forked from IntelRealSense/librealsense
-
Notifications
You must be signed in to change notification settings - Fork 1
/
pyrs_internal.cpp
156 lines (146 loc) · 10.4 KB
/
pyrs_internal.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
145
146
147
148
149
150
151
152
153
154
155
156
/* 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_internal.hpp"
#include <cstring>
void init_internal(py::module &m) {
/** rs_internal.h **/
py::class_<rs2_video_stream> video_stream(m, "video_stream", "All the parameters"
" required to define a video stream.");
video_stream.def(py::init<>())
.def_readwrite("type", &rs2_video_stream::type)
.def_readwrite("index", &rs2_video_stream::index)
.def_readwrite("uid", &rs2_video_stream::uid)
.def_readwrite("width", &rs2_video_stream::width)
.def_readwrite("height", &rs2_video_stream::height)
.def_readwrite("fps", &rs2_video_stream::fps)
.def_readwrite("bpp", &rs2_video_stream::bpp)
.def_readwrite("fmt", &rs2_video_stream::fmt)
.def_readwrite("intrinsics", &rs2_video_stream::intrinsics);
py::class_<rs2_motion_stream> motion_stream(m, "motion_stream", "All the parameters"
" required to define a motion stream.");
motion_stream.def(py::init<>())
.def_readwrite("type", &rs2_motion_stream::type)
.def_readwrite("index", &rs2_motion_stream::index)
.def_readwrite("uid", &rs2_motion_stream::uid)
.def_readwrite("fps", &rs2_motion_stream::fps)
.def_readwrite("fmt", &rs2_motion_stream::fmt)
.def_readwrite("intrinsics", &rs2_motion_stream::intrinsics);
py::class_<rs2_pose_stream> pose_stream(m, "pose_stream", "All the parameters"
" required to define a pose stream.");
pose_stream.def(py::init<>())
.def_readwrite("type", &rs2_pose_stream::type)
.def_readwrite("index", &rs2_pose_stream::index)
.def_readwrite("uid", &rs2_pose_stream::uid)
.def_readwrite("fps", &rs2_pose_stream::fps)
.def_readwrite("fmt", &rs2_pose_stream::fmt);
py::class_<rs2_software_video_frame> software_video_frame(m, "software_video_frame", "All the parameters "
"required to define a video frame.");
software_video_frame.def(py::init([]() { rs2_software_video_frame f{}; f.deleter = nullptr; return f; })) // guarantee deleter is set to nullptr
.def_property("pixels", [](const rs2_software_video_frame& self) {
// TODO: Not all formats (e.g. RAW10) are properly handled (see struct FmtToType in python.hpp)
auto vp = rs2::stream_profile(self.profile).as<rs2::video_stream_profile>();
size_t size = fmt_to_value<itemsize>(vp.format());
size_t upp = self.bpp / size;
if (upp == 1)
return BufData(self.pixels, size, fmt_to_value<fmtstring>(vp.format()), 2,
{ (size_t)vp.height(), (size_t)vp.width() }, { vp.width()*size, size });
else
return BufData(self.pixels, size, fmt_to_value<fmtstring>(vp.format()), 3,
{ (size_t)vp.height(), (size_t)vp.width(), upp }, { vp.width()*upp*size, upp*size, size });
}, [](rs2_software_video_frame& self, py::buffer buf) {
if (self.deleter) self.deleter(self.pixels);
auto data = buf.request();
self.pixels = new uint8_t[data.size*data.itemsize]; // fwiw, might be possible to convert data.format -> underlying data type
std::memcpy(self.pixels, data.ptr, data.size*data.itemsize);
self.deleter = [](void* ptr){ delete[] ptr; };
})
.def_readwrite("stride", &rs2_software_video_frame::stride)
.def_readwrite("bpp", &rs2_software_video_frame::bpp)
.def_readwrite("timestamp", &rs2_software_video_frame::timestamp)
.def_readwrite("domain", &rs2_software_video_frame::domain)
.def_readwrite("frame_number", &rs2_software_video_frame::frame_number)
.def_property("profile", [](const rs2_software_video_frame& self) { return rs2::stream_profile(self.profile).as<rs2::video_stream_profile>(); },
[](rs2_software_video_frame& self, rs2::video_stream_profile profile) { self.profile = profile.get(); });
py::class_<rs2_software_motion_frame> software_motion_frame(m, "software_motion_frame", "All the parameters "
"required to define a motion frame.");
software_motion_frame.def(py::init([]() { rs2_software_motion_frame f{}; f.deleter = nullptr; return f; })) // guarantee deleter is set to nullptr
.def_property("data", [](const rs2_software_motion_frame& self) -> rs2_vector {
auto data = reinterpret_cast<const float*>(self.data);
return rs2_vector{ data[0], data[1], data[2] };
}, [](rs2_software_motion_frame& self, rs2_vector data) {
if (self.deleter) self.deleter(self.data);
self.data = new float[3];
float *dptr = reinterpret_cast<float*>(self.data);
dptr[0] = data.x;
dptr[1] = data.y;
dptr[2] = data.z;
self.deleter = [](void* ptr){ delete[] ptr; };
})
.def_readwrite("timestamp", &rs2_software_motion_frame::timestamp)
.def_readwrite("domain", &rs2_software_motion_frame::domain)
.def_readwrite("frame_number", &rs2_software_motion_frame::frame_number)
.def_property("profile", [](const rs2_software_motion_frame& self) { return rs2::stream_profile(self.profile).as<rs2::motion_stream_profile>(); },
[](rs2_software_motion_frame& self, rs2::motion_stream_profile profile) { self.profile = profile.get(); });
py::class_<rs2_software_pose_frame> software_pose_frame(m, "software_pose_frame", "All the parameters "
"required to define a pose frame.");
software_pose_frame.def(py::init([]() { rs2_software_pose_frame f{}; f.deleter = nullptr; return f; })) // guarantee deleter is set to nullptr
.def_property("data", [](const rs2_software_pose_frame& self) -> rs2_pose {
return *reinterpret_cast<const rs2_pose*>(self.data);
}, [](rs2_software_pose_frame& self, rs2_pose data) {
if (self.deleter) self.deleter(self.data);
self.data = new rs2_pose(data);
self.deleter = [](void* ptr){ delete[] ptr; };
})
.def_readwrite("timestamp", &rs2_software_pose_frame::timestamp)
.def_readwrite("domain", &rs2_software_pose_frame::domain)
.def_readwrite("frame_number", &rs2_software_pose_frame::frame_number)
.def_property("profile", [](const rs2_software_pose_frame& self) { return rs2::stream_profile(self.profile).as<rs2::pose_stream_profile>(); },
[](rs2_software_pose_frame& self, rs2::pose_stream_profile profile) { self.profile = profile.get(); });
py::class_<rs2_software_notification> software_notification(m, "software_notification", "All the parameters "
"required to define a sensor notification.");
software_notification.def(py::init<>())
.def_readwrite("category", &rs2_software_notification::category)
.def_readwrite("type", &rs2_software_notification::type)
.def_readwrite("severity", &rs2_software_notification::severity)
.def_readwrite("description", &rs2_software_notification::description)
.def_readwrite("serialized_data", &rs2_software_notification::serialized_data);
/** end rs_internal.h **/
/** rs_internal.hpp **/
// rs2::software_sensor
py::class_<rs2::software_sensor> software_sensor(m, "software_sensor");
software_sensor.def("add_video_stream", &rs2::software_sensor::add_video_stream, "Add video stream to software sensor",
"video_stream"_a, "is_default"_a=false)
.def("add_motion_stream", &rs2::software_sensor::add_motion_stream, "Add motion stream to software sensor",
"motion_stream"_a, "is_default"_a = false)
.def("add_pose_stream", &rs2::software_sensor::add_pose_stream, "Add pose stream to software sensor",
"pose_stream"_a, "is_default"_a = false)
.def("on_video_frame", &rs2::software_sensor::on_video_frame, "Inject video frame into the sensor", "frame"_a)
.def("on_motion_frame", &rs2::software_sensor::on_motion_frame, "Inject motion frame into the sensor", "frame"_a)
.def("on_pose_frame", &rs2::software_sensor::on_pose_frame, "Inject pose frame into the sensor", "frame"_a)
.def("set_metadata", &rs2::software_sensor::set_metadata, "Set frame metadata for the upcoming frames", "value"_a, "type"_a)
.def("add_read_only_option", &rs2::software_sensor::add_read_only_option, "Register read-only option that "
"will be supported by the sensor", "option"_a, "val"_a)
.def("set_read_only_option", &rs2::software_sensor::set_read_only_option, "Update value of registered "
"read-only option", "option"_a, "val"_a)
.def("add_option", &rs2::software_sensor::add_option, "Register option that will be supported by the sensor",
"option"_a, "range"_a, "is_writable"_a=true)
.def("on_notification", &rs2::software_sensor::on_notification, "notif"_a);
// rs2::software_device
py::class_<rs2::software_device> software_device(m, "software_device");
software_device.def(py::init<>())
.def("add_sensor", &rs2::software_device::add_sensor, "Add software sensor with given name "
"to the software device.", "name"_a)
.def("set_destruction_callback", &rs2::software_device::set_destruction_callback<std::function<void()>>,
"Register destruction callback", "callback"_a)
.def("add_to", &rs2::software_device::add_to, "Add software device to existing context.\n"
"Any future queries on the context will return this device.\n"
"This operation cannot be undone (except for destroying the context)", "ctx"_a)
.def("register_info", &rs2::software_device::register_info, "Add a new camera info value, like serial number",
"info"_a, "val"_a)
.def("update_info", &rs2::software_device::update_info, "Update an existing camera info value, like serial number",
"info"_a, "val"_a);
//.def("create_matcher", &rs2::software_device::create_matcher, "Set the wanted matcher type that will "
// "be used by the syncer", "matcher"_a) // TODO: bind rs2_matchers enum.
/** end rs_internal.hpp **/
}