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themarpethemarpe
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Separated node bindings to separate compilation units to reduce memory requirements
1 parent 10b0d54 commit c0a539d

28 files changed

+1988
-1320
lines changed

‎CMakeLists.txt‎

Lines changed: 24 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -96,11 +96,34 @@ pybind11_add_module(${TARGET_NAME}
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src/DatatypeBindings.cpp
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src/DataQueueBindings.cpp
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src/pipeline/PipelineBindings.cpp
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src/pipeline/NodeBindings.cpp
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src/pipeline/CommonBindings.cpp
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src/pipeline/AssetManagerBindings.cpp
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src/openvino/OpenVINOBindings.cpp
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src/log/LogBindings.cpp
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src/pipeline/node/NodeBindings.cpp
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src/pipeline/node/XLinkInBindings.cpp
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src/pipeline/node/XLinkOutBindings.cpp
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src/pipeline/node/ColorCameraBindings.cpp
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src/pipeline/node/MonoCameraBindings.cpp
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src/pipeline/node/StereoDepthBindings.cpp
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src/pipeline/node/NeuralNetworkBindings.cpp
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src/pipeline/node/VideoEncoderBindings.cpp
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src/pipeline/node/ImageManipBindings.cpp
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src/pipeline/node/SPIOutBindings.cpp
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src/pipeline/node/SPIInBindings.cpp
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src/pipeline/node/DetectionNetworkBindings.cpp
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src/pipeline/node/SystemLoggerBindings.cpp
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src/pipeline/node/ScriptBindings.cpp
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src/pipeline/node/SpatialLocationCalculatorBindings.cpp
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src/pipeline/node/SpatialDetectionNetworkBindings.cpp
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src/pipeline/node/ObjectTrackerBindings.cpp
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src/pipeline/node/IMUBindings.cpp
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src/pipeline/node/EdgeDetectorBindings.cpp
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src/pipeline/node/FeatureTrackerBindings.cpp
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src/pipeline/node/AprilTagBindings.cpp
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src/pipeline/node/DetectionParserBindings.cpp
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)
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if(WIN32)

‎src/pipeline/NodeBindings.cpp‎

Lines changed: 0 additions & 1315 deletions
This file was deleted.

‎src/pipeline/PipelineBindings.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
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#include "PipelineBindings.hpp"
3-
#include "NodeBindings.hpp"
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#include "node/NodeBindings.hpp"
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// depthai
66
#include "depthai/pipeline/Pipeline.hpp"

‎src/pipeline/node/AprilTagBindings.cpp‎

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#include "NodeBindings.hpp"
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#include "Common.hpp"
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#include "depthai/pipeline/Pipeline.hpp"
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#include "depthai/pipeline/Node.hpp"
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#include "depthai/pipeline/node/AprilTag.hpp"
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void bind_apriltag(pybind11::module& m, void* pCallstack){
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using namespace dai;
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using namespace dai::node;
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// Node and Properties declare upfront
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py::class_<AprilTagProperties> aprilTagProperties(m, "AprilTagProperties", DOC(dai, AprilTagProperties));
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auto aprilTag = ADD_NODE(AprilTag);
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///////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////
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// Call the rest of the type defines, then perform the actual bindings
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Callstack* callstack = (Callstack*) pCallstack;
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auto cb = callstack->top();
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callstack->pop();
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cb(m, pCallstack);
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// Actual bindings
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///////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////
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// Properties
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aprilTagProperties
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.def_readwrite("initialConfig", &AprilTagProperties::initialConfig, DOC(dai, AprilTagProperties, initialConfig))
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.def_readwrite("inputConfigSync", &AprilTagProperties::inputConfigSync, DOC(dai, AprilTagProperties, inputConfigSync))
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;
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// Node
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aprilTag
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.def_readonly("inputConfig", &AprilTag::inputConfig, DOC(dai, node, AprilTag, inputConfig))
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.def_readonly("inputImage", &AprilTag::inputImage, DOC(dai, node, AprilTag, inputImage))
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.def_readonly("out", &AprilTag::out, DOC(dai, node, AprilTag, out))
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.def_readonly("passthroughInputImage", &AprilTag::passthroughInputImage, DOC(dai, node, AprilTag, passthroughInputImage))
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.def_readonly("initialConfig", &AprilTag::initialConfig, DOC(dai, node, AprilTag, initialConfig))
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.def("setWaitForConfigInput", &AprilTag::setWaitForConfigInput, py::arg("wait"), DOC(dai, node, AprilTag, setWaitForConfigInput))
43+
;
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daiNodeModule.attr("AprilTag").attr("Properties") = aprilTagProperties;
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}

‎src/pipeline/node/ColorCameraBindings.cpp‎

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#include "NodeBindings.hpp"
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#include "Common.hpp"
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#include "depthai/pipeline/Pipeline.hpp"
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#include "depthai/pipeline/Node.hpp"
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#include "depthai/pipeline/node/ColorCamera.hpp"
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void bind_colorcamera(pybind11::module& m, void* pCallstack){
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using namespace dai;
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using namespace dai::node;
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// Node and Properties declare upfront
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py::class_<ColorCameraProperties> colorCameraProperties(m, "ColorCameraProperties", DOC(dai, ColorCameraProperties));
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py::enum_<ColorCameraProperties::SensorResolution> colorCameraPropertiesSensorResolution(colorCameraProperties, "SensorResolution", DOC(dai, ColorCameraProperties, SensorResolution));
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py::enum_<ColorCameraProperties::ColorOrder> colorCameraPropertiesColorOrder(colorCameraProperties, "ColorOrder", DOC(dai, ColorCameraProperties, ColorOrder));
17+
auto colorCamera = ADD_NODE(ColorCamera);
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///////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////
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// Call the rest of the type defines, then perform the actual bindings
23+
Callstack* callstack = (Callstack*) pCallstack;
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auto cb = callstack->top();
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callstack->pop();
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cb(m, pCallstack);
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// Actual bindings
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///////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////
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// ColorCamera Properties
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colorCameraPropertiesSensorResolution
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.value("THE_1080_P", ColorCameraProperties::SensorResolution::THE_1080_P)
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.value("THE_4_K", ColorCameraProperties::SensorResolution::THE_4_K)
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.value("THE_12_MP", ColorCameraProperties::SensorResolution::THE_12_MP)
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.value("THE_13_MP", ColorCameraProperties::SensorResolution::THE_13_MP)
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.value("THE_720_P", ColorCameraProperties::SensorResolution::THE_720_P)
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.value("THE_800_P", ColorCameraProperties::SensorResolution::THE_800_P)
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;
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colorCameraPropertiesColorOrder
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.value("BGR", ColorCameraProperties::ColorOrder::BGR)
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.value("RGB", ColorCameraProperties::ColorOrder::RGB)
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;
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colorCameraProperties
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.def_readwrite("initialControl", &ColorCameraProperties::initialControl)
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.def_readwrite("boardSocket", &ColorCameraProperties::boardSocket)
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.def_readwrite("imageOrientation", &ColorCameraProperties::imageOrientation)
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.def_readwrite("colorOrder", &ColorCameraProperties::colorOrder)
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.def_readwrite("interleaved", &ColorCameraProperties::interleaved)
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.def_readwrite("fp16", &ColorCameraProperties::fp16)
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.def_readwrite("previewHeight", &ColorCameraProperties::previewHeight)
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.def_readwrite("previewWidth", &ColorCameraProperties::previewWidth)
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.def_readwrite("videoHeight", &ColorCameraProperties::videoHeight)
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.def_readwrite("videoWidth", &ColorCameraProperties::videoWidth)
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.def_readwrite("stillHeight", &ColorCameraProperties::stillHeight)
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.def_readwrite("stillWidth", &ColorCameraProperties::stillWidth)
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.def_readwrite("resolution", &ColorCameraProperties::resolution)
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.def_readwrite("fps", &ColorCameraProperties::fps)
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.def_readwrite("sensorCropX", &ColorCameraProperties::sensorCropX)
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.def_readwrite("sensorCropY", &ColorCameraProperties::sensorCropY)
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.def_readwrite("previewKeepAspectRatio", &ColorCameraProperties::previewKeepAspectRatio)
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.def_readwrite("ispScale", &ColorCameraProperties::ispScale)
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.def_readwrite("numFramesPoolRaw", &ColorCameraProperties::numFramesPoolRaw)
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.def_readwrite("numFramesPoolIsp", &ColorCameraProperties::numFramesPoolIsp)
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.def_readwrite("numFramesPoolVideo", &ColorCameraProperties::numFramesPoolVideo)
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.def_readwrite("numFramesPoolPreview", &ColorCameraProperties::numFramesPoolPreview)
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.def_readwrite("numFramesPoolStill", &ColorCameraProperties::numFramesPoolStill)
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;
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// ColorCamera node
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colorCamera
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.def_readonly("inputConfig", &ColorCamera::inputConfig, DOC(dai, node, ColorCamera, inputConfig))
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.def_readonly("inputControl", &ColorCamera::inputControl, DOC(dai, node, ColorCamera, inputControl))
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.def_readonly("initialControl", &ColorCamera::initialControl, DOC(dai, node, ColorCamera, initialControl))
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.def_readonly("video", &ColorCamera::video, DOC(dai, node, ColorCamera, video))
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.def_readonly("preview", &ColorCamera::preview, DOC(dai, node, ColorCamera, preview))
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.def_readonly("still", &ColorCamera::still, DOC(dai, node, ColorCamera, still))
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.def_readonly("isp", &ColorCamera::isp, DOC(dai, node, ColorCamera, isp))
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.def_readonly("raw", &ColorCamera::raw, DOC(dai, node, ColorCamera, raw))
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.def("setCamId", [](ColorCamera& c, int64_t id) {
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// Issue an deprecation warning
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PyErr_WarnEx(PyExc_DeprecationWarning, "setCamId() is deprecated, use setBoardSocket() instead.", 1);
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HEDLEY_DIAGNOSTIC_PUSH
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HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
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c.setCamId(id);
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HEDLEY_DIAGNOSTIC_POP
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})
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.def("getCamId", [](ColorCamera& c) {
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// Issue an deprecation warning
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PyErr_WarnEx(PyExc_DeprecationWarning, "getCamId() is deprecated, use getBoardSocket() instead.", 1);
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HEDLEY_DIAGNOSTIC_PUSH
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HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
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return c.getCamId();
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HEDLEY_DIAGNOSTIC_POP
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})
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.def("setBoardSocket", &ColorCamera::setBoardSocket, py::arg("boardSocket"), DOC(dai, node, ColorCamera, setBoardSocket))
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.def("getBoardSocket", &ColorCamera::getBoardSocket, DOC(dai, node, ColorCamera, getBoardSocket))
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.def("setImageOrientation", &ColorCamera::setImageOrientation, py::arg("imageOrientation"), DOC(dai, node, ColorCamera, setImageOrientation))
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.def("getImageOrientation", &ColorCamera::getImageOrientation, DOC(dai, node, ColorCamera, getImageOrientation))
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.def("setColorOrder", &ColorCamera::setColorOrder, py::arg("colorOrder"), DOC(dai, node, ColorCamera, setColorOrder))
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.def("getColorOrder", &ColorCamera::getColorOrder, DOC(dai, node, ColorCamera, getColorOrder))
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.def("setInterleaved", &ColorCamera::setInterleaved, py::arg("interleaved"), DOC(dai, node, ColorCamera, setInterleaved))
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.def("getInterleaved", &ColorCamera::getInterleaved, DOC(dai, node, ColorCamera, getInterleaved))
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.def("setFp16", &ColorCamera::setFp16, py::arg("fp16"), DOC(dai, node, ColorCamera, setFp16))
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.def("getFp16", &ColorCamera::getFp16, DOC(dai, node, ColorCamera, getFp16))
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.def("setPreviewSize", static_cast<void(ColorCamera::*)(int,int)>(&ColorCamera::setPreviewSize), py::arg("width"), py::arg("height"), DOC(dai, node, ColorCamera, setPreviewSize))
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.def("setPreviewSize", static_cast<void(ColorCamera::*)(std::tuple<int,int>)>(&ColorCamera::setPreviewSize), py::arg("size"), DOC(dai, node, ColorCamera, setPreviewSize, 2))
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.def("setVideoSize", static_cast<void(ColorCamera::*)(int,int)>(&ColorCamera::setVideoSize), py::arg("width"), py::arg("height"), DOC(dai, node, ColorCamera, setVideoSize))
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.def("setVideoSize", static_cast<void(ColorCamera::*)(std::tuple<int,int>)>(&ColorCamera::setVideoSize), py::arg("size"), DOC(dai, node, ColorCamera, setVideoSize, 2))
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.def("setStillSize", static_cast<void(ColorCamera::*)(int,int)>(&ColorCamera::setStillSize), py::arg("width"), py::arg("height"), DOC(dai, node, ColorCamera, setStillSize))
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.def("setStillSize", static_cast<void(ColorCamera::*)(std::tuple<int,int>)>(&ColorCamera::setStillSize), py::arg("size"), DOC(dai, node, ColorCamera, setStillSize, 2))
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.def("setResolution", &ColorCamera::setResolution, py::arg("resolution"), DOC(dai, node, ColorCamera, setResolution))
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.def("getResolution", &ColorCamera::getResolution, DOC(dai, node, ColorCamera, getResolution))
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.def("setFps", &ColorCamera::setFps, py::arg("fps"), DOC(dai, node, ColorCamera, setFps))
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.def("getFps", &ColorCamera::getFps, DOC(dai, node, ColorCamera, getFps))
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.def("getPreviewSize", &ColorCamera::getPreviewSize, DOC(dai, node, ColorCamera, getPreviewSize))
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.def("getPreviewWidth", &ColorCamera::getPreviewWidth, DOC(dai, node, ColorCamera, getPreviewWidth))
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.def("getPreviewHeight", &ColorCamera::getPreviewHeight, DOC(dai, node, ColorCamera, getPreviewHeight))
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.def("getVideoSize", &ColorCamera::getVideoSize, DOC(dai, node, ColorCamera, getVideoSize))
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.def("getVideoWidth", &ColorCamera::getVideoWidth, DOC(dai, node, ColorCamera, getVideoWidth))
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.def("getVideoHeight", &ColorCamera::getVideoHeight, DOC(dai, node, ColorCamera, getVideoHeight))
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.def("getStillSize", &ColorCamera::getStillSize, DOC(dai, node, ColorCamera, getStillSize))
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.def("getStillWidth", &ColorCamera::getStillWidth, DOC(dai, node, ColorCamera, getStillWidth))
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.def("getStillHeight", &ColorCamera::getStillHeight, DOC(dai, node, ColorCamera, getStillHeight))
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.def("getResolutionSize", &ColorCamera::getResolutionSize, DOC(dai, node, ColorCamera, getResolutionSize))
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.def("getResolutionWidth", &ColorCamera::getResolutionWidth, DOC(dai, node, ColorCamera, getResolutionWidth))
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.def("getResolutionHeight", &ColorCamera::getResolutionHeight, DOC(dai, node, ColorCamera, getResolutionHeight))
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.def("sensorCenterCrop", &ColorCamera::sensorCenterCrop, DOC(dai, node, ColorCamera, sensorCenterCrop))
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.def("setSensorCrop", &ColorCamera::setSensorCrop, py::arg("x"), py::arg("y"), DOC(dai, node, ColorCamera, setSensorCrop))
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.def("getSensorCrop", &ColorCamera::getSensorCrop, DOC(dai, node, ColorCamera, getSensorCrop))
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.def("getSensorCropX", &ColorCamera::getSensorCropX, DOC(dai, node, ColorCamera, getSensorCropX))
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.def("getSensorCropY", &ColorCamera::getSensorCropY, DOC(dai, node, ColorCamera, getSensorCropY))
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.def("setWaitForConfigInput", [](ColorCamera& cam, bool wait){
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// Issue a deprecation warning
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PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'inputConfig.setWaitForMessage()' instead", 1);
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HEDLEY_DIAGNOSTIC_PUSH
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HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
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cam.setWaitForConfigInput(wait);
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HEDLEY_DIAGNOSTIC_POP
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}, py::arg("wait"), DOC(dai, node, ColorCamera, setWaitForConfigInput))
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.def("getWaitForConfigInput", [](ColorCamera& cam){
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// Issue a deprecation warning
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PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'inputConfig.setWaitForMessage()' instead", 1);
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HEDLEY_DIAGNOSTIC_PUSH
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HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
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return cam.getWaitForConfigInput();
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HEDLEY_DIAGNOSTIC_POP
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}, DOC(dai, node, ColorCamera, getWaitForConfigInput))
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.def("setPreviewKeepAspectRatio", &ColorCamera::setPreviewKeepAspectRatio, py::arg("keep"), DOC(dai, node, ColorCamera, setPreviewKeepAspectRatio))
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.def("getPreviewKeepAspectRatio", &ColorCamera::getPreviewKeepAspectRatio, DOC(dai, node, ColorCamera, getPreviewKeepAspectRatio))
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.def("setIspScale", static_cast<void(ColorCamera::*)(int,int)>(&ColorCamera::setIspScale), py::arg("numerator"), py::arg("denominator"), DOC(dai, node, ColorCamera, setIspScale))
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.def("setIspScale", static_cast<void(ColorCamera::*)(std::tuple<int,int>)>(&ColorCamera::setIspScale), py::arg("scale"), DOC(dai, node, ColorCamera, setIspScale, 2))
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.def("setIspScale", static_cast<void(ColorCamera::*)(int,int,int,int)>(&ColorCamera::setIspScale), py::arg("horizNum"), py::arg("horizDenom"), py::arg("vertNum"), py::arg("vertDenom"), DOC(dai, node, ColorCamera, setIspScale, 3))
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.def("setIspScale", static_cast<void(ColorCamera::*)(std::tuple<int,int>,std::tuple<int,int>)>(&ColorCamera::setIspScale), py::arg("horizScale"), py::arg("vertScale"), DOC(dai, node, ColorCamera, setIspScale, 4))
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.def("getIspSize", &ColorCamera::getIspSize, DOC(dai, node, ColorCamera, getIspSize))
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.def("getIspWidth", &ColorCamera::getIspWidth, DOC(dai, node, ColorCamera, getIspWidth))
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.def("getIspHeight", &ColorCamera::getIspHeight, DOC(dai, node, ColorCamera, getIspHeight))
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.def("setPreviewNumFramesPool", &ColorCamera::setPreviewNumFramesPool, DOC(dai, node, ColorCamera, setPreviewNumFramesPool))
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.def("setVideoNumFramesPool", &ColorCamera::setVideoNumFramesPool, DOC(dai, node, ColorCamera, setVideoNumFramesPool))
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.def("setStillNumFramesPool", &ColorCamera::setStillNumFramesPool, DOC(dai, node, ColorCamera, setStillNumFramesPool))
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.def("setRawNumFramesPool", &ColorCamera::setRawNumFramesPool, DOC(dai, node, ColorCamera, setRawNumFramesPool))
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.def("setIspNumFramesPool", &ColorCamera::setIspNumFramesPool, DOC(dai, node, ColorCamera, setIspNumFramesPool))
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.def("setNumFramesPool", &ColorCamera::setNumFramesPool, py::arg("raw"), py::arg("isp"), py::arg("preview"), py::arg("video"), py::arg("still"), DOC(dai, node, ColorCamera, setNumFramesPool))
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.def("getPreviewNumFramesPool", &ColorCamera::getPreviewNumFramesPool, DOC(dai, node, ColorCamera, getPreviewNumFramesPool))
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.def("getVideoNumFramesPool", &ColorCamera::getVideoNumFramesPool, DOC(dai, node, ColorCamera, getVideoNumFramesPool))
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.def("getStillNumFramesPool", &ColorCamera::getStillNumFramesPool, DOC(dai, node, ColorCamera, getStillNumFramesPool))
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.def("getRawNumFramesPool", &ColorCamera::getRawNumFramesPool, DOC(dai, node, ColorCamera, getRawNumFramesPool))
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.def("getIspNumFramesPool", &ColorCamera::getIspNumFramesPool, DOC(dai, node, ColorCamera, getIspNumFramesPool))
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;
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// ALIAS
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daiNodeModule.attr("ColorCamera").attr("Properties") = colorCameraProperties;
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}

‎src/pipeline/node/Common.hpp‎

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#pragma once
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// pybind
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#include "pybind11_common.hpp"
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// Libraries
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#include "hedley/hedley.h"
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9+
// pybind11
10+
#include "pybind11/stl_bind.h"
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#include "depthai/pipeline/Pipeline.hpp"
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#include "depthai/pipeline/Node.hpp"
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// Map of python node classes and call to pipeline to create it
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extern std::vector<std::pair<py::handle, std::function<std::shared_ptr<dai::Node>(dai::Pipeline&, py::object class_)>>> pyNodeCreateMap;
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extern py::handle daiNodeModule;
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template<typename T, typename DERIVED = dai::Node>
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py::class_<T> addNode(const char* name, const char* docstring = nullptr){
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auto node = py::class_<T, DERIVED, std::shared_ptr<T>>(daiNodeModule, name, docstring);
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pyNodeCreateMap.push_back(std::make_pair(node, [](dai::Pipeline& p, py::object class_){
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return p.create<T>();
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}));
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return node;
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}
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template<typename T, typename DERIVED = dai::Node>
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py::class_<T> addNodeAbstract(const char* name, const char* docstring = nullptr){
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auto node = py::class_<T, DERIVED, std::shared_ptr<T>>(daiNodeModule, name, docstring);
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pyNodeCreateMap.push_back(std::make_pair(node, [](dai::Pipeline& p, py::object class_) -> std::shared_ptr<dai::Node> {
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throw std::invalid_argument(std::string(py::str(class_)) + " is an abstract node. Choose an appropriate derived node instead");
33+
return nullptr;
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}));
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return node;
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}
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// Macro helpers
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#define ADD_NODE(NodeName) addNode<NodeName>(#NodeName, DOC(dai, node, NodeName))
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#define ADD_NODE_DERIVED(NodeName, Derived) addNode<NodeName, Derived>(#NodeName, DOC(dai, node, NodeName))
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#define ADD_NODE_ABSTRACT(NodeName) addNodeAbstract<NodeName>(#NodeName, DOC(dai, node, NodeName))
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#define ADD_NODE_DERIVED_ABSTRACT(NodeName, Derived) addNodeAbstract<NodeName, Derived>(#NodeName, DOC(dai, node, NodeName))
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#define ADD_NODE_DOC(NodeName, docstring) addNode<NodeName>(#NodeName, docstring)
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#define ADD_NODE_DERIVED_DOC(NodeName, Derived, docstring) addNode<NodeName, Derived>(#NodeName, docstring)

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