Added intrinsics to camera class

python/pandaset/sensors.py

@@ -69,6 +69,8 @@ def _load_data_file(self, fp):
 class Lidar(Sensor):
 
  def __init__(self, directory):
+ self._intrinsics_structure = None
+ self.intrinsics = None
  Sensor.__init__(self, directory, 'pkl.gz')
 
  def _load_data_file(self, fp):
@@ -78,6 +80,39 @@ def _load_data_file(self, fp):
 class Camera(Sensor):
  def __init__(self, directory):
  Sensor.__init__(self, directory, 'jpg')
+ self._load_intrinsics()
+
+ def load(self):
+ super().load()
+ self._load_intrinsics()
 
  def _load_data_file(self, fp):
  return Image.open(fp)
+
+ def _load_data_structure(self):
+ super()._load_data_structure()
+ self._load_intrinsics()
+
+ def _load_intrinsics_structure(self):
+ intrinsics_file = f'{self._directory}/intrinsics.json'
+ if os.path.isfile(intrinsics_file):
+ self._intrinsics_structure = intrinsics_file
+
+ def _load_intrinsics(self):
+ self.intrinsics = []
+ with open(self._intrinsics_structure, 'r') as f:
+ file_data = json.load(f)
+ self.intrinsics = Intrinsics(
+ fx=file_data['fx'],
+ fy=file_data['fy'],
+ cx=file_data['cx'],
+ cy=file_data['cy']
+ )
+
+
+class Intrinsics:
+ def __init__(self, fx, fy, cx, cy):
+ self.fx = fx,
+ self.fy = fy,
+ self.cx = cx,
+ self.cy = cy