_frame
@ -25,33 +29,45 @@ class CameraConfig:
# aka 'K_inv' aka view_frame_from_camera_frame
return np.linalg.inv(self.intrinsics)
@dataclass(frozen=True)
class _NoneCameraConfig(CameraConfig):
width: int = 0
height: int = 0
focal_length: float = 0
@dataclass(frozen=True)
class DeviceCameraConfig:
fcam: CameraConfig
dcam: CameraConfig
ecam: CameraConfig
ar_ox_fisheye = CameraConfig(1928, 1208, 567.0) # focal length probably wrong? magnification is not consistent across frame
ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), ar_ox_fisheye, ar_ox_fisheye)
os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), os_fisheye, os_fisheye)
def all_cams(self):
for cam in ['fcam', 'dcam', 'ecam']:
if not isinstance(getattr(self, cam), _NoneCameraConfig):
yield cam, getattr(self, cam)
_ar_ox_fisheye = CameraConfig(1928, 1208, 567.0) # focal length probably wrong? magnification is not consistent across frame
_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
_ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
_neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
DEVICE_CAMERAS = {
# A "device camera" is defined by a device type and sensor
# sensor type was never set on eon/neo/two
("neo", "unknown"): DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), CameraConfig(0, 0, 0.)),
("neo", "unknown"): _neo_config,
# unknown here is AR0231, field was added with OX03C10 support
("tici", "unknown"): ar_ox_config,
("tici", "unknown"): _ar_ox_config,
# before deviceState.deviceType was set, assume tici AR config
("unknown", "ar0231"): ar_ox_config,
("unknown", "ox03c10"): ar_ox_config,
("unknown", "ar0231"): _ar_ox_config,
("unknown", "ox03c10"): _ar_ox_config,
# simulator (emulates a tici)
("pc", "unknown"): ar_ox_config,
("pc", "unknown"): _ar_ox_config,
}
prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', ar_ox_config), ('ox03c10', ar_ox_config), ('os04c10', os_config)))
prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config)))
DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})
# device/mesh : x->forward, y-> right, z->down