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themarpethemarpe
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Initial bindings for gen2
1 parent 8cf9e41 commit de8a2e3

17 files changed

+457
-105
lines changed

‎CMakeLists.txt‎

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@@ -38,12 +38,21 @@ find_package(pybind11 CONFIG REQUIRED)
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# Add files for python module
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pybind11_add_module(${TARGET_NAME}
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src/py_bindings.cpp
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src/host_data_packet_bindings.cpp
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src/nnet_packet_bindings.cpp
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src/py_tensor_entry_container_iterator.cpp
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src/device_bindings.cpp
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#src/host_data_packet_bindings.cpp
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#src/nnet_packet_bindings.cpp
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#src/py_tensor_entry_container_iterator.cpp
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#src/device_bindings.cpp
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src/XLinkConnectionBindings.cpp
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src/DeviceBindings.cpp
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src/DatatypeBindings.cpp
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src/DataQueueBindings.cpp
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src/pipeline/PipelineBindings.cpp
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src/pipeline/NodeBindings.cpp
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)
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# Add include directory (src)
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target_include_directories(${TARGET_NAME} PRIVATE src)
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# Link with libraries
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target_link_libraries(${TARGET_NAME}
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PUBLIC

‎depthai-core‎

Submodule depthai-core updated 52 files

‎src/DataQueueBindings.cpp‎

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#include "DataQueueBindings.hpp"
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// depthai-shared
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#include "depthai/DataQueue.hpp"
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void DataQueueBindings::bind(pybind11::module& m){
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using namespace dai;
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// Bind DataOutputQueue
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py::class_<DataOutputQueue, std::shared_ptr<DataOutputQueue>>(m, "DataOutputQueue")
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.def("get", static_cast<std::shared_ptr<RawBuffer>(DataOutputQueue::*)()>(&DataOutputQueue::get) )
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.def("has", static_cast<bool(DataOutputQueue::*)()>(&DataOutputQueue::has))
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.def("tryGet", static_cast<std::shared_ptr<RawBuffer>(DataOutputQueue::*)()>(&DataOutputQueue::tryGet))
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;
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// Bind DataInputQueue
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py::class_<DataInputQueue, std::shared_ptr<DataInputQueue>>(m, "DataInputQueue")
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.def("send", &DataInputQueue::send)
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.def("sendAsync", &DataInputQueue::sendAsync)
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;
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}

‎src/DataQueueBindings.hpp‎

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#pragma once
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// pybind
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#include "pybind11_common.hpp"
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struct DataQueueBindings {
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static void bind(pybind11::module& m);
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};

‎src/DatatypeBindings.cpp‎

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#include "DatatypeBindings.hpp"
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#include <memory>
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// depthai-shared
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#include "depthai-shared/datatype/RawBuffer.hpp"
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#include "depthai-shared/datatype/ImgFrame.hpp"
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#include "depthai-shared/datatype/NNTensor.hpp"
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void DatatypeBindings::bind(pybind11::module& m){
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using namespace dai;
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// Bind RawBuffer
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py::class_<RawBuffer, std::shared_ptr<RawBuffer>>(m, "RawBuffer")
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.def_readwrite("data", &RawBuffer::data)
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;
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// Bind ImgFrame
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py::class_<ImgFrame, RawBuffer, std::shared_ptr<ImgFrame>> imgFrame(m, "ImgFrame");
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imgFrame
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.def_readwrite("fb", &ImgFrame::fb)
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.def_readwrite("category", &ImgFrame::category)
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.def_readwrite("instanceNum", &ImgFrame::instanceNum)
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.def_readwrite("sequenceNum", &ImgFrame::sequenceNum)
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.def_property("ts",
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[](const ImgFrame& o){
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double ts = o.ts.sec + o.ts.nsec / 1000000000.0;
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return ts;
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},
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[](ImgFrame& o, double ts){
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o.ts.sec = ts;
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o.ts.nsec = (ts - o.ts.sec) * 1000000000.0;
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}
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)
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;
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py::enum_<ImgFrame::Type>(imgFrame, "Type")
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.value("YUV422i", ImgFrame::Type::YUV422i)
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.value("YUV444p", ImgFrame::Type::YUV444p)
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.value("YUV420p", ImgFrame::Type::YUV420p)
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.value("YUV422p", ImgFrame::Type::YUV422p)
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.value("YUV400p", ImgFrame::Type::YUV400p)
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.value("RGBA8888", ImgFrame::Type::RGBA8888)
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.value("RGB161616", ImgFrame::Type::RGB161616)
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.value("RGB888", ImgFrame::Type::RGB888)
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.value("LUT2", ImgFrame::Type::LUT2)
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.value("LUT4", ImgFrame::Type::LUT4)
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.value("LUT16", ImgFrame::Type::LUT16)
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.value("RAW16", ImgFrame::Type::RAW16)
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.value("RAW14", ImgFrame::Type::RAW14)
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.value("RAW12", ImgFrame::Type::RAW12)
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.value("RAW10", ImgFrame::Type::RAW10)
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.value("RAW8", ImgFrame::Type::RAW8)
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.value("PACK10", ImgFrame::Type::PACK10)
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.value("PACK12", ImgFrame::Type::PACK12)
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.value("YUV444i", ImgFrame::Type::YUV444i)
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.value("NV12", ImgFrame::Type::NV12)
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.value("NV21", ImgFrame::Type::NV21)
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.value("BITSTREAM", ImgFrame::Type::BITSTREAM)
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.value("HDR", ImgFrame::Type::HDR)
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.value("NONE", ImgFrame::Type::NONE)
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.export_values()
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;
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py::class_<ImgFrame::Specs>(imgFrame, "Specs")
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.def_readwrite("type", &ImgFrame::Specs::type)
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.def_readwrite("width", &ImgFrame::Specs::width)
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.def_readwrite("height", &ImgFrame::Specs::height)
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.def_readwrite("stride", &ImgFrame::Specs::stride)
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.def_readwrite("bytesPP", &ImgFrame::Specs::bytesPP)
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.def_readwrite("p1Offset", &ImgFrame::Specs::p1Offset)
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.def_readwrite("p2Offset", &ImgFrame::Specs::p2Offset)
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.def_readwrite("p3Offset", &ImgFrame::Specs::p3Offset)
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;
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// NNTensor
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py::class_<NNTensor, RawBuffer, std::shared_ptr<NNTensor>> nnTensor(m, "NNTensor");
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nnTensor
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.def_readwrite("tensors", &NNTensor::tensors)
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.def_readwrite("batchSize", &NNTensor::batchSize)
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;
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py::class_<TensorInfo> tensorInfo(m, "TensorInfo");
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tensorInfo
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.def_readwrite("order", &TensorInfo::order)
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.def_readwrite("dataType", &TensorInfo::dataType)
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.def_readwrite("numDimensions", &TensorInfo::numDimensions)
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.def_readwrite("dims", &TensorInfo::dims)
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.def_readwrite("strides", &TensorInfo::strides)
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.def_readwrite("name", &TensorInfo::name)
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.def_readwrite("offset", &TensorInfo::offset)
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;
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py::enum_<TensorInfo::DataType>(tensorInfo, "DataType")
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.value("FP16", TensorInfo::DataType::FP16)
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.value("U8F", TensorInfo::DataType::U8F)
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.value("INT", TensorInfo::DataType::INT)
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.value("FP32", TensorInfo::DataType::FP32)
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.value("I8", TensorInfo::DataType::I8)
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.export_values()
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;
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py::enum_<TensorInfo::StorageOrder>(tensorInfo, "TensorInfo")
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.value("NHWC", TensorInfo::StorageOrder::NHWC)
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.value("NHCW", TensorInfo::StorageOrder::NHCW)
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.value("NCHW", TensorInfo::StorageOrder::NCHW)
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.value("HWC", TensorInfo::StorageOrder::HWC)
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.value("CHW", TensorInfo::StorageOrder::CHW)
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.value("WHC", TensorInfo::StorageOrder::WHC)
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.value("HCW", TensorInfo::StorageOrder::HCW)
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.value("WCH", TensorInfo::StorageOrder::WCH)
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.value("CWH", TensorInfo::StorageOrder::CWH)
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.value("NC", TensorInfo::StorageOrder::NC)
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.value("CN", TensorInfo::StorageOrder::CN)
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.value("C", TensorInfo::StorageOrder::C)
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.value("H", TensorInfo::StorageOrder::H)
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.value("W", TensorInfo::StorageOrder::W)
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.export_values()
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;
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}

‎src/DatatypeBindings.hpp‎

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#pragma once
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// pybind
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#include "pybind11_common.hpp"
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struct DatatypeBindings {
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static void bind(pybind11::module& m);
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};

‎src/DeviceBindings.cpp‎

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#include "DeviceBindings.hpp"
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// depthai
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#include "depthai/device.hpp"
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void DeviceBindings::bind(pybind11::module& m){
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using namespace dai;
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// Bind global properties
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py::class_<Device>(m, "Device")
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.def(py::init<>())
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.def(py::init<const DeviceInfo&, bool>(), py::arg("deviceDesc"), py::arg("usb2Mode") = false)
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.def(py::init<const DeviceInfo&, std::string>(), py::arg("deviceDesc"), py::arg("pathToCmd"))
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.def("isPipelineRunning", &Device::isPipelineRunning)
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.def("startPipeline", &Device::startPipeline)
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.def("getOutputQueue", &Device::getOutputQueue)
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.def("getInputQueue", &Device::getInputQueue)
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.def("setCallback", &Device::setCallback)
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;
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}

‎src/DeviceBindings.hpp‎

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#pragma once
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// pybind
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#include "pybind11_common.hpp"
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struct DeviceBindings {
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static void bind(pybind11::module& m);
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};

‎src/XLinkConnectionBindings.cpp‎

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#include "XLinkConnectionBindings.hpp"
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#include "depthai/xlink/XLinkConnection.hpp"
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#include <cmath>
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#include <cstring>
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void XLinkConnectionBindings::bind(pybind11::module& m){
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using namespace dai;
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py::class_<DeviceInfo>(m, "DeviceInfo")
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.def(py::init<>())
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.def_readwrite("desc", &DeviceInfo::desc)
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.def_readwrite("state", &DeviceInfo::state)
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;
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py::class_<deviceDesc_t>(m, "DeviceDesc")
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.def(py::init<>())
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.def_readwrite("protocol", &deviceDesc_t::protocol)
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.def_readwrite("platform", &deviceDesc_t::platform)
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.def_property("name",
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[](deviceDesc_t& o){return std::string(o.name);},
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[](deviceDesc_t& o, std::string n){ std::strncpy(o.name, n.c_str(), std::min(XLINK_MAX_NAME_SIZE,(int) n.size()));}
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)
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;
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py::enum_<XLinkDeviceState_t>(m, "XLinkDeviceState")
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.value("X_LINK_ANY_STATE", X_LINK_ANY_STATE)
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.value("X_LINK_BOOTED", X_LINK_BOOTED)
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.value("X_LINK_UNBOOTED", X_LINK_UNBOOTED)
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.export_values();
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;
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py::enum_<XLinkProtocol_t>(m, "XLinkProtocol")
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.value("X_LINK_USB_VSC", X_LINK_USB_VSC)
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.value("X_LINK_USB_CDC", X_LINK_USB_CDC)
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.value("X_LINK_PCIE", X_LINK_PCIE)
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.value("X_LINK_IPC", X_LINK_IPC)
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.value("X_LINK_NMB_OF_PROTOCOLS", X_LINK_NMB_OF_PROTOCOLS)
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.value("X_LINK_ANY_PROTOCOL", X_LINK_ANY_PROTOCOL)
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.export_values()
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;
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py::enum_<XLinkPlatform_t>(m, "XLinkPlatform")
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.value("X_LINK_ANY_PLATFORM", X_LINK_ANY_PLATFORM)
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.value("X_LINK_MYRIAD_2", X_LINK_MYRIAD_2)
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.value("X_LINK_MYRIAD_X", X_LINK_MYRIAD_X)
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.export_values()
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;
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py::class_<XLinkConnection>(m, "XLinkConnection")
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.def(py::init<const DeviceInfo&, std::vector<std::uint8_t>>())
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.def(py::init<const DeviceInfo&, std::string>())
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.def(py::init<const DeviceInfo&>())
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.def_static("getAllConnectedDevices", &XLinkConnection::getAllConnectedDevices)
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.def_static("getFirstDevice", &XLinkConnection::getFirstDevice)
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;
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}

‎src/XLinkConnectionBindings.hpp‎

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#pragma once
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// pybind
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#include "pybind11_common.hpp"
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struct XLinkConnectionBindings {
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static void bind(pybind11::module& m);
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};

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