Merge pull request #147 from zivid/ZIVID-4528_add_support_for_normals

Add support for normals
zivid · Oct 19, 2021 · e21effd · e21effd
2 parents 04c4fd8 + c2e4074
commit e21effd
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Showing 8 changed files with 35 additions and 2 deletions.
diff --git a/continuous-integration/deployment/expected-version.txt b/continuous-integration/deployment/expected-version.txt
@@ -1 +1 @@
-2.2.0.2.5.0
+2.3.0.2.5.0
diff --git a/modules/_zivid/__init__.py b/modules/_zivid/__init__.py
@@ -36,6 +36,7 @@
         __version__,
         Application,
         Array2DColorRGBA,
+        Array2DNormalXYZ,
         Array2DPointXYZ,
         Array2DPointXYZColorRGBA,
         Array2DPointXYZW,

diff --git a/modules/zivid/point_cloud.py b/modules/zivid/point_cloud.py
@@ -61,6 +61,7 @@ def copy_data(self, data_format):
         xyzw:       ndarray(Height,Width,4) of float
         z:          ndarray(Height,Width)   of float
         rgba:       ndarray(Height,Width,4) of uint8
+        normals:    ndarray(Height,Width,3) of float
         snr:        ndarray(Height,Width)   of float
         xyzrgba:    ndarray(Height,Width)   of composite dtype (accessed with e.g. arr["x"])
 
@@ -80,6 +81,7 @@ def copy_data(self, data_format):
             "xyzw": _zivid.Array2DPointXYZW,
             "z": _zivid.Array2DPointZ,
             "rgba": _zivid.Array2DColorRGBA,
+            "normals": _zivid.Array2DNormalXYZ,
             "snr": _zivid.Array2DSNR,
             "xyzrgba": _zivid.Array2DPointXYZColorRGBA,
         }

diff --git a/setup.py b/setup.py
@@ -8,7 +8,7 @@
 
 # To be replaced by: from setuptools_scm import get_version
 def get_version():
-    return "2.2.0"
+    return "2.3.0"
 
 
 def _zivid_sdk_version():

diff --git a/src/ReleasableArray2D.cpp b/src/ReleasableArray2D.cpp
@@ -71,6 +71,18 @@ namespace ZividPython
             .def_buffer(pointCloudDataBuffer<NativeType, WrapperType, 4>);
     }
 
+    void wrapClass(pybind11::class_<ReleasableArray2D<Zivid::NormalXYZ>> pyClass)
+    {
+        using WrapperType = float;
+        using NativeType = Zivid::NormalXYZ;
+        static_assert(std::is_same_v<WrapperType, decltype(NativeType::x)>);
+        static_assert(std::is_same_v<WrapperType, decltype(NativeType::y)>);
+        static_assert(std::is_same_v<WrapperType, decltype(NativeType::z)>);
+
+        pyClass.def(py::init<>(&pointCloudDataCopier<NativeType>))
+            .def_buffer(pointCloudDataBuffer<NativeType, WrapperType, 3>);
+    }
+
     void wrapClass(pybind11::class_<ReleasableArray2D<Zivid::PointXYZ>> pyClass)
     {
         using WrapperType = float;

diff --git a/src/Wrapper.cpp b/src/Wrapper.cpp
@@ -43,6 +43,7 @@ ZIVID_PYTHON_MODULE // NOLINT
     ZIVID_PYTHON_WRAP_CLASS_BUFFER_AS_RELEASABLE(module, PointCloud);
 
     ZIVID_PYTHON_WRAP_ARRAY2D_BUFFER_AS_RELEASABLE(module, ColorRGBA);
+    ZIVID_PYTHON_WRAP_ARRAY2D_BUFFER_AS_RELEASABLE(module, NormalXYZ);
     ZIVID_PYTHON_WRAP_ARRAY2D_BUFFER_AS_RELEASABLE(module, PointXYZ);
     ZIVID_PYTHON_WRAP_ARRAY2D_BUFFER_AS_RELEASABLE(module, PointXYZW);
     ZIVID_PYTHON_WRAP_ARRAY2D_BUFFER_AS_RELEASABLE(module, PointZ);

diff --git a/src/include/ZividPython/ReleasableArray2D.h b/src/include/ZividPython/ReleasableArray2D.h
@@ -11,6 +11,7 @@ namespace ZividPython
 
     void wrapClass(pybind11::class_<ReleasableArray2D<Zivid::SNR>> pyClass);
     void wrapClass(pybind11::class_<ReleasableArray2D<Zivid::ColorRGBA>> pyClass);
+    void wrapClass(pybind11::class_<ReleasableArray2D<Zivid::NormalXYZ>> pyClass);
     void wrapClass(pybind11::class_<ReleasableArray2D<Zivid::PointXYZ>> pyClass);
     void wrapClass(pybind11::class_<ReleasableArray2D<Zivid::PointXYZW>> pyClass);
     void wrapClass(pybind11::class_<ReleasableArray2D<Zivid::PointZ>> pyClass);

diff --git a/test/test_point_cloud.py b/test/test_point_cloud.py
@@ -9,12 +9,14 @@ def test_point_cloud_copy_data(point_cloud):
     xyzw = point_cloud.copy_data("xyzw")
     xyzrgba = point_cloud.copy_data("xyzrgba")
     rgba = point_cloud.copy_data("rgba")
+    normals = point_cloud.copy_data("normals")
     depth = point_cloud.copy_data("z")
     snr = point_cloud.copy_data("snr")
     assert isinstance(xyz, np.ndarray)
     assert isinstance(xyzw, np.ndarray)
     assert isinstance(xyzrgba, np.ndarray)
     assert isinstance(rgba, np.ndarray)
+    assert isinstance(normals, np.ndarray)
     assert isinstance(depth, np.ndarray)
     assert isinstance(snr, np.ndarray)
 
@@ -67,6 +69,20 @@ def test_point_cloud_rgba(point_cloud):
     np.testing.assert_array_equal(rgba[:, :, 3], xyzrgba["a"])
 
 
+def test_point_cloud_normals(point_cloud):
+    import numpy as np
+
+    normals = point_cloud.copy_data("normals")
+
+    assert normals.shape == (point_cloud.height, point_cloud.width, 3)
+    assert normals.dtype == np.float32
+
+    normals_flat = normals.reshape(normals.shape[0] * normals.shape[1], 3)
+    non_nan_normals = normals_flat[~np.isnan(normals_flat[:, 0])]
+    vector_lengths = np.linalg.norm(non_nan_normals, axis=1)
+    np.testing.assert_array_almost_equal(vector_lengths, 1.0)
+
+
 def test_point_cloud_snr(point_cloud):
     import numpy as np