From 73d424a749584e968ccf10131b91cd1849992fc9 Mon Sep 17 00:00:00 2001 From: zrezke Date: Wed, 13 Dec 2023 14:31:10 +0100 Subject: [PATCH 1/4] Added bindings for getStereoPairs --- depthai-core | 2 +- src/DeviceBindings.cpp | 1 + src/pipeline/CommonBindings.cpp | 16 ++++++++++++++++ 3 files changed, 18 insertions(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index 7930da4ea..3702e80ea 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit 7930da4ea455f1fa82e768f4ede581bafd10d9a8 +Subproject commit 3702e80eaa806c9547a1ddcf65337798d829a395 diff --git a/src/DeviceBindings.cpp b/src/DeviceBindings.cpp index f994e9022..5be907053 100644 --- a/src/DeviceBindings.cpp +++ b/src/DeviceBindings.cpp @@ -614,6 +614,7 @@ void DeviceBindings::bind(pybind11::module& m, void* pCallstack){ .def("getConnectionInterfaces", [](DeviceBase& d) { py::gil_scoped_release release; return d.getConnectionInterfaces(); }, DOC(dai, DeviceBase, getConnectionInterfaces)) .def("getConnectedCameraFeatures", [](DeviceBase& d) { py::gil_scoped_release release; return d.getConnectedCameraFeatures(); }, DOC(dai, DeviceBase, getConnectedCameraFeatures)) .def("getCameraSensorNames", [](DeviceBase& d) { py::gil_scoped_release release; return d.getCameraSensorNames(); }, DOC(dai, DeviceBase, getCameraSensorNames)) + .def("getStereoPairs", [](DeviceBase& d) { py::gil_scoped_release release; return d.getStereoPairs(); }, DOC(dai, DeviceBase, getStereoPairs)) .def("getConnectedIMU", [](DeviceBase& d) { py::gil_scoped_release release; return d.getConnectedIMU(); }, DOC(dai, DeviceBase, getConnectedIMU)) .def("getIMUFirmwareVersion", [](DeviceBase& d) { py::gil_scoped_release release; return d.getIMUFirmwareVersion(); }, DOC(dai, DeviceBase, getIMUFirmwareVersion)) .def("getEmbeddedIMUFirmwareVersion", [](DeviceBase& d) { py::gil_scoped_release release; return d.getEmbeddedIMUFirmwareVersion(); }, DOC(dai, DeviceBase, getEmbeddedIMUFirmwareVersion)) diff --git a/src/pipeline/CommonBindings.cpp b/src/pipeline/CommonBindings.cpp index 5e03660d6..df5469a8a 100644 --- a/src/pipeline/CommonBindings.cpp +++ b/src/pipeline/CommonBindings.cpp @@ -23,6 +23,7 @@ #include "depthai-shared/common/DetectionParserOptions.hpp" #include "depthai-shared/common/RotatedRect.hpp" #include "depthai-shared/common/Rect.hpp" +#include "depthai-shared/common/StereoPair.hpp" #include "depthai-shared/common/Colormap.hpp" #include "depthai-shared/common/FrameEvent.hpp" #include "depthai-shared/common/Interpolation.hpp" @@ -30,6 +31,7 @@ // depthai #include "depthai/common/CameraFeatures.hpp" #include "depthai/common/CameraExposureOffset.hpp" +#include "depthai/common/StereoPair.hpp" #include "depthai/utility/ProfilingData.hpp" void CommonBindings::bind(pybind11::module& m, void* pCallstack){ @@ -61,6 +63,7 @@ void CommonBindings::bind(pybind11::module& m, void* pCallstack){ py::class_ detectionParserOptions(m, "DetectionParserOptions", DOC(dai, DetectionParserOptions)); py::class_ rotatedRect(m, "RotatedRect", DOC(dai, RotatedRect)); py::class_ rect(m, "Rect", DOC(dai, Rect)); + py::class_ stereoPair(m, "StereoPair", DOC(dai, StereoPair)); py::enum_ cameraExposureOffset(m, "CameraExposureOffset"); py::enum_ colormap(m, "Colormap", DOC(dai, Colormap)); py::enum_ frameEvent(m, "FrameEvent", DOC(dai, FrameEvent)); @@ -108,6 +111,19 @@ void CommonBindings::bind(pybind11::module& m, void* pCallstack){ .def_readwrite("height", &Rect::height) ; + stereoPair + .def(py::init<>()) + .def_readwrite("left", &StereoPair::left) + .def_readwrite("right", &StereoPair::right) + .def_readwrite("baseline", &StereoPair::baseline) + .def_readwrite("isVertical", &StereoPair::isVertical) + .def("__repr__", [](StereoPair& stereoPair) { + std::stringstream stream; + stream << stereoPair; + return stream.str(); + }) + ; + timestamp .def(py::init<>()) .def_readwrite("sec", &Timestamp::sec) From 57a365cf8515f988a6a94dbdf896bb4b643834cf Mon Sep 17 00:00:00 2001 From: zrezke Date: Thu, 18 Jan 2024 20:07:10 +0100 Subject: [PATCH 2/4] Available stereo pairs bindings. --- depthai-core | 2 +- src/DeviceBindings.cpp | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index 3702e80ea..890b7caf8 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit 3702e80eaa806c9547a1ddcf65337798d829a395 +Subproject commit 890b7caf8ab553370937b4da316de8bf92b14cc5 diff --git a/src/DeviceBindings.cpp b/src/DeviceBindings.cpp index 5be907053..b92831cf3 100644 --- a/src/DeviceBindings.cpp +++ b/src/DeviceBindings.cpp @@ -615,6 +615,7 @@ void DeviceBindings::bind(pybind11::module& m, void* pCallstack){ .def("getConnectedCameraFeatures", [](DeviceBase& d) { py::gil_scoped_release release; return d.getConnectedCameraFeatures(); }, DOC(dai, DeviceBase, getConnectedCameraFeatures)) .def("getCameraSensorNames", [](DeviceBase& d) { py::gil_scoped_release release; return d.getCameraSensorNames(); }, DOC(dai, DeviceBase, getCameraSensorNames)) .def("getStereoPairs", [](DeviceBase& d) { py::gil_scoped_release release; return d.getStereoPairs(); }, DOC(dai, DeviceBase, getStereoPairs)) + .def("getAvailableStereoPairs", [](DeviceBase& d) { py::gil_scoped_release release; return d.getAvailableStereoPairs(); }, DOC(dai, DeviceBase, getAvailableStereoPairs)) .def("getConnectedIMU", [](DeviceBase& d) { py::gil_scoped_release release; return d.getConnectedIMU(); }, DOC(dai, DeviceBase, getConnectedIMU)) .def("getIMUFirmwareVersion", [](DeviceBase& d) { py::gil_scoped_release release; return d.getIMUFirmwareVersion(); }, DOC(dai, DeviceBase, getIMUFirmwareVersion)) .def("getEmbeddedIMUFirmwareVersion", [](DeviceBase& d) { py::gil_scoped_release release; return d.getEmbeddedIMUFirmwareVersion(); }, DOC(dai, DeviceBase, getEmbeddedIMUFirmwareVersion)) From 769505e812db1b063f13327d1ad077c64a2d0d46 Mon Sep 17 00:00:00 2001 From: zrezke Date: Mon, 22 Jan 2024 14:55:54 +0100 Subject: [PATCH 3/4] Bump core. --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index 890b7caf8..88d383f15 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit 890b7caf8ab553370937b4da316de8bf92b14cc5 +Subproject commit 88d383f151fc14457c4537bac5932daf66119fd7 From 9232d2d847de8ade9c2ee711437e50d9fd60d059 Mon Sep 17 00:00:00 2001 From: zrezke Date: Wed, 24 Jan 2024 15:23:41 +0100 Subject: [PATCH 4/4] Update core with merged get_stereo_pairs --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index 88d383f15..3e08b71c0 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit 88d383f151fc14457c4537bac5932daf66119fd7 +Subproject commit 3e08b71c0498428888e4324d7412e39fdafcf1fc