forked from IntelRealSense/librealsense
-
Notifications
You must be signed in to change notification settings - Fork 1
/
pyrs_device.cpp
144 lines (133 loc) · 11.5 KB
/
pyrs_device.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
/* License: Apache 2.0. See LICENSE file in root directory.
Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
#include "python.hpp"
#include "../include/librealsense2/hpp/rs_device.hpp"
#include "../include/librealsense2/hpp/rs_record_playback.hpp" // for downcasts
void init_device(py::module &m) {
/** rs_device.hpp **/
py::class_<rs2::device> device(m, "device"); // No docstring in C++
device.def("query_sensors", &rs2::device::query_sensors, "Returns the list of adjacent devices, "
"sharing the same physical parent composite device.")
.def_property_readonly("sensors", &rs2::device::query_sensors, "List of adjacent devices, "
"sharing the same physical parent composite device. Identical to calling query_sensors.")
.def("first_depth_sensor", [](rs2::device& self) { return self.first<rs2::depth_sensor>(); }) // No docstring in C++
.def("first_roi_sensor", [](rs2::device& self) { return self.first<rs2::roi_sensor>(); }) // No docstring in C++
.def("first_pose_sensor", [](rs2::device& self) { return self.first<rs2::pose_sensor>(); }) // No docstring in C++
.def("first_color_sensor", [](rs2::device& self) { return self.first<rs2::color_sensor>(); }) // No docstring in C++
.def("first_motion_sensor", [](rs2::device& self) { return self.first<rs2::motion_sensor>(); }) // No docstring in C++
.def("first_fisheye_sensor", [](rs2::device& self) { return self.first<rs2::fisheye_sensor>(); }) // No docstring in C++
.def("supports", &rs2::device::supports, "Check if specific camera info is supported.", "info"_a)
.def("get_info", &rs2::device::get_info, "Retrieve camera specific information, "
"like versions of various internal components", "info"_a)
.def("hardware_reset", &rs2::device::hardware_reset, "Send hardware reset request to the device")
.def(py::init<>())
.def("__nonzero__", &rs2::device::operator bool)
.def(BIND_DOWNCAST(device, debug_protocol))
.def(BIND_DOWNCAST(device, playback))
.def(BIND_DOWNCAST(device, recorder))
.def(BIND_DOWNCAST(device, tm2))
.def(BIND_DOWNCAST(device, updatable))
.def(BIND_DOWNCAST(device, update_device))
.def(BIND_DOWNCAST(device, auto_calibrated_device))
.def("__repr__", [](const rs2::device &self) {
std::stringstream ss;
ss << "<" SNAME ".device: " << self.get_info(RS2_CAMERA_INFO_NAME)
<< " (S/N: " << self.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)
<< ")>";
return ss.str();
});
// not binding update_progress_callback, templated
py::class_<rs2::updatable, rs2::device> updatable(m, "updatable"); // No docstring in C++
updatable.def(py::init<rs2::device>())
.def("enter_update_state", &rs2::updatable::enter_update_state, "Move the device to update state, this will cause the updatable device to disconnect and reconnect as an update device.")
.def("create_flash_backup", (std::vector<uint8_t>(rs2::updatable::*)() const) &rs2::updatable::create_flash_backup,
"Create backup of camera flash memory. Such backup does not constitute valid firmware image, and cannot be "
"loaded back to the device, but it does contain all calibration and device information.", py::call_guard<py::gil_scoped_release>())
.def("create_flash_backup", [](rs2::updatable& self, std::function<void(float)> f) { return self.create_flash_backup(f); },
"Create backup of camera flash memory. Such backup does not constitute valid firmware image, and cannot be "
"loaded back to the device, but it does contain all calibration and device information.",
"callback"_a, py::call_guard<py::gil_scoped_release>())
.def("update_unsigned", (void(rs2::updatable::*)(const std::vector<uint8_t>&, int) const) &rs2::updatable::update_unsigned,
"Update an updatable device to the provided unsigned firmware. This call is executed on the caller's thread.", "fw_image"_a,
"update_mode"_a = RS2_UNSIGNED_UPDATE_MODE_UPDATE, py::call_guard<py::gil_scoped_release>())
.def("update_unsigned", [](rs2::updatable& self, const std::vector<uint8_t>& fw_image, std::function<void(float)> f, int update_mode) { return self.update_unsigned(fw_image, f, update_mode); },
"Update an updatable device to the provided unsigned firmware. This call is executed on the caller's thread and it supports progress notifications via the callback.",
"fw_image"_a, "callback"_a, "update_mode"_a = RS2_UNSIGNED_UPDATE_MODE_UPDATE, py::call_guard<py::gil_scoped_release>());
py::class_<rs2::update_device, rs2::device> update_device(m, "update_device");
update_device.def(py::init<rs2::device>())
.def("update", [](rs2::update_device& self, const std::vector<uint8_t>& fw_image) { return self.update(fw_image); },
"Update an updatable device to the provided firmware. This call is executed on the caller's thread.", "fw_image"_a, py::call_guard<py::gil_scoped_release>())
.def("update", [](rs2::update_device& self, const std::vector<uint8_t>& fw_image, std::function<void(float)> f) { return self.update(fw_image, f); },
"Update an updatable device to the provided firmware. This call is executed on the caller's thread and it supports progress notifications via the callback.",
"fw_image"_a, "callback"_a, py::call_guard<py::gil_scoped_release>());
py::class_<rs2::auto_calibrated_device, rs2::device> auto_calibrated_device(m, "auto_calibrated_device");
auto_calibrated_device.def(py::init<rs2::device>(), "device"_a)
.def("write_calibration", &rs2::auto_calibrated_device::write_calibration, "Write calibration that was set by set_calibration_table to device's EEPROM.", py::call_guard<py::gil_scoped_release>())
.def("run_on_chip_calibration", [](rs2::auto_calibrated_device& self, std::string json_content, int timeout_ms)
{
float health;
return py::make_tuple(self.run_on_chip_calibration(json_content, &health, timeout_ms), health);
},"This will improve the depth noise (plane fit RMS). This call is executed on the caller's thread.","json_content"_a, "timeout_ms"_a, py::call_guard<py::gil_scoped_release>())
.def("run_on_chip_calibration", [](rs2::auto_calibrated_device& self, std::string json_content, std::function<void(float)> f, int timeout_ms)
{
float health;
return py::make_tuple(self.run_on_chip_calibration(json_content, &health, f, timeout_ms), health);
},"This will improve the depth noise (plane fit RMS). This call is executed on the caller's thread and it supports progress notifications via the callback.", "json_content"_a, "callback"_a, "timeout_ms"_a, py::call_guard<py::gil_scoped_release>())
.def("run_tare_calibration", [](const rs2::auto_calibrated_device& self, float ground_truth_mm, std::string json_content, int timeout_ms)
{
return self.run_tare_calibration(ground_truth_mm, json_content, timeout_ms);
}, "This will adjust camera absolute distance to flat target. This call is executed on the caller's thread and it supports progress notifications via the callback.", "ground_truth_mm"_a, "json_content"_a, "timeout_ms"_a, py::call_guard<py::gil_scoped_release>())
.def("run_tare_calibration", [](const rs2::auto_calibrated_device& self, float ground_truth_mm, std::string json_content, std::function<void(float)> callback, int timeout_ms)
{
return self.run_tare_calibration(ground_truth_mm, json_content, callback, timeout_ms);
}, "This will adjust camera absolute distance to flat target. This call is executed on the caller's thread.", "ground_truth_mm"_a, "json_content"_a, "callback"_a, "timeout_ms"_a, py::call_guard<py::gil_scoped_release>())
.def("get_calibration_table", &rs2::auto_calibrated_device::get_calibration_table, "Read current calibration table from flash.")
.def("set_calibration_table", &rs2::auto_calibrated_device::set_calibration_table, "Set current table to dynamic area.")
.def("reset_to_factory_calibration", &rs2::auto_calibrated_device::reset_to_factory_calibration, "Reset device to factory calibration.");
py::class_<rs2::debug_protocol> debug_protocol(m, "debug_protocol"); // No docstring in C++
debug_protocol.def(py::init<rs2::device>())
.def("send_and_receive_raw_data", &rs2::debug_protocol::send_and_receive_raw_data,
"input"_a); // No docstring in C++
py::class_<rs2::device_list> device_list(m, "device_list"); // No docstring in C++
device_list.def(py::init<>())
.def("contains", &rs2::device_list::contains) // No docstring in C++
.def("__getitem__", [](const rs2::device_list& self, size_t i) {
if (i >= self.size())
throw py::index_error();
return self[uint32_t(i)];
})
.def("__len__", &rs2::device_list::size)
.def("size", &rs2::device_list::size) // No docstring in C++
.def("__iter__", [](const rs2::device_list& self) {
return py::make_iterator(self.begin(), self.end());
}, py::keep_alive<0, 1>())
.def("__getitem__", [](const rs2::device_list& self, py::slice slice) {
size_t start, stop, step, slicelength;
if (!slice.compute(self.size(), &start, &stop, &step, &slicelength))
throw py::error_already_set();
auto *dlist = new std::vector<rs2::device>(slicelength);
for (size_t i = 0; i < slicelength; ++i) {
(*dlist)[i] = self[uint32_t(start)];
start += step;
}
return dlist;
})
.def("front", &rs2::device_list::front) // No docstring in C++
.def("back", &rs2::device_list::back); // No docstring in C++
py::class_<rs2::tm2, rs2::device> tm2(m, "tm2", "The tm2 class is an interface for T2XX devices, such as T265.\n"
"For T265, it provides RS2_STREAM_FISHEYE(2), RS2_STREAM_GYRO, "
"RS2_STREAM_ACCEL, and RS2_STREAM_POSE streams, and contains the following sensors:\n"
"-pose_sensor: map and relocalization functions.\n"
"-wheel_odometer: input for odometry data.");
tm2.def(py::init<rs2::device>(), "device"_a)
.def("enable_loopback", &rs2::tm2::enable_loopback, "Enter the given device into "
"loopback operation mode that uses the given file as input for raw data", "filename"_a)
.def("disable_loopback", &rs2::tm2::disable_loopback, "Restores the given device into normal operation mode")
.def("is_loopback_enabled", &rs2::tm2::is_loopback_enabled, "Checks if the device is in loopback mode or not")
.def("set_intrinsics", &rs2::tm2::set_intrinsics, "Set camera intrinsics", "sensor_id"_a, "intrinsics"_a)
.def("set_extrinsics", &rs2::tm2::set_extrinsics, "Set camera extrinsics", "from_stream"_a, "from_id"_a, "to_stream"_a, "to_id"_a, "extrinsics"_a)
.def("set_motion_device_intrinsics", &rs2::tm2::set_motion_device_intrinsics, "Set motion device intrinsics", "stream_type"_a, "motion_intrinsics"_a)
.def("reset_to_factory_calibration", &rs2::tm2::reset_to_factory_calibration, "Reset to factory calibration")
.def("write_calibration", &rs2::tm2::write_calibration, "Write calibration to device's EEPROM");
/** end rs_device.hpp **/
}