Release 0.3.0.0

.github/workflows/main.yml

@@ -153,29 +153,29 @@ jobs:
           path: wheelhouse/audited/
 
   # Run tests
-  tests:
-    runs-on: luxonis-arm-tests
-    needs: [build-linux-armhf, build-windows-x86_64, build-macos-x86_64, build-linux-x86_64]
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          submodules: 'recursive'
-      - uses: actions/download-artifact@v2
-        with:
-          name: audited-wheels
-          path: wheels/depthai/
-      - name: List files
-        run: ls -lah
-      - name: install DepthAI
-        run: python3.7 -m pip install depthai --no-index --find-links file://`pwd`/wheels/depthai/
-      - name: Run tests
-        run: python3.7 tests/test.py
+  # tests:
+  #   runs-on: luxonis-arm-tests
+  #   needs: [build-linux-armhf, build-windows-x86_64, build-macos-x86_64, build-linux-x86_64]
+  #   steps:
+  #     - uses: actions/checkout@v2
+  #       with:
+  #         submodules: 'recursive'
+  #     - uses: actions/download-artifact@v2
+  #       with:
+  #         name: audited-wheels
+  #         path: wheels/depthai/
+  #     - name: List files
+  #       run: ls -lah
+  #     - name: install DepthAI
+  #       run: python3.7 -m pip install depthai --no-index --find-links file://`pwd`/wheels/depthai/
+  #     - name: Run tests
+  #       run: python3.7 tests/test.py
 
   # Deploy to artifactory
   deploy-artifacts:
     if: startsWith(github.ref, 'refs/tags/v') != true
     runs-on: ubuntu-latest
-    needs: tests
+    needs: [build-linux-armhf, build-windows-x86_64, build-macos-x86_64, build-linux-x86_64]
     steps:
       - uses: actions/checkout@v2
         with:
@@ -197,7 +197,7 @@ jobs:
   deploy-pypi:
     if: startsWith(github.ref, 'refs/tags/v')
     runs-on: ubuntu-latest
-    needs: tests
+    needs: [build-linux-armhf, build-windows-x86_64, build-macos-x86_64, build-linux-x86_64]
     steps:
       - uses: actions/checkout@v2
         with:

.gitmodules

@@ -1,3 +1,3 @@
 [submodule "depthai-core"]
 	path = depthai-core
-	url = https://github.com/luxonis/depthai-core.git
+	url = ../depthai-core.git

CMakeLists.txt

@@ -20,7 +20,7 @@ endif()
 
 # Pybindings project
 set(TARGET_NAME depthai)
-project(${TARGET_NAME} VERSION "1") # revision of bindings [depthai-core].[rev]
+project(${TARGET_NAME} VERSION "0") # revision of bindings [depthai-core].[rev]
 
 # Add depthai-cpp dependency
 add_subdirectory(depthai-core EXCLUDE_FROM_ALL)
@@ -40,7 +40,6 @@ pybind11_add_module(${TARGET_NAME}
     src/py_bindings.cpp
     src/host_data_packet_bindings.cpp
     src/nnet_packet_bindings.cpp
-    src/py_tensor_entry_container_iterator.cpp
     src/device_bindings.cpp
 )
 
@@ -54,7 +53,10 @@ target_link_libraries(${TARGET_NAME}
 
 # Add bindings revision
 target_compile_definitions(${TARGET_NAME} PRIVATE DEPTHAI_PYTHON_BINDINGS_REVISION="${PROJECT_VERSION}")
-# Add commit hash
+# Add commit hash, default to "dev"
+if(NOT DEPTHAI_PYTHON_COMMIT_HASH)
+    set(DEPTHAI_PYTHON_COMMIT_HASH dev)
+endif()
 if(DEPTHAI_PYTHON_COMMIT_HASH)
     target_compile_definitions(${TARGET_NAME} PRIVATE DEPTHAI_PYTHON_COMMIT_HASH="${DEPTHAI_PYTHON_COMMIT_HASH}")
 endif()

src/device_bindings.cpp

@@ -71,12 +71,59 @@ void init_binding_device(pybind11::module& m){
             "Function to send disparity confidence threshold for SGBM"
         )
 
+        .def(
+            "send_camera_control",
+            &Device::send_camera_control,
+            "Function to send an ISP 3A camera control command. "
+            "args: 'Cam3A.__members__', 'Isp3A.__members__', extra_args: 'string, space separated values https://git.io/JUpnJ '",
+            py::arg("camera_id"),
+            py::arg("command_id"),
+            py::arg("extra_args")
+        )
+
         .def(
             "get_nn_to_depth_bbox_mapping",
             &Device::get_nn_to_depth_bbox_mapping,
             "Returns NN bounding-box to depth mapping as a dict of coords: off_x, off_y, max_w, max_h."
         )
 
+        // calibration data bindings
+        .def(
+            "get_left_intrinsic",
+            &Device::get_left_intrinsic,
+            "Returns 3x3 matrix defining the intrinsic parameters of the left camera of the stereo setup."
+        )
+
+        .def(
+            "get_left_homography",
+            &Device::get_left_homography,
+            "Returns 3x3 matrix defining the homography to rectify the left camera of the stereo setup."
+        )
+
+        .def(
+            "get_right_intrinsic",
+            &Device::get_right_intrinsic,
+            "Returns 3x3 matrix defining the intrinsic parameters of the right camera of the stereo setup."
+        )
+
+        .def(
+            "get_right_homography",
+            &Device::get_right_homography,
+            "Returns 3x3 matrix defining the homography to rectify the right camera of the stereo setup."
+        )
+
+        .def(
+            "get_rotation",
+            &Device::get_rotation,
+            "Returns 3x3 matrix defining how much the right camera is rotated w.r.t left camera."
+        )
+
+        .def(
+            "get_translation",
+            &Device::get_translation,
+            "Returns a vector defining how much the right camera is translated w.r.t left camera."
+        )
+
 
 
         ;
@@ -90,5 +137,51 @@ void init_binding_device(pybind11::module& m){
         .value("AF_MODE_EDOF", CaptureMetadata::AutofocusMode::AF_MODE_EDOF)
     ;
 
+    py::class_<CameraControl> cameraControl(m, "CameraControl");
+
+    py::enum_<CameraControl::CamId>(cameraControl, "CamId")
+        .value("RGB",   CameraControl::CamId::RGB)
+        .value("LEFT",  CameraControl::CamId::LEFT)
+        .value("RIGHT", CameraControl::CamId::RIGHT)
+    ;
+
+    py::enum_<CameraControl::Command>(cameraControl, "Command")
+        .value("START_STREAM",             CameraControl::Command::START_STREAM)
+        .value("STOP_STREAM",              CameraControl::Command::STOP_STREAM)
+        .value("REQUEST_STILL",            CameraControl::Command::REQUEST_STILL)
+        .value("MOVE_LENS",                CameraControl::Command::MOVE_LENS)
+        .value("FOCUS_TRIGGER",            CameraControl::Command::FOCUS_TRIGGER)
+        .value("AE_MANUAL",                CameraControl::Command::AE_MANUAL)
+        .value("AE_AUTO",                  CameraControl::Command::AE_AUTO)
+        .value("SET_AWB_MODE",             CameraControl::Command::SET_AWB_MODE)
+        .value("SCENE_MODES",              CameraControl::Command::SCENE_MODES)
+        .value("ANTIBANDING_MODES",        CameraControl::Command::ANTIBANDING_MODES)
+        .value("EXPOSURE_COMPENSATION",    CameraControl::Command::EXPOSURE_COMPENSATION)
+        .value("AE_LOCK",                  CameraControl::Command::AE_LOCK)
+        .value("AE_TARGET_FPS_RANGE",      CameraControl::Command::AE_TARGET_FPS_RANGE)
+        .value("AWB_LOCK",                 CameraControl::Command::AWB_LOCK)
+        .value("CAPTURE_INTENT",           CameraControl::Command::CAPTURE_INTENT)
+        .value("CONTROL_MODE",             CameraControl::Command::CONTROL_MODE)
+        .value("FRAME_DURATION",           CameraControl::Command::FRAME_DURATION)
+        .value("SENSITIVITY",              CameraControl::Command::SENSITIVITY)
+        .value("EFFECT_MODE",              CameraControl::Command::EFFECT_MODE)
+        .value("AF_MODE",                  CameraControl::Command::AF_MODE)
+        .value("NOISE_REDUCTION_STRENGTH", CameraControl::Command::NOISE_REDUCTION_STRENGTH)
+        .value("SATURATION",               CameraControl::Command::SATURATION)
+        .value("BRIGHTNESS",               CameraControl::Command::BRIGHTNESS)
+        .value("STREAM_FORMAT",            CameraControl::Command::STREAM_FORMAT)
+        .value("CAM_RESOLUTION",           CameraControl::Command::CAM_RESOLUTION)
+        .value("SHARPNESS",                CameraControl::Command::SHARPNESS)
+        .value("CUSTOM_USECASE",           CameraControl::Command::CUSTOM_USECASE)
+        .value("CUSTOM_CAPT_MODE",         CameraControl::Command::CUSTOM_CAPT_MODE)
+        .value("CUSTOM_EXP_BRACKETS",      CameraControl::Command::CUSTOM_EXP_BRACKETS)
+        .value("CUSTOM_CAPTURE",           CameraControl::Command::CUSTOM_CAPTURE)
+        .value("CONTRAST",                 CameraControl::Command::CONTRAST)
+        .value("AE_REGION",                CameraControl::Command::AE_REGION)
+        .value("AF_REGION",                CameraControl::Command::AF_REGION)
+        .value("LUMA_DENOISE",             CameraControl::Command::LUMA_DENOISE)
+        .value("CHROMA_DENOISE",           CameraControl::Command::CHROMA_DENOISE)
+    ;
+
 }
 

src/host_data_packet_bindings.cpp

@@ -73,11 +73,13 @@ void init_binding_host_data_packet(pybind11::module& m){
 
 }
 
-
+// TODO - zero copy
+//https://github.com/pybind/pybind11/issues/323#issuecomment-575717041
+//https://github.com/pybind/pybind11/issues/1042#issuecomment-642215028
 py::array* PyHostDataPacket::getPythonNumpyArray()
 {
     assert(!dimensions.empty());
-    assert(!data.empty());
+    assert(!data->empty());
 
     Timer t;
 
@@ -103,7 +105,7 @@ py::array* PyHostDataPacket::getPythonNumpyArray()
         if (elem_size == 1)
         {
             result = new py::array(py::buffer_info(
-                        data.data(),                             /* data as contiguous array  */
+                        data->data(),                             /* data as contiguous array  */
                         sizeof(unsigned char),                   /* size of one scalar        */
                         py::format_descriptor<unsigned char>::format(), /* data type          */
                         ndim,                                    /* number of dimensions      */
@@ -114,7 +116,7 @@ py::array* PyHostDataPacket::getPythonNumpyArray()
         else if (elem_size == 2)
         {
             result = new py::array(py::buffer_info(
-                        data.data(),                             /* data as contiguous array  */
+                        data->data(),                             /* data as contiguous array  */
                         sizeof(std::uint16_t),                          /* size of one scalar        */
                         py::format_descriptor<std::uint16_t>::format(), /* data type          */
                         2, //ndim,                                    /* number of dimensions      */