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fixed bugs
1 parent 00f4210 commit f3ec8a7

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5 files changed

+39
-32
lines changed

5 files changed

+39
-32
lines changed

‎CMakeLists.txt‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -73,6 +73,7 @@ pybind11_add_module(${TARGET_NAME}
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src/py_bindings.cpp
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src/XLinkConnectionBindings.cpp
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src/DeviceBindings.cpp
76+
src/CalibrationHandlerBindings.cpp
7677
src/DeviceBootloaderBindings.cpp
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src/DatatypeBindings.cpp
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src/DataQueueBindings.cpp

‎src/CalibrationHandlerBindings.cpp‎

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,8 @@
11
#include "CalibrationHandlerBindings.hpp"
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#include "depthai/device/CalibrationHandler.hpp"
3+
#include <vector>
34

4-
void PipelineBindings::bind(pybind11::module& m){
5+
void CalibrationHandlerBindings::bind(pybind11::module& m){
56

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using namespace dai;
78

@@ -27,8 +28,8 @@ void PipelineBindings::bind(pybind11::module& m){
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.def("setdistortionCoefficients", &CalibrationHandler::setdistortionCoefficients, py::arg("cameraId"), py::arg("distortionCoefficients"), DOC(dai, Device, setdistortionCoefficients))
2829
.def("setFov", &CalibrationHandler::setFov, py::arg("cameraId"), py::arg("hfov"), DOC(dai, Device, setFov))
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30-
.def("setCameraExtrinsics", &CalibrationHandler::setCameraExtrinsics, py::arg("srcCameraId"), py::arg("destCameraId"), py::arg("rotationMatrix"), py::arg("translation"), py::arg("measuredTranslation") = {0, 0, 0}, DOC(dai, Device, setCameraExtrinsics))
31-
.def("setImuExtrinsics", &CalibrationHandler::setImuExtrinsics, py::arg("destCameraId"), py::arg("rotationMatrix"), py::arg("translation"), py::arg("measuredTranslation") = {0, 0, 0}, DOC(dai, Device, setImuExtrinsics))
31+
.def("setCameraExtrinsics", &CalibrationHandler::setCameraExtrinsics, py::arg("srcCameraId"), py::arg("destCameraId"), py::arg("rotationMatrix"), py::arg("translation"), py::arg("measuredTranslation") = std::vector<float>(3,0), DOC(dai, Device, setCameraExtrinsics))
32+
.def("setImuExtrinsics", &CalibrationHandler::setImuExtrinsics, py::arg("destCameraId"), py::arg("rotationMatrix"), py::arg("translation"), py::arg("measuredTranslation") = std::vector<float>(3,0), DOC(dai, Device, setImuExtrinsics))
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3334
.def("setStereoLeft", &CalibrationHandler::setStereoLeft, py::arg("cameraId"), py::arg("rectifiedRotation"), DOC(dai, Device, setStereoLeft))
3435
.def("setStereoRight", &CalibrationHandler::setStereoRight, py::arg("cameraId"), py::arg("rectifiedRotation"), DOC(dai, Device, setStereoRight))

‎src/DatatypeBindings.cpp‎

Lines changed: 0 additions & 29 deletions
Original file line numberDiff line numberDiff line change
@@ -590,35 +590,6 @@ void DatatypeBindings::bind(pybind11::module& m){
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m.attr("ImgFrame").attr("Type") = m.attr("RawImgFrame").attr("Type");
591591
m.attr("ImgFrame").attr("Specs") = m.attr("RawImgFrame").attr("Specs");
592592

593-
594-
py::class_<Timestamp>(m, "Timestamp", DOC(dai, Timestamp))
595-
.def(py::init<>())
596-
.def_readwrite("sec", &Timestamp::sec)
597-
.def_readwrite("nsec", &Timestamp::nsec)
598-
;
599-
600-
py::class_<Point2f>(m, "Point2f", DOC(dai, Point2f))
601-
.def(py::init<>())
602-
.def(py::init<float, float>())
603-
.def_readwrite("x", &Point2f::x)
604-
.def_readwrite("y", &Point2f::y)
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;
606-
607-
py::class_<Point3f>(m, "Point3f", DOC(dai, Point3f))
608-
.def(py::init<>())
609-
.def(py::init<float, float, float>())
610-
.def_readwrite("x", &Point3f::x)
611-
.def_readwrite("y", &Point3f::y)
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.def_readwrite("z", &Point3f::z)
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;
614-
615-
py::class_<Size2f>(m, "Size2f", DOC(dai, Size2f))
616-
.def(py::init<>())
617-
.def(py::init<float, float>())
618-
.def_readwrite("width", &Size2f::width)
619-
.def_readwrite("height", &Size2f::height)
620-
;
621-
622593
py::class_<RotatedRect>(m, "RotatedRect", DOC(dai, RotatedRect))
623594
.def(py::init<>())
624595
.def_readwrite("center", &RotatedRect::center)

‎src/pipeline/CommonBindings.cpp‎

Lines changed: 32 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -7,11 +7,43 @@
77
#include "depthai-shared/common/MemoryInfo.hpp"
88
#include "depthai-shared/common/ChipTemperature.hpp"
99
#include "depthai-shared/common/CpuUsage.hpp"
10+
#include "depthai-shared/common/Timestamp.hpp"
11+
#include "depthai-shared/common/Point2f.hpp"
12+
#include "depthai-shared/common/Point3f.hpp"
13+
#include "depthai-shared/common/Size2f.hpp"
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1115
void CommonBindings::bind(pybind11::module& m){
1216

1317
using namespace dai;
1418

19+
py::class_<Timestamp>(m, "Timestamp", DOC(dai, Timestamp))
20+
.def(py::init<>())
21+
.def_readwrite("sec", &Timestamp::sec)
22+
.def_readwrite("nsec", &Timestamp::nsec)
23+
;
24+
25+
py::class_<Point2f>(m, "Point2f", DOC(dai, Point2f))
26+
.def(py::init<>())
27+
.def(py::init<float, float>())
28+
.def_readwrite("x", &Point2f::x)
29+
.def_readwrite("y", &Point2f::y)
30+
;
31+
32+
py::class_<Point3f>(m, "Point3f", DOC(dai, Point3f))
33+
.def(py::init<>())
34+
.def(py::init<float, float, float>())
35+
.def_readwrite("x", &Point3f::x)
36+
.def_readwrite("y", &Point3f::y)
37+
.def_readwrite("z", &Point3f::z)
38+
;
39+
40+
py::class_<Size2f>(m, "Size2f", DOC(dai, Size2f))
41+
.def(py::init<>())
42+
.def(py::init<float, float>())
43+
.def_readwrite("width", &Size2f::width)
44+
.def_readwrite("height", &Size2f::height)
45+
;
46+
1547
// CameraBoardSocket enum bindings
1648
py::enum_<CameraBoardSocket>(m, "CameraBoardSocket", DOC(dai, CameraBoardSocket))
1749
.value("AUTO", CameraBoardSocket::AUTO)

‎src/py_bindings.cpp‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -21,6 +21,7 @@
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#include "pipeline/NodeBindings.hpp"
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#include "XLinkConnectionBindings.hpp"
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#include "DeviceBindings.hpp"
24+
#include "CalibrationHandlerBindings.hpp"
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#include "DeviceBootloaderBindings.hpp"
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#include "DatatypeBindings.hpp"
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#include "DataQueueBindings.hpp"
@@ -41,6 +42,7 @@ PYBIND11_MODULE(depthai,m)
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PipelineBindings::bind(m);
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XLinkConnectionBindings::bind(m);
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DeviceBindings::bind(m);
45+
CalibrationHandlerBindings::bind(m);
4446
DeviceBootloaderBindings::bind(m);
4547
CommonBindings::bind(m);
4648
DatatypeBindings::bind(m);

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