Add ObjectTrackerConfig message

Author: SzabolcsGergely

CMakeLists.txt

@@ -159,6 +159,7 @@ pybind11_add_module(${TARGET_NAME}
     src/pipeline/datatype/PointCloudConfigBindings.cpp
     src/pipeline/datatype/PointCloudDataBindings.cpp
     src/pipeline/datatype/ImageAlignConfigBindings.cpp
+    src/pipeline/datatype/ObjectTrackerConfigBindings.cpp
 )
 
 if(WIN32)

depthai-core

@@ -28,6 +28,7 @@ void bind_tracklets(pybind11::module& m, void* pCallstack);
 void bind_pointcloudconfig(pybind11::module& m, void* pCallstack);
 void bind_pointclouddata(pybind11::module& m, void* pCallstack);
 void bind_imagealignconfig(pybind11::module& m, void* pCallstack);
+void bind_objecttrackerconfig(pybind11::module& m, void* pCallstack);
 
 void DatatypeBindings::addToCallstack(std::deque<StackFunction>& callstack) {
      // Bind common datatypebindings
@@ -59,6 +60,7 @@ void DatatypeBindings::addToCallstack(std::deque<StackFunction>& callstack) {
     callstack.push_front(bind_pointcloudconfig);
     callstack.push_front(bind_pointclouddata);
     callstack.push_front(bind_imagealignconfig);
+    callstack.push_front(bind_objecttrackerconfig);
 }
 
 void DatatypeBindings::bind(pybind11::module& m, void* pCallstack){

src/DatatypeBindings.cpp

@@ -0,0 +1,54 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/ObjectTrackerConfig.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_objecttrackerconfig(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    py::class_<RawObjectTrackerConfig, RawBuffer, std::shared_ptr<RawObjectTrackerConfig>> rawConfig(m, "RawObjectTrackerConfig", DOC(dai, RawObjectTrackerConfig));
+    py::class_<ObjectTrackerConfig, Buffer, std::shared_ptr<ObjectTrackerConfig>> config(m, "ObjectTrackerConfig", DOC(dai, ObjectTrackerConfig));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // 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
+    rawConfig
+        .def(py::init<>())
+        .def_readwrite("trackletIdsToRemove", &RawObjectTrackerConfig::trackletIdsToRemove, DOC(dai, RawObjectTrackerConfig, trackletIdsToRemove))
+        ;
+
+    // Message
+    config
+        .def(py::init<>())
+        .def(py::init<std::shared_ptr<RawObjectTrackerConfig>>())
+        
+        .def("set", &ObjectTrackerConfig::set, py::arg("config"), DOC(dai, ObjectTrackerConfig, set))
+        .def("get", &ObjectTrackerConfig::get, DOC(dai, ObjectTrackerConfig, get))
+        .def("forceRemoveID", &ObjectTrackerConfig::forceRemoveID, DOC(dai, ObjectTrackerConfig, forceRemoveID))
+        .def("forceRemoveIDs", &ObjectTrackerConfig::forceRemoveIDs, DOC(dai, ObjectTrackerConfig, forceRemoveIDs))
+        ;
+
+    // add aliases
+
+}

src/pipeline/datatype/ObjectTrackerConfigBindings.cpp

@@ -58,6 +58,7 @@ void bind_objecttracker(pybind11::module& m, void* pCallstack){
         .def_readonly("inputTrackerFrame", &ObjectTracker::inputTrackerFrame, DOC(dai, node, ObjectTracker, inputTrackerFrame))
         .def_readonly("inputDetectionFrame", &ObjectTracker::inputDetectionFrame, DOC(dai, node, ObjectTracker, inputDetectionFrame))
         .def_readonly("inputDetections", &ObjectTracker::inputDetections, DOC(dai, node, ObjectTracker, inputDetections))
+        .def_readonly("inputConfig", &ObjectTracker::inputConfig, DOC(dai, node, ObjectTracker, inputConfig))
         .def_readonly("out", &ObjectTracker::out, DOC(dai, node, ObjectTracker, out))
         .def_readonly("passthroughTrackerFrame", &ObjectTracker::passthroughTrackerFrame, DOC(dai, node, ObjectTracker, passthroughTrackerFrame))
         .def_readonly("passthroughDetectionFrame", &ObjectTracker::passthroughDetectionFrame, DOC(dai, node, ObjectTracker, passthroughDetectionFrame))