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 intrinsics(self):
"""
:return: a reference to this camera's intrinsics object
:rtype: CameraIntrinsics
"""
cam_int = self.VITAL_LIB['vital_camera_intrinsics']
cam_int.argtypes = [self.c_ptr_type(), VitalErrorHandle.c_ptr_type()]
cam_int.restype = CameraIntrinsics.c_ptr_type()
with VitalErrorHandle() as eh:
c_ptr = cam_int(self, eh)
return CameraIntrinsics(from_cptr=c_ptr)
def intrinsics(self):
"""
:return: a reference to this camera's intrinsics object
:rtype: CameraIntrinsics
"""
cam_int = self.VITAL_LIB['vital_camera_intrinsics']
cam_int.argtypes = [self.c_ptr_type(), VitalErrorHandle.c_ptr_type()]
cam_int.restype = CameraIntrinsics.c_ptr_type()
with VitalErrorHandle() as eh:
c_ptr = cam_int(self, eh)
return CameraIntrinsics(from_cptr=c_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)
