From 3d0cf908737ef0dd678b6d0a937b1a32050ebd88 Mon Sep 17 00:00:00 2001
From: Sameer Sheorey <sameer.sheorey@intel.com>
Date: Mon, 18 Nov 2024 23:54:22 -0800
Subject: [PATCH] Enable auto conversion from Python list / tuple by using
deque.
Add __repr__
---
cpp/open3d/t/geometry/Geometry.h | 7 +++++
cpp/pybind/t/geometry/geometry.cpp | 34 ++++++++++++++++-----
cpp/pybind/utility/eigen.cpp | 1 -
python/test/t/geometry/test_pointcloud.py | 4 +--
python/test/t/geometry/test_trianglemesh.py | 5 +--
5 files changed, 35 insertions(+), 16 deletions(-)
diff --git a/cpp/open3d/t/geometry/Geometry.h b/cpp/open3d/t/geometry/Geometry.h
index 823f670ffcb..83e566ea2fb 100644
--- a/cpp/open3d/t/geometry/Geometry.h
+++ b/cpp/open3d/t/geometry/Geometry.h
@@ -7,6 +7,8 @@
#pragma once
+#include <fmt/format.h>
+
#include <string>
#include "open3d/core/Device.h"
@@ -106,6 +108,11 @@ struct MetricParameters {
/// distance computation. This specifies the number of points sampled. No
/// sampling is done for point clouds.
size_t n_sampled_points = 1000;
+ std::string ToString() const {
+ return fmt::format(
+ "MetricParameters: fscore_radius={}, n_sampled_points={}",
+ fscore_radius, n_sampled_points);
+ }
};
} // namespace geometry
diff --git a/cpp/pybind/t/geometry/geometry.cpp b/cpp/pybind/t/geometry/geometry.cpp
index 19140568401..f6c57124c84 100644
--- a/cpp/pybind/t/geometry/geometry.cpp
+++ b/cpp/pybind/t/geometry/geometry.cpp
@@ -7,8 +7,10 @@
#include "open3d/t/geometry/Geometry.h"
+#include <pybind11/stl.h>
#include <pybind11/stl_bind.h>
+#include <deque>
#include <vector>
#include "pybind/docstring.h"
@@ -56,7 +58,6 @@ void pybind_geometry_declarations(py::module& m) {
"Hausdorff Distance")
.value("FScore", Metric::FScore, "F-Score")
.export_values();
- py::bind_vector<std::vector<Metric>>(m_geometry, "VectorMetric");
py::class_<MetricParameters> metric_parameters(
m_geometry, "MetricParameters",
"Holder for various parameters required by metrics.");
@@ -75,23 +76,40 @@ void pybind_geometry_declarations(py::module& m) {
void pybind_geometry_definitions(py::module& m) {
auto m_geometry = static_cast<py::module>(m.attr("geometry"));
+ py::bind_vector<std::vector<Metric>>(m_geometry, "VectorMetric");
auto metric_parameters = static_cast<py::class_<MetricParameters>>(
m_geometry.attr("MetricParameters"));
+ // Use std::deque instead of std::vector to enable automatic Python list /
+ // tuple conversion. FIXME: Ideally this should work for std::vector.
metric_parameters
- .def(py::init<const std::vector<float>&, size_t>(),
- "fscore_radius"_a = std::vector<float>{0.01},
+ .def(py::init([](const std::deque<float>& fsr, size_t nsp) {
+ std::vector<float> fsrvec{fsr.begin(), fsr.end()};
+ return MetricParameters{fsrvec, nsp};
+ }),
+ "fscore_radius"_a = std::deque<float>{0.01f},
"n_sampled_points"_a = 1000)
- .def_readwrite("fscore_radius", &MetricParameters::fscore_radius,
- "Radius for computing the F-Score. A match between "
- "a point and its nearest neighbor is sucessful if "
- "it is within this radius.")
+ .def_property(
+ "fscore_radius",
+ [](const MetricParameters& self) { // getter
+ return std::deque<float>(self.fscore_radius.begin(),
+ self.fscore_radius.end());
+ },
+ [](MetricParameters& self,
+ const std::deque<float>& fsr) { // setter
+ self.fscore_radius =
+ std::vector<float>(fsr.begin(), fsr.end());
+ },
+ "Radius for computing the F-Score. A match between "
+ "a point and its nearest neighbor is sucessful if "
+ "it is within this radius.")
.def_readwrite("n_sampled_points",
&MetricParameters::n_sampled_points,
"Points are sampled uniformly from the surface of "
"triangle meshes before distance computation. This "
"specifies the number of points sampled. No "
- "sampling is done for point clouds.");
+ "sampling is done for point clouds.")
+ .def("__repr__", &MetricParameters::ToString);
pybind_geometry_class_definitions(m_geometry);
pybind_drawable_geometry_class_definitions(m_geometry);
diff --git a/cpp/pybind/utility/eigen.cpp b/cpp/pybind/utility/eigen.cpp
index 232433642a6..1eb621772eb 100644
--- a/cpp/pybind/utility/eigen.cpp
+++ b/cpp/pybind/utility/eigen.cpp
@@ -308,7 +308,6 @@ namespace utility {
void pybind_eigen_declarations(py::module &m) {
auto intvector = pybind_eigen_vector_of_scalar<int>(m, "IntVector");
- auto floatvector = pybind_eigen_vector_of_scalar<float>(m, "FloatVector");
auto doublevector =
pybind_eigen_vector_of_scalar<double>(m, "DoubleVector");
auto vector3dvector = pybind_eigen_vector_of_vector<Eigen::Vector3d>(
diff --git a/python/test/t/geometry/test_pointcloud.py b/python/test/t/geometry/test_pointcloud.py
index ac02aa860da..dc98b1db951 100644
--- a/python/test/t/geometry/test_pointcloud.py
+++ b/python/test/t/geometry/test_pointcloud.py
@@ -205,13 +205,11 @@ def test_metrics():
# (1, 3, 3, 1) vertices are shifted by (0, 0.1, 0.1*sqrt(2), 0.1*sqrt(3))
# respectively
- metric_params = MetricParameters(
- fscore_radius=o3d.utility.FloatVector((0.01, 0.11, 0.15, 0.18)))
+ metric_params = MetricParameters(fscore_radius=(0.01, 0.11, 0.15, 0.18))
metrics = pcd1.compute_metrics(
pcd2, (Metric.ChamferDistance, Metric.HausdorffDistance, Metric.FScore),
metric_params)
- print(metrics)
np.testing.assert_allclose(
metrics.cpu().numpy(),
(0.22436734, np.sqrt(3) / 10, 100. / 8, 400. / 8, 700. / 8, 100.),
diff --git a/python/test/t/geometry/test_trianglemesh.py b/python/test/t/geometry/test_trianglemesh.py
index 91b130dfeae..88678e3f877 100644
--- a/python/test/t/geometry/test_trianglemesh.py
+++ b/python/test/t/geometry/test_trianglemesh.py
@@ -1404,14 +1404,11 @@ def test_metrics():
# 3 faces of the cube are the same, and 3 are shifted up by 0.1 - raycast
# distances should follow this.
- metric_params = MetricParameters(fscore_radius=o3d.utility.FloatVector(
- (0.05, 0.15)),
+ metric_params = MetricParameters(fscore_radius=(0.05, 0.15),
n_sampled_points=100000)
- # n_sampled_points=100000)
metrics = box1.compute_metrics(
box2, (Metric.ChamferDistance, Metric.HausdorffDistance, Metric.FScore),
metric_params)
- print(metrics)
np.testing.assert_allclose(metrics.cpu().numpy(), (0.1, 0.17, 50, 100),
rtol=0.05)