def covariance(self):
cptr = self._call_cfunc(
"vital_feature_covar",
[self.C_TYPE_PTR],
[self],
Covariance.c_ptr_type(2, ctypes.c_double),
)
return Covariance(2, ctypes.c_double, from_cptr=cptr)
def covariance(self):
cptr = self._call_cfunc(
"vital_feature_covar",
[self.C_TYPE_PTR],
Covariance.c_ptr_type(2, ctypes.c_double),
self
)
return Covariance(2, ctypes.c_double, from_cptr=cptr)
def covariance(self):
"""
:return: a copy of this camera's center covariance
:rtype: Covariance
"""
cam_covar = self.VITAL_LIB['vital_camera_center_covar']
cam_covar.argtypes = [self.c_ptr_type(), VitalErrorHandle.c_ptr_type()]
cam_covar.restype = Covariance.c_ptr_type(3)
with VitalErrorHandle() as eh:
c_ptr = cam_covar(self, eh)
return Covariance(3, from_cptr=c_ptr)
def covariance(self, covar):
if not isinstance(covar, Covariance):
# Try an make a covariance out of whatever was provided
covar = Covariance(2, self._datatype, covar)
print "Setting covar:", covar
self._call_cfunc(
"vital_feature_{}_set_covar".format(self._tchar),
[self.C_TYPE_PTR,
Covariance.c_ptr_type(2, self._datatype)],
[self, covar],
)
def covariance(self, c):
"""
Set new landmark covariance
:type c: vital.types.Covariance
"""
expected_covar_type = Covariance.c_ptr_type(3, self._datatype)
# Convert covariance to correct type if necessary
if c.C_TYPE_PTR != expected_covar_type:
c = Covariance(3, self._datatype, c.to_matrix())
self._call_cfunc('vital_landmark_{}_set_covar'.format(self._tchar),
[self.C_TYPE_PTR, expected_covar_type], [self, c])
def covariance(self, covar):
if not isinstance(covar, Covariance):
# Try an make a covariance out of whatever was provided
covar = Covariance(2, self._datatype, covar)
print "Setting covar:", covar
self._call_cfunc(
"vital_feature_{}_set_covar".format(self._tchar),
[self.C_TYPE_PTR, Covariance.c_ptr_type(2, self._datatype)],
None,
self, covar
)
def covariance(self):
"""
:return: a copy of this camera's center covariance
:rtype: Covariance
"""
cam_covar = self.VITAL_LIB['vital_camera_center_covar']
cam_covar.argtypes = [self.c_ptr_type(), VitalErrorHandle.c_ptr_type()]
cam_covar.restype = Covariance.c_ptr_type(3)
with VitalErrorHandle() as eh:
c_ptr = cam_covar(self, eh)
return Covariance(3, from_cptr=c_ptr)
def covariance(self, covar):
if self._datatype is None:
raise VitalNoTypeInfoException("Type info required but not present")
if not isinstance(covar, Covariance):
# Try an make a covariance out of whatever was provided
covar = Covariance(2, self._datatype, covar)
print "Setting covar:", covar
self._call_cfunc(
"vital_feature_{}_set_covar".format(self._tchar),
[self.C_TYPE_PTR, Covariance.c_ptr_type(2, self._datatype)],
[self, covar],
)
def covariance(self, covar):
if self._datatype is None:
raise VitalNoTypeInfoException(
"Type info required but not present")
if not isinstance(covar, Covariance):
# Try an make a covariance out of whatever was provided
covar = Covariance(2, self._datatype, covar)
print "Setting covar:", covar
self._call_cfunc(
"vital_feature_{}_set_covar".format(self._tchar),
[self.C_TYPE_PTR,
Covariance.c_ptr_type(2, self._datatype)],
[self, covar],
)
def test_from_cptr(self):
# Create a new covariance from C function and create new python instance
# from that pointer
c_new_func = VitalObject.VITAL_LIB['vital_covariance_3d_new']
c_new_func.argtypes = [VitalErrorHandle.C_TYPE_PTR]
c_new_func.restype = Covariance.c_ptr_type(3, ctypes.c_double)
with VitalErrorHandle() as eh:
c_ptr = c_new_func(eh)
c = Covariance(N=3, c_type=ctypes.c_double, from_cptr=c_ptr)
nose.tools.assert_is(c.C_TYPE_PTR, Covariance.c_ptr_type(3, ctypes.c_double))
numpy.testing.assert_array_equal(c.to_matrix(), numpy.eye(3))
c_new_func = VitalObject.VITAL_LIB['vital_covariance_3f_new']
c_new_func.argtypes = [VitalErrorHandle.C_TYPE_PTR]
c_new_func.restype = Covariance.c_ptr_type(3, ctypes.c_float)
with VitalErrorHandle() as eh:
c_ptr = c_new_func(eh)
c = Covariance(N=3, c_type=ctypes.c_float, from_cptr=c_ptr)
nose.tools.assert_is(c.C_TYPE_PTR,Covariance.c_ptr_type(3, ctypes.c_float))
numpy.testing.assert_array_equal(c.to_matrix(), numpy.eye(3))
def test_from_cptr(self):
# Create a new covariance from C function and create new python instance
# from that pointer
c_new_func = VitalObject.VITAL_LIB['vital_covariance_3d_new']
c_new_func.argtypes = [VitalErrorHandle.C_TYPE_PTR]
c_new_func.restype = Covariance.c_ptr_type(3, ctypes.c_double)
with VitalErrorHandle() as eh:
c_ptr = c_new_func(eh)
c = Covariance(N=3, c_type=ctypes.c_double, from_cptr=c_ptr)
nose.tools.assert_is(c.C_TYPE_PTR,
Covariance.c_ptr_type(3, ctypes.c_double))
numpy.testing.assert_array_equal(c.to_matrix(), numpy.eye(3))
c_new_func = VitalObject.VITAL_LIB['vital_covariance_3f_new']
c_new_func.argtypes = [VitalErrorHandle.C_TYPE_PTR]
c_new_func.restype = Covariance.c_ptr_type(3, ctypes.c_float)
with VitalErrorHandle() as eh:
c_ptr = c_new_func(eh)
c = Covariance(N=3, c_type=ctypes.c_float, from_cptr=c_ptr)
nose.tools.assert_is(c.C_TYPE_PTR,
Covariance.c_ptr_type(3, ctypes.c_float))
numpy.testing.assert_array_equal(c.to_matrix(), numpy.eye(3))
def covariance(self):
cptr = self._call_cfunc('vital_landmark_covariance', [self.C_TYPE_PTR],
[self], Covariance.c_ptr_type(3))
return Covariance(3, from_cptr=cptr)
