crosstyan
3ce5b564bf
- Add beartype dependency to pyproject.toml and uv.lock - Replace typeguard with beartype in type checking - Create camera module with type-safe camera parameter definitions - Migrate utility function to use beartype and JAX numpy
55 lines
1.1 KiB
Python
55 lines
1.1 KiB
Python
from typing import TypedDict, TypeAlias, Any
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from typing_extensions import NotRequired
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from jaxtyping import Num, jaxtyped
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from beartype import beartype
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from jax import numpy as jnp, Array
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CameraID: TypeAlias = str
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@jaxtyped(typechecker=beartype)
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class CameraParams(TypedDict):
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"""
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Camera parameters: intrinsic matrix, extrinsic matrix, and distortion coefficients
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"""
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K: Num[Array, "3 3"]
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"""
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intrinsic matrix
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"""
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Rt: Num[Array, "4 4"]
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"""
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[R|t] extrinsic matrix
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R and t are the rotation and translation that describe the change of
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coordinates from world to camera coordinate systems (or camera frame)
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"""
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dist_coeffs: Num[Array, "N"]
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"""
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An array of distortion coefficients of the form
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[k1, k2, [p1, p2, [k3]]], where ki is the ith
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radial distortion coefficient and pi is the ith
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tangential distortion coeff.
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"""
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@jaxtyped(typechecker=beartype)
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class Camera(TypedDict):
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"""
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a description of a camera
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"""
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id: CameraID
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"""
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Camera ID
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"""
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params: CameraParams
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"""
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Camera parameters
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"""
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size: tuple[int, int]
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"""
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Image size
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"""
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