Modified: pydantic declarations

heimdall/datatypes/camera.py

@@ -10,6 +10,9 @@ class CameraIntrinsics(BaseDataClass):
     cx: float
     cy: float
 
+    def __init__(self, fx: float, fy: float, cx: float, cy: float) -> None:
+        super().__init__(fx=fx, fy=fy, cx=cx, cy=cy)
+
     @property
     def matrix(self) -> np.ndarray:
         return np.array([self.fx, self.fy, self.cx, self.cy])
@@ -18,3 +21,6 @@ def matrix(self) -> np.ndarray:
 class CameraInformation(BaseDataClass):
     intrinsics: CameraIntrinsics
     pose: Pose
+
+    def __init__(self, intrinsics: CameraIntrinsics, pose: Pose) -> None:
+        super().__init__(intrinsics=intrinsics, pose=pose)

heimdall/datatypes/image.py

@@ -9,3 +9,11 @@ class Image(BaseDataClass):
     rgb: np.ndarray | torch.Tensor
     depth: np.ndarray | torch.Tensor
     camera_information: CameraInformation
+
+    def __init__(
+        self,
+        rgb: np.ndarray | torch.Tensor,
+        depth: np.ndarray | torch.Tensor,
+        camera_information: CameraInformation,
+    ) -> None:
+        super().__init__(rgb=rgb, depth=depth, camera_information=camera_information)

heimdall/datatypes/pose.py

@@ -9,6 +9,9 @@
 class SO3(BaseDataClass):
     matrix: torch.Tensor
 
+    def __init__(self, matrix: torch.Tensor) -> None:
+        super().__init__(matrix=matrix)
+
     def __post_init__(self, *kwargs) -> None:
         if self.matrix.ndim > 3 or self.matrix.ndim < 2:
             raise ValueError("SO3 matrix must be of shape (3, 3) or (N, 3, 3))")
@@ -52,6 +55,9 @@ class Pose(BaseDataClass):
     translation: torch.Tensor
     SO3: SO3
 
+    def __init__(self, translation: torch.Tensor, SO3: SO3) -> None:
+        super().__init__(translation=translation, SO3=SO3)
+
     def __post_init__(self, *kwargs) -> None:
         if self.translation.ndim > 2 or self.translation.ndim < 1:
             raise ValueError("Translation vector must be of shape (3,) or (N, 3)")