def _new(self, center, rotation, intrinsics):
cam_new = self.VITAL_LIB['vital_camera_new']
cam_new.argtypes = [
EigenArray.c_ptr_type(3, 1, ctypes.c_double),
Rotation.c_ptr_type(ctypes.c_double),
CameraIntrinsics.c_ptr_type(),
VitalErrorHandle.c_ptr_type()
]
cam_new.restype = self.c_ptr_type()
# Fill in parameter gaps
if center is None:
center = EigenArray(3)
center[:] = 0
else:
center = EigenArray.from_iterable(center)
if rotation is None:
rotation = Rotation()
if intrinsics is None:
intrinsics = CameraIntrinsics()
with VitalErrorHandle() as eh:
return cam_new(center, rotation, intrinsics, eh)
def rotation(self):
"""
Get the rotation of this similarity transformation
:rtype: Rotation
"""
rot_ptr = self._call_cfunc(
'vital_similarity_%s_rotation' % self._tchar, [self.C_TYPE_PTR],
[self], Rotation.c_ptr_type(self._ctype))
return Rotation(self._ctype, rot_ptr)
def rotation(self):
"""
:return: a copy of this camera's rotation
:rtype: Rotation
"""
cam_rot = self.VITAL_LIB['vital_camera_rotation']
cam_rot.argtypes = [self.c_ptr_type(), VitalErrorHandle.c_ptr_type()]
cam_rot.restype = Rotation.c_ptr_type()
with VitalErrorHandle() as eh:
c_ptr = cam_rot(self, eh)
return Rotation(from_cptr=c_ptr)
def rotation(self):
"""
:return: a copy of this camera's rotation
:rtype: Rotation
"""
cam_rot = self.VITAL_LIB['vital_camera_rotation']
cam_rot.argtypes = [self.c_ptr_type(), VitalErrorHandle.c_ptr_type()]
cam_rot.restype = Rotation.c_ptr_type()
with VitalErrorHandle() as eh:
c_ptr = cam_rot(self, eh)
return Rotation(from_cptr=c_ptr)
def _new(self, s, r, t):
"""
:type s: float
:type r: Rotation | None
:type t: collections.Iterable[float] | None
"""
# noinspection PyProtectedMember
if r is None:
r = Rotation(self._ctype)
elif r._ctype != self._ctype:
# Create new Rotation sharing our type
r = Rotation.from_quaternion(r.quaternion(), self._ctype)
if t is None:
t = EigenArray.from_iterable((0, 0, 0), self._ctype)
else:
t = EigenArray.from_iterable(t, self._ctype, (3, 1))
return self._call_cfunc('vital_similarity_%s_new' % self._tchar, [
self._ctype,
Rotation.c_ptr_type(self._ctype),
EigenArray.c_ptr_type(3, 1, self._ctype)
], [s, r, t], self.C_TYPE_PTR)
def _new(self, center, rotation, intrinsics):
cam_new = self.VITAL_LIB['vital_camera_new']
cam_new.argtypes = [EigenArray.c_ptr_type(3, 1, ctypes.c_double),
Rotation.c_ptr_type(ctypes.c_double),
CameraIntrinsics.c_ptr_type(),
VitalErrorHandle.c_ptr_type()]
cam_new.restype = self.c_ptr_type()
# Fill in parameter gaps
if center is None:
center = EigenArray(3)
center[:] = 0
else:
center = EigenArray.from_iterable(center)
if rotation is None:
rotation = Rotation()
if intrinsics is None:
intrinsics = CameraIntrinsics()
with VitalErrorHandle() as eh:
return cam_new(center, rotation, intrinsics, eh)
