Function BindEigenGeometry

src/pycolmap/geometry/eigen.cc:15–129

namespace py = pybind11;

void BindEigenGeometry(py::module& m) {
  using Rotation3dWrapper = pycolmap::Rotation3dWrapper;
  py::classh_ext<Rotation3dWrapper> PyRotation3d(m, "Rotation3d");
  PyRotation3d.def(py::init<>())
      .def(py::init<const Eigen::Vector4d&>(),
           "xyzw"_a,
           "Quaternion in [x,y,z,w] format.")
      .def(py::init<const Eigen::Matrix3d&>(),
           "matrix"_a,
           "3x3 rotation matrix.")
      .def(py::init<const Eigen::Vector3d&>(),
           "axis_angle"_a,
           "Axis-angle 3D vector.")
      .def_static(
          "from_buffer",
          [](py::array_t<double> arr) {
            THROW_CHECK_EQ(arr.size(), 4);
            return Rotation3dWrapper(std::move(arr));
          },
          "array"_a,
          "Create from numpy array view (zero-copy if contiguous).")
      .def_property(
          "quat",
          [](Rotation3dWrapper& self) { return self.data; },
          [](Rotation3dWrapper& self, const Eigen::Vector4d& quat) {
            self.map().coeffs() = quat;
          },
          "Quaternion in [x,y,z,w] format.")
      .def("__mul__",
           [](const Rotation3dWrapper& self, const Rotation3dWrapper& other) {
             return Rotation3dWrapper(self.map() * other.map());
           })
      .def("__mul__",
           [](const Rotation3dWrapper& self, const Eigen::Vector3d& v) {
             return Eigen::Vector3d(self.map() * v);
           })
      .def("__mul__",
           [](const Rotation3dWrapper& self,
              const py::EigenDRef<const Eigen::MatrixX3d>& points)
               -> Eigen::MatrixX3d {
             return points * self.map().toRotationMatrix().transpose();
           })
      .def("normalize", [](Rotation3dWrapper& self) { self.map().normalize(); })
      .def("matrix",
           [](const Rotation3dWrapper& self) {
             return self.map().toRotationMatrix();
           })
      .def("norm",
           [](const Rotation3dWrapper& self) { return self.map().norm(); })
      .def("angle",
           [](const Rotation3dWrapper& self) {
             return Eigen::AngleAxis<double>(self.map()).angle();
           })
      .def(
          "angle_to",
          [](const Rotation3dWrapper& self, const Rotation3dWrapper& other) {
            return self.map().angularDistance(other.map());
          },