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alex-luxonisalex-luxonis
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Merge pull request #821 from luxonis/tof_vga
ToF support
2 parents 5004cc7 + d9c7f15 commit b03248d

11 files changed

+301
-36
lines changed

‎CMakeLists.txt

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@@ -127,6 +127,7 @@ pybind11_add_module(${TARGET_NAME}
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src/pipeline/node/AprilTagBindings.cpp
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src/pipeline/node/DetectionParserBindings.cpp
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src/pipeline/node/WarpBindings.cpp
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src/pipeline/node/ToFBindings.cpp
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src/pipeline/datatype/ADatatypeBindings.cpp
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src/pipeline/datatype/AprilTagConfigBindings.cpp
@@ -135,6 +136,7 @@ pybind11_add_module(${TARGET_NAME}
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src/pipeline/datatype/CameraControlBindings.cpp
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src/pipeline/datatype/EdgeDetectorConfigBindings.cpp
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src/pipeline/datatype/FeatureTrackerConfigBindings.cpp
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src/pipeline/datatype/ToFConfigBindings.cpp
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src/pipeline/datatype/ImageManipConfigBindings.cpp
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src/pipeline/datatype/ImgDetectionsBindings.cpp
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src/pipeline/datatype/ImgFrameBindings.cpp

‎depthai-core

‎src/DatatypeBindings.cpp

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@@ -21,6 +21,7 @@ void bind_spatiallocationcalculatordata(pybind11::module& m, void* pCallstack);
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void bind_stereodepthconfig(pybind11::module& m, void* pCallstack);
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void bind_systeminformation(pybind11::module& m, void* pCallstack);
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void bind_trackedfeatures(pybind11::module& m, void* pCallstack);
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void bind_tofconfig(pybind11::module& m, void* pCallstack);
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void bind_tracklets(pybind11::module& m, void* pCallstack);
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void DatatypeBindings::addToCallstack(std::deque<StackFunction>& callstack) {
@@ -46,6 +47,7 @@ void DatatypeBindings::addToCallstack(std::deque<StackFunction>& callstack) {
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callstack.push_front(bind_stereodepthconfig);
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callstack.push_front(bind_systeminformation);
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callstack.push_front(bind_trackedfeatures);
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callstack.push_front(bind_tofconfig);
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callstack.push_front(bind_tracklets);
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}
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‎src/pipeline/datatype/ImgFrameBindings.cpp

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@@ -202,6 +202,9 @@ void bind_imgframe(pybind11::module& m, void* pCallstack){
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break;
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case ImgFrame::Type::RAW16:
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case ImgFrame::Type::RAW14:
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case ImgFrame::Type::RAW12:
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case ImgFrame::Type::RAW10:
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shape = {img.getHeight(), img.getWidth()};
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dtype = py::dtype::of<uint16_t>();
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break;
@@ -303,6 +306,9 @@ void bind_imgframe(pybind11::module& m, void* pCallstack){
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case ImgFrame::Type::RAW8:
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case ImgFrame::Type::RAW16:
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case ImgFrame::Type::RAW14:
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case ImgFrame::Type::RAW12:
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case ImgFrame::Type::RAW10:
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case ImgFrame::Type::GRAY8:
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case ImgFrame::Type::GRAYF16:
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default:

‎src/pipeline/datatype/ToFConfigBindings.cpp

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

‎src/pipeline/node/CameraBindings.cpp

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@@ -159,6 +159,7 @@ void bind_camera(pybind11::module& m, void* pCallstack){
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.def("setCalibrationAlpha", &Camera::setCalibrationAlpha, py::arg("alpha"), DOC(dai, node, Camera, setCalibrationAlpha))
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.def("getCalibrationAlpha", &Camera::getCalibrationAlpha, DOC(dai, node, Camera, getCalibrationAlpha))
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.def("setRawOutputPacked", &Camera::setRawOutputPacked, py::arg("packed"), DOC(dai, node, Camera, setRawOutputPacked))
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;
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// ALIAS
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daiNodeModule.attr("Camera").attr("Properties") = cameraProperties;

‎src/pipeline/node/ColorCameraBindings.cpp

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@@ -188,6 +188,8 @@ void bind_colorcamera(pybind11::module& m, void* pCallstack){
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.def("getIspNumFramesPool", &ColorCamera::getIspNumFramesPool, DOC(dai, node, ColorCamera, getIspNumFramesPool))
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.def("setCamera", &ColorCamera::setCamera, py::arg("name"), DOC(dai, node, ColorCamera, setCamera))
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.def("getCamera", &ColorCamera::getCamera, DOC(dai, node, ColorCamera, getCamera))
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.def("setRawOutputPacked", &ColorCamera::setRawOutputPacked, py::arg("packed"), DOC(dai, node, ColorCamera, setRawOutputPacked))
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;
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// ALIAS
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daiNodeModule.attr("ColorCamera").attr("Properties") = colorCameraProperties;

‎src/pipeline/node/MonoCameraBindings.cpp

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@@ -92,6 +92,8 @@ void bind_monocamera(pybind11::module& m, void* pCallstack){
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.def("getRawNumFramesPool", &MonoCamera::getRawNumFramesPool, DOC(dai, node, MonoCamera, getRawNumFramesPool))
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.def("setCamera", &MonoCamera::setCamera, py::arg("name"), DOC(dai, node, MonoCamera, setCamera))
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.def("getCamera", &MonoCamera::getCamera, DOC(dai, node, MonoCamera, getCamera))
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.def("setRawOutputPacked", &MonoCamera::setRawOutputPacked, py::arg("packed"), DOC(dai, node, MonoCamera, setRawOutputPacked))
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;
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// ALIAS
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daiNodeModule.attr("MonoCamera").attr("Properties") = monoCameraProperties;

‎src/pipeline/node/NodeBindings.cpp

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@@ -114,6 +114,7 @@ void bind_edgedetector(pybind11::module& m, void* pCallstack);
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void bind_featuretracker(pybind11::module& m, void* pCallstack);
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void bind_apriltag(pybind11::module& m, void* pCallstack);
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void bind_detectionparser(pybind11::module& m, void* pCallstack);
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void bind_tof(pybind11::module& m, void* pCallstack);
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void NodeBindings::addToCallstack(std::deque<StackFunction>& callstack) {
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// Bind Node et al
@@ -143,6 +144,7 @@ void NodeBindings::addToCallstack(std::deque<StackFunction>& callstack) {
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callstack.push_front(bind_featuretracker);
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callstack.push_front(bind_apriltag);
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callstack.push_front(bind_detectionparser);
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callstack.push_front(bind_tof);
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}
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void NodeBindings::bind(pybind11::module& m, void* pCallstack){

‎src/pipeline/node/ToFBindings.cpp

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

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