import numpysane_pywrap as npsp
docstring_module = '''Internal triangulation routines
This is the written-in-C Python extension module that underlies the
triangulation routines. The user-facing functions are available in
mrcal.triangulation module in mrcal/triangulation.py
All functions are exported into the mrcal module. So you can call these via
mrcal._triangulation_npsp.fff() or mrcal.fff(). The latter is preferred.
'''
m = npsp.module(name="_triangulation_npsp",
docstring=docstring_module,
header=r'''
#include "mrcal.h"
''')
# All the triangulation routines except Lindstrom have an identical structure.
# Lindstrom is slightly different: it takes LOCAL v1 instead of a cam0-coords v1
NAME = "_triangulate_{WHAT}"
DOCS = r"""Internal {LONGNAME} triangulation routine
This is the internals for mrcal.triangulate_{WHAT}(get_gradients = False). As a
user, please call THAT function, and see the docs for that function. The
differences:
- This is just the no-gradients function. The internal function that returns
gradients is _triangulate_{WHAT}_withgrad
m = npsp.module(name="_mrcal_npsp",
docstring=docstring_module,
header=r'''
#include "mrcal.h"
static
bool validate_lensmodel_un_project(// out; valid if we returned true
mrcal_lensmodel_t* lensmodel,
// in
const char* lensmodel_str,
int Nintrinsics_in_arg, bool is_project)
{
if(lensmodel_str == NULL)
{
PyErr_Format(PyExc_RuntimeError,
"The 'lensmodel' argument is required");
return false;
}
mrcal_lensmodel_from_name(lensmodel, lensmodel_str);
if( !mrcal_lensmodel_type_is_valid(lensmodel->type) )
{
PyErr_Format(PyExc_RuntimeError,
"Couldn't parse 'lensmodel' argument '%s'", lensmodel_str);
return false;
}
mrcal_lensmodel_metadata_t meta = mrcal_lensmodel_metadata(lensmodel);
if( !is_project && !meta.has_gradients )
{
PyErr_Format(PyExc_RuntimeError,
"The internal _unproject() routine requires lens models that have gradients implemented. Use the Python mrcal.unproject() as a workaround");
return false;
}
int NlensParams = mrcal_lensmodel_num_params(lensmodel);
if( NlensParams != Nintrinsics_in_arg )
{
PyErr_Format(PyExc_RuntimeError,
"Lens model '%s' has %d parameters, but the given array has %d",
lensmodel_str, NlensParams, Nintrinsics_in_arg);
return false;
}
return true;
}
''')
m = npsp.module(name="_mrcal_npsp",
docstring=docstring_module,
header=r'''
#include "mrcal.h"
static
bool validate_lensmodel(// out; valid if we returned true
mrcal_lensmodel_t* lensmodel,
// in
const char* lensmodel_str,
int Nintrinsics_in_arg, bool is_project)
{
if(lensmodel_str == NULL)
{
PyErr_Format(PyExc_RuntimeError,
"The 'lensmodel' argument is required");
return false;
}
*lensmodel = mrcal_lensmodel_from_name(lensmodel_str);
if( !mrcal_lensmodel_type_is_valid(lensmodel->type) )
{
PyErr_Format(PyExc_RuntimeError,
"Couldn't parse 'lensmodel' argument '%s'", lensmodel_str);
return false;
}
if( !is_project && lensmodel->type == MRCAL_LENSMODEL_CAHVORE )
{
PyErr_Format(PyExc_RuntimeError,
"The internal _unproject() routine does not support CAHVORE. Use the Python mrcal.unproject() for that");
return false;
}
int NlensParams = mrcal_lensmodel_num_params(*lensmodel);
if( NlensParams != Nintrinsics_in_arg )
{
PyErr_Format(PyExc_RuntimeError,
"Lens model '%s' has %d parameters, but the given array has %d",
lensmodel_str, NlensParams, Nintrinsics_in_arg);
return false;
}
return true;
}
''')
docstring_module = '''Low-level routines to manipulate poses, transformations and points
This is the written-in-C Python extension module. Most of the time you want to
use the mrcal.poseutils wrapper module instead of this module directly. Any
functions not prefixed with "_" are meant to be called directly, without the
wrapper.
All functions are exported into the mrcal module. So you can call these via
mrcal._poseutils.fff() or mrcal.fff(). The latter is preferred.
'''
m = npsp.module(name="_poseutils_npsp",
docstring=docstring_module,
header=r'''
#include "poseutils.h"
#include <string.h>
''')
m.function( "identity_R",
"""Return an identity rotation matrix
SYNOPSIS
print( mrcal.identity_R() )
===>
[[1. 0. 0.]
[0. 1. 0.]
[0. 0. 1.]]
As with all the poseutils functions, the output can be written directly into a