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[RVC2] Added getStereoPairs and getAvailableStereoPairs API #959

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Merged
merged 5 commits into from
Jan 24, 2024
Merged

[RVC2] Added getStereoPairs and getAvailableStereoPairs API #959

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73d424a
Added bindings for getStereoPairs
zrezke Dec 13, 2023
57a365c
Available stereo pairs bindings.
zrezke Jan 18, 2024
769505e
Bump core.
zrezke Jan 22, 2024
9232d2d
Update core with merged get_stereo_pairs
zrezke Jan 24, 2024
3d25ebf
Merge branch 'develop' of github.com:luxonis/depthai-python into get_…
zrezke Jan 24, 2024
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2 changes: 1 addition & 1 deletion depthai-core
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Submodule depthai-core updated 5 files
+1 −1 cmake/Depthai/DepthaiDeviceSideConfig.cmake
+25 −0 include/depthai/common/StereoPair.hpp
+17 −0 include/depthai/device/DeviceBase.hpp
+1 −1 shared/depthai-shared
+69 −0 src/device/DeviceBase.cpp
2 changes: 2 additions & 0 deletions src/DeviceBindings.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -614,6 +614,8 @@ 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("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))
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16 changes: 16 additions & 0 deletions src/pipeline/CommonBindings.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,13 +23,15 @@
#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"

// 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){
Expand Down Expand Up @@ -61,6 +63,7 @@ void CommonBindings::bind(pybind11::module& m, void* pCallstack){
py::class_<DetectionParserOptions> detectionParserOptions(m, "DetectionParserOptions", DOC(dai, DetectionParserOptions));
py::class_<RotatedRect> rotatedRect(m, "RotatedRect", DOC(dai, RotatedRect));
py::class_<Rect> rect(m, "Rect", DOC(dai, Rect));
py::class_<StereoPair> stereoPair(m, "StereoPair", DOC(dai, StereoPair));
py::enum_<CameraExposureOffset> cameraExposureOffset(m, "CameraExposureOffset");
py::enum_<Colormap> colormap(m, "Colormap", DOC(dai, Colormap));
py::enum_<FrameEvent> frameEvent(m, "FrameEvent", DOC(dai, FrameEvent));
Expand Down Expand Up @@ -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)
Expand Down