adding bindings for ToF

Author: FlorinBuica-luxonis

CMakeLists.txt

@@ -124,9 +124,11 @@ pybind11_add_module(${TARGET_NAME}
     src/pipeline/node/IMUBindings.cpp
     src/pipeline/node/EdgeDetectorBindings.cpp
     src/pipeline/node/FeatureTrackerBindings.cpp
+    src/pipeline/node/ToFBindings.cpp
     src/pipeline/node/AprilTagBindings.cpp
     src/pipeline/node/DetectionParserBindings.cpp
     src/pipeline/node/WarpBindings.cpp
+    src/pipeline/node/ToFBindings.cpp
 
     src/pipeline/datatype/ADatatypeBindings.cpp
     src/pipeline/datatype/AprilTagConfigBindings.cpp
@@ -135,6 +137,7 @@ pybind11_add_module(${TARGET_NAME}
     src/pipeline/datatype/CameraControlBindings.cpp
     src/pipeline/datatype/EdgeDetectorConfigBindings.cpp
     src/pipeline/datatype/FeatureTrackerConfigBindings.cpp
+    src/pipeline/datatype/ToFConfigBindings.cpp
     src/pipeline/datatype/ImageManipConfigBindings.cpp
     src/pipeline/datatype/ImgDetectionsBindings.cpp
     src/pipeline/datatype/ImgFrameBindings.cpp

depthai-core

@@ -0,0 +1,71 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/ToFConfig.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_tofconfig(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    py::class_<RawToFConfig, RawBuffer, std::shared_ptr<RawToFConfig>> rawToFConfig(m, "RawToFConfig", DOC(dai, RawToFConfig));
+    py::class_<RawToFConfig::DepthParams> depthParams(rawToFConfig, "DepthParams", DOC(dai, RawToFConfig, DepthParams));
+    py::enum_<RawToFConfig::DepthParams::TypeFMod> depthParamsTypeFMod(depthParams, "TypeFMod", DOC(dai, RawToFConfig, DepthParams, TypeFMod));
+    py::class_<ToFConfig, Buffer, std::shared_ptr<ToFConfig>> toFConfig(m, "ToFConfig", DOC(dai, ToFConfig));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+    rawToFConfig
+        .def(py::init<>())
+        .def_readwrite("depthParams", &RawToFConfig::depthParams, DOC(dai, RawToFConfig, depthParams))
+        ;
+
+    depthParamsTypeFMod
+        .value("ALL", RawToFConfig::DepthParams::TypeFMod::F_MOD_ALL)
+        .value("MIN", RawToFConfig::DepthParams::TypeFMod::F_MOD_MIN)
+        .value("MAX", RawToFConfig::DepthParams::TypeFMod::F_MOD_MAX)
+    ;
+
+    depthParams
+        .def(py::init<>())
+        .def_readwrite("enable", &RawToFConfig::DepthParams::enable, DOC(dai, RawToFConfig, DepthParams, enable))
+        .def_readwrite("freqModUsed", &RawToFConfig::DepthParams::freqModUsed, DOC(dai, RawToFConfig, DepthParams, freqModUsed))
+        .def_readwrite("avgPhaseShuffle", &RawToFConfig::DepthParams::avgPhaseShuffle, DOC(dai, RawToFConfig, DepthParams, avgPhaseShuffle))
+        .def_readwrite("minimumAmplitude", &RawToFConfig::DepthParams::minimumAmplitude, DOC(dai, RawToFConfig, DepthParams, minimumAmplitude))
+        ;
+
+    // Message
+    toFConfig
+        .def(py::init<>())
+        .def(py::init<std::shared_ptr<RawToFConfig>>())
+
+        .def("setDepthParams", static_cast<ToFConfig&(ToFConfig::*)(dai::ToFConfig::DepthParams)>(&ToFConfig::setDepthParams), py::arg("config"), DOC(dai, ToFConfig, setDepthParams, 2))
+
+        .def("set", &ToFConfig::set, py::arg("config"), DOC(dai, ToFConfig, set))
+        .def("get", &ToFConfig::get, DOC(dai, ToFConfig, get))
+        ;
+
+    // add aliases
+    m.attr("ToFConfig").attr("DepthParams") = m.attr("RawToFConfig").attr("DepthParams");
+
+}

src/pipeline/datatype/ToFConfigBindings.cpp

@@ -0,0 +1,47 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/ToF.hpp"
+
+void bind_tof(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<ToFProperties> tofProperties(m, "ToFProperties", DOC(dai, ToFProperties));
+    auto tof = ADD_NODE(ToF);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    tofProperties
+        .def_readwrite("initialConfig", &ToFProperties::initialConfig)
+        ;
+
+    // Node
+    tof
+        .def_readonly("input", &ToF::input, DOC(dai, node, ToF, input), DOC(dai, node, ToF, input))
+        .def_readonly("inputConfig", &ToF::inputConfig, DOC(dai, node, ToF, inputConfig), DOC(dai, node, ToF, inputConfig))
+        .def_readonly("depth", &ToF::depth, DOC(dai, node, ToF, depth), DOC(dai, node, ToF, depth))
+        .def_readonly("amplitude", &ToF::amplitude, DOC(dai, node, ToF, amplitude), DOC(dai, node, ToF, amplitude))
+        .def_readonly("error", &ToF::error, DOC(dai, node, ToF, error), DOC(dai, node, ToF, error))
+        .def_readonly("initialConfig", &ToF::initialConfig, DOC(dai, node, ToF, initialConfig), DOC(dai, node, ToF, initialConfig))
+    ;
+    // ALIAS
+    daiNodeModule.attr("ToF").attr("Properties") = tofProperties;
+
+}

src/pipeline/node/ToFBindings.cpp

@@ -45,7 +45,7 @@
 from itertools import cycle
 from pathlib import Path
 import sys
-import cam_test_gui
+#import cam_test_gui
 import signal
 
 
@@ -181,6 +181,9 @@ def get(self):
 control = pipeline.createXLinkIn()
 control.setStreamName('control')
 
+xinTofConfig = pipeline.createXLinkIn()
+xinTofConfig.setStreamName('tofConfig')
+
 cam = {}
 tof = {}
 xout = {}
@@ -199,6 +202,11 @@ def get(self):
             tof[c] = pipeline.create(dai.node.ToF)
             cam[c].raw.link(tof[c].input)
             tof[c].depth.link(xout[c].input)
+            xinTofConfig.out.link(tof[c].inputConfig)
+            tofConfig = tof[c].initialConfig.get()
+            tofConfig.setFreqModUsed(dai.ToFConfig.DepthParams.TypeFMod.F_MOD_MIN)
+            tofConfig.SetAvgPhaseShuffle(True)
+            tofConfig.setMinAmplitude(20.0)
     elif cam_type_color[c]:
         cam[c] = pipeline.createColorCamera()
         cam[c].setResolution(color_res_opts[args.color_resolution])
@@ -230,7 +238,7 @@ def get(self):
         xout_raw[c] = pipeline.create(dai.node.XLinkOut)
         xout_raw[c].setStreamName(raw_name)
         streams.append(raw_name)
-        cam[c].raw.link(xout_raw[c].input)
+        tof[c].amplitude.link(xout_raw[c].input)
         cam[c].setRawOutputPacked(False)
 
 if args.camera_tuning: