Unify camera model into immutable factory-built type

2026-03-12 00:24:02 +08:00
parent c23f25f871
commit 31c4690121
8 changed files with 177 additions and 172 deletions
@@ -139,15 +139,54 @@ NB_MODULE(_core, m)
        .value("FISHEYE", CameraModel::Fisheye);

    nb::class_<Camera>(m, "Camera")
-        .def(nb::init<>())
-        .def_rw("name", &Camera::name)
-        .def_rw("K", &Camera::K)
-        .def_rw("DC", &Camera::DC)
-        .def_rw("R", &Camera::R)
-        .def_rw("T", &Camera::T)
-        .def_rw("width", &Camera::width)
-        .def_rw("height", &Camera::height)
-        .def_rw("model", &Camera::model)
+        .def_prop_ro("name", [](const Camera &camera)
+        {
+            return camera.name;
+        })
+        .def_prop_ro("K", [](const Camera &camera)
+        {
+            return camera.K;
+        })
+        .def_prop_ro("DC", [](const Camera &camera)
+        {
+            return camera.DC;
+        })
+        .def_prop_ro("R", [](const Camera &camera)
+        {
+            return camera.R;
+        })
+        .def_prop_ro("T", [](const Camera &camera)
+        {
+            return camera.T;
+        })
+        .def_prop_ro("width", [](const Camera &camera)
+        {
+            return camera.width;
+        })
+        .def_prop_ro("height", [](const Camera &camera)
+        {
+            return camera.height;
+        })
+        .def_prop_ro("model", [](const Camera &camera)
+        {
+            return camera.model;
+        })
+        .def_prop_ro("invR", [](const Camera &camera)
+        {
+            return camera.invR;
+        })
+        .def_prop_ro("center", [](const Camera &camera)
+        {
+            return camera.center;
+        })
+        .def_prop_ro("newK", [](const Camera &camera)
+        {
+            return camera.newK;
+        })
+        .def_prop_ro("invK", [](const Camera &camera)
+        {
+            return camera.invK;
+        })
        .def("__repr__", [](const Camera &camera)
        {
            return camera.to_string();
@@ -248,6 +287,18 @@ NB_MODULE(_core, m)
            return pose_batch_to_numpy_copy(trace.final_poses);
        }, nb::rv_policy::move);

+    m.def(
+        "make_camera",
+        &make_camera,
+        "name"_a,
+        "K"_a,
+        "DC"_a,
+        "R"_a,
+        "T"_a,
+        "width"_a,
+        "height"_a,
+        "model"_a);
+
    m.def(
        "build_pair_candidates",
        [](const PoseArray2D &poses_2d, const CountArray &person_counts)