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themarpethemarpe
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WIP: Camera node
1 parent ba9bdfb commit d5b09fa

8 files changed

Lines changed: 242 additions & 2 deletions

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‎.gitignore‎

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.venv
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env/
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venv/
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venv_*/
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ENV/
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env.bak/
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venv.bak/

‎CMakeLists.txt‎

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@@ -107,6 +107,7 @@ pybind11_add_module(${TARGET_NAME}
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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/CameraBindings.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

‎depthai-core‎

‎examples/Camera/camera_rgb_preview.py‎

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#!/usr/bin/env python3
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import cv2
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import depthai as dai
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# Create pipeline
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pipeline = dai.Pipeline()
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# Define source and output
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cam = pipeline.create(dai.node.Camera)
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xoutRgb = pipeline.create(dai.node.XLinkOut)
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xoutRgb.setStreamName("camera")
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# Properties
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cam.setPreviewSize(300, 300)
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cam.setInterleaved(False)
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cam.setColorOrder(dai.CameraProperties.ColorOrder.RGB)
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cam.setBoardSocket(dai.CameraBoardSocket.LEFT)
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# Linking
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cam.isp.link(xoutRgb.input)
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# Connect to device and start pipeline
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with dai.Device(pipeline) as device:
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print('Connected cameras:', device.getConnectedCameraFeatures())
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# Print out usb speed
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print('Usb speed:', device.getUsbSpeed().name)
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# Bootloader version
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if device.getBootloaderVersion() is not None:
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print('Bootloader version:', device.getBootloaderVersion())
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# Device name
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print('Device name:', device.getDeviceName())
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# Output queue will be used to get the rgb frames from the output defined above
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qRgb = device.getOutputQueue(name="camera", maxSize=4, blocking=False)
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while True:
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inRgb = qRgb.get() # blocking call, will wait until a new data has arrived
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# Retrieve 'bgr' (opencv format) frame
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cv2.imshow("camera", inRgb.getCvFrame())
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if cv2.waitKey(1) == ord('q'):
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break

‎src/DeviceBindings.cpp‎

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@@ -544,7 +544,7 @@ void DeviceBindings::bind(pybind11::module& m, void* pCallstack){
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.def("flashFactoryEepromClear", [](DeviceBase& d) { py::gil_scoped_release release; d.flashFactoryEepromClear(); }, DOC(dai, DeviceBase, flashFactoryEepromClear))
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.def("setTimesync", [](DeviceBase& d, std::chrono::milliseconds p, int s, bool r) { py::gil_scoped_release release; return d.setTimesync(p,s,r); }, DOC(dai, DeviceBase, setTimesync))
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.def("setTimesync", [](DeviceBase& d, bool e) { py::gil_scoped_release release; return d.setTimesync(e); }, py::arg("enable"), DOC(dai, DeviceBase, setTimesync, 2))
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.def("getDeviceName", [](DeviceBase& d) { py::gil_scoped_release release; return d.getDeviceName(); }, DOC(dai, DeviceBase, getDeviceName))
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.def("getDeviceName", [](DeviceBase& d) { std::string name; { py::gil_scoped_release release; name = d.getDeviceName(); } return py::bytes(name).attr("decode")("utf-8", "replace"); }, DOC(dai, DeviceBase, getDeviceName))
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;
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‎src/pipeline/PipelineBindings.cpp‎

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#include "depthai/pipeline/node/XLinkOut.hpp"
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#include "depthai/pipeline/node/NeuralNetwork.hpp"
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#include "depthai/pipeline/node/ColorCamera.hpp"
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#include "depthai/pipeline/node/Camera.hpp"
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#include "depthai/pipeline/node/VideoEncoder.hpp"
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#include "depthai/pipeline/node/SPIOut.hpp"
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#include "depthai/pipeline/node/SPIIn.hpp"

‎src/pipeline/node/CameraBindings.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/Camera.hpp"
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void bind_camera(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_<CameraProperties> cameraProperties(m, "CameraProperties", DOC(dai, CameraProperties));
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// py::enum_<CameraProperties::SensorResolution> cameraPropertiesSensorResolution(cameraProperties, "SensorResolution", DOC(dai, CameraProperties, SensorResolution));
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py::enum_<CameraProperties::ColorOrder> cameraPropertiesColorOrder(cameraProperties, "ColorOrder", DOC(dai, CameraProperties, ColorOrder));
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auto camera = ADD_NODE(Camera);
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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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// // Camera Properties
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// cameraPropertiesSensorResolution
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// .value("THE_1080_P", CameraProperties::SensorResolution::THE_1080_P)
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// .value("THE_1200_P", CameraProperties::SensorResolution::THE_1200_P)
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// .value("THE_4_K", CameraProperties::SensorResolution::THE_4_K)
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// .value("THE_5_MP", CameraProperties::SensorResolution::THE_5_MP)
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// .value("THE_12_MP", CameraProperties::SensorResolution::THE_12_MP)
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// .value("THE_4000X3000", CameraProperties::SensorResolution::THE_4000X3000)
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// .value("THE_13_MP", CameraProperties::SensorResolution::THE_13_MP)
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// .value("THE_5312X6000", CameraProperties::SensorResolution::THE_5312X6000)
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// .value("THE_48_MP", CameraProperties::SensorResolution::THE_48_MP)
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// .value("THE_720_P", CameraProperties::SensorResolution::THE_720_P)
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// .value("THE_800_P", CameraProperties::SensorResolution::THE_800_P)
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// ;
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cameraPropertiesColorOrder
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.value("BGR", CameraProperties::ColorOrder::BGR)
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.value("RGB", CameraProperties::ColorOrder::RGB)
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;
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cameraProperties
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.def_readwrite("initialControl", &CameraProperties::initialControl)
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.def_readwrite("boardSocket", &CameraProperties::boardSocket)
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.def_readwrite("imageOrientation", &CameraProperties::imageOrientation)
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.def_readwrite("colorOrder", &CameraProperties::colorOrder)
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.def_readwrite("interleaved", &CameraProperties::interleaved)
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.def_readwrite("fp16", &CameraProperties::fp16)
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.def_readwrite("previewHeight", &CameraProperties::previewHeight)
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.def_readwrite("previewWidth", &CameraProperties::previewWidth)
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.def_readwrite("videoHeight", &CameraProperties::videoHeight)
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.def_readwrite("videoWidth", &CameraProperties::videoWidth)
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.def_readwrite("stillHeight", &CameraProperties::stillHeight)
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.def_readwrite("stillWidth", &CameraProperties::stillWidth)
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// .def_readwrite("resolution", &CameraProperties::resolution)
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.def_readwrite("fps", &CameraProperties::fps)
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.def_readwrite("sensorCropX", &CameraProperties::sensorCropX)
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.def_readwrite("sensorCropY", &CameraProperties::sensorCropY)
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.def_readwrite("previewKeepAspectRatio", &CameraProperties::previewKeepAspectRatio)
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.def_readwrite("ispScale", &CameraProperties::ispScale)
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.def_readwrite("numFramesPoolRaw", &CameraProperties::numFramesPoolRaw)
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.def_readwrite("numFramesPoolIsp", &CameraProperties::numFramesPoolIsp)
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.def_readwrite("numFramesPoolVideo", &CameraProperties::numFramesPoolVideo)
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.def_readwrite("numFramesPoolPreview", &CameraProperties::numFramesPoolPreview)
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.def_readwrite("numFramesPoolStill", &CameraProperties::numFramesPoolStill)
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;
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// Camera node
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camera
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.def_readonly("inputConfig", &Camera::inputConfig, DOC(dai, node, Camera, inputConfig))
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.def_readonly("inputControl", &Camera::inputControl, DOC(dai, node, Camera, inputControl))
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.def_readonly("initialControl", &Camera::initialControl, DOC(dai, node, Camera, initialControl))
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.def_readonly("video", &Camera::video, DOC(dai, node, Camera, video))
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.def_readonly("preview", &Camera::preview, DOC(dai, node, Camera, preview))
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.def_readonly("still", &Camera::still, DOC(dai, node, Camera, still))
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.def_readonly("isp", &Camera::isp, DOC(dai, node, Camera, isp))
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.def_readonly("raw", &Camera::raw, DOC(dai, node, Camera, raw))
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.def_readonly("frameEvent", &Camera::frameEvent, DOC(dai, node, Camera, frameEvent))
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.def("setCamId", [](Camera& 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", [](Camera& 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", &Camera::setBoardSocket, py::arg("boardSocket"), DOC(dai, node, Camera, setBoardSocket))
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.def("getBoardSocket", &Camera::getBoardSocket, DOC(dai, node, Camera, getBoardSocket))
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.def("setImageOrientation", &Camera::setImageOrientation, py::arg("imageOrientation"), DOC(dai, node, Camera, setImageOrientation))
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.def("getImageOrientation", &Camera::getImageOrientation, DOC(dai, node, Camera, getImageOrientation))
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.def("setColorOrder", &Camera::setColorOrder, py::arg("colorOrder"), DOC(dai, node, Camera, setColorOrder))
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.def("getColorOrder", &Camera::getColorOrder, DOC(dai, node, Camera, getColorOrder))
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.def("setInterleaved", &Camera::setInterleaved, py::arg("interleaved"), DOC(dai, node, Camera, setInterleaved))
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.def("getInterleaved", &Camera::getInterleaved, DOC(dai, node, Camera, getInterleaved))
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.def("setFp16", &Camera::setFp16, py::arg("fp16"), DOC(dai, node, Camera, setFp16))
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.def("getFp16", &Camera::getFp16, DOC(dai, node, Camera, getFp16))
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.def("setPreviewSize", static_cast<void(Camera::*)(int,int)>(&Camera::setPreviewSize), py::arg("width"), py::arg("height"), DOC(dai, node, Camera, setPreviewSize))
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.def("setPreviewSize", static_cast<void(Camera::*)(std::tuple<int,int>)>(&Camera::setPreviewSize), py::arg("size"), DOC(dai, node, Camera, setPreviewSize, 2))
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.def("setVideoSize", static_cast<void(Camera::*)(int,int)>(&Camera::setVideoSize), py::arg("width"), py::arg("height"), DOC(dai, node, Camera, setVideoSize))
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.def("setVideoSize", static_cast<void(Camera::*)(std::tuple<int,int>)>(&Camera::setVideoSize), py::arg("size"), DOC(dai, node, Camera, setVideoSize, 2))
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.def("setStillSize", static_cast<void(Camera::*)(int,int)>(&Camera::setStillSize), py::arg("width"), py::arg("height"), DOC(dai, node, Camera, setStillSize))
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.def("setStillSize", static_cast<void(Camera::*)(std::tuple<int,int>)>(&Camera::setStillSize), py::arg("size"), DOC(dai, node, Camera, setStillSize, 2))
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// .def("setResolution", &Camera::setResolution, py::arg("resolution"), DOC(dai, node, Camera, setResolution))
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// .def("getResolution", &Camera::getResolution, DOC(dai, node, Camera, getResolution))
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.def("setFps", &Camera::setFps, py::arg("fps"), DOC(dai, node, Camera, setFps))
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.def("getFps", &Camera::getFps, DOC(dai, node, Camera, getFps))
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.def("getPreviewSize", &Camera::getPreviewSize, DOC(dai, node, Camera, getPreviewSize))
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.def("getPreviewWidth", &Camera::getPreviewWidth, DOC(dai, node, Camera, getPreviewWidth))
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.def("getPreviewHeight", &Camera::getPreviewHeight, DOC(dai, node, Camera, getPreviewHeight))
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.def("getVideoSize", &Camera::getVideoSize, DOC(dai, node, Camera, getVideoSize))
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.def("getVideoWidth", &Camera::getVideoWidth, DOC(dai, node, Camera, getVideoWidth))
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.def("getVideoHeight", &Camera::getVideoHeight, DOC(dai, node, Camera, getVideoHeight))
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.def("getStillSize", &Camera::getStillSize, DOC(dai, node, Camera, getStillSize))
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.def("getStillWidth", &Camera::getStillWidth, DOC(dai, node, Camera, getStillWidth))
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.def("getStillHeight", &Camera::getStillHeight, DOC(dai, node, Camera, getStillHeight))
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.def("getResolutionSize", &Camera::getResolutionSize, DOC(dai, node, Camera, getResolutionSize))
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.def("getResolutionWidth", &Camera::getResolutionWidth, DOC(dai, node, Camera, getResolutionWidth))
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.def("getResolutionHeight", &Camera::getResolutionHeight, DOC(dai, node, Camera, getResolutionHeight))
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.def("sensorCenterCrop", &Camera::sensorCenterCrop, DOC(dai, node, Camera, sensorCenterCrop))
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.def("setSensorCrop", &Camera::setSensorCrop, py::arg("x"), py::arg("y"), DOC(dai, node, Camera, setSensorCrop))
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.def("getSensorCrop", &Camera::getSensorCrop, DOC(dai, node, Camera, getSensorCrop))
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.def("getSensorCropX", &Camera::getSensorCropX, DOC(dai, node, Camera, getSensorCropX))
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.def("getSensorCropY", &Camera::getSensorCropY, DOC(dai, node, Camera, getSensorCropY))
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.def("setWaitForConfigInput", [](Camera& 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, Camera, setWaitForConfigInput))
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.def("getWaitForConfigInput", [](Camera& 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, Camera, getWaitForConfigInput))
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.def("setPreviewKeepAspectRatio", &Camera::setPreviewKeepAspectRatio, py::arg("keep"), DOC(dai, node, Camera, setPreviewKeepAspectRatio))
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.def("getPreviewKeepAspectRatio", &Camera::getPreviewKeepAspectRatio, DOC(dai, node, Camera, getPreviewKeepAspectRatio))
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.def("setIspScale", static_cast<void(Camera::*)(int,int)>(&Camera::setIspScale), py::arg("numerator"), py::arg("denominator"), DOC(dai, node, Camera, setIspScale))
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.def("setIspScale", static_cast<void(Camera::*)(std::tuple<int,int>)>(&Camera::setIspScale), py::arg("scale"), DOC(dai, node, Camera, setIspScale, 2))
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.def("setIspScale", static_cast<void(Camera::*)(int,int,int,int)>(&Camera::setIspScale), py::arg("horizNum"), py::arg("horizDenom"), py::arg("vertNum"), py::arg("vertDenom"), DOC(dai, node, Camera, setIspScale, 3))
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.def("setIspScale", static_cast<void(Camera::*)(std::tuple<int,int>,std::tuple<int,int>)>(&Camera::setIspScale), py::arg("horizScale"), py::arg("vertScale"), DOC(dai, node, Camera, setIspScale, 4))
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.def("getIspSize", &Camera::getIspSize, DOC(dai, node, Camera, getIspSize))
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.def("getIspWidth", &Camera::getIspWidth, DOC(dai, node, Camera, getIspWidth))
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.def("getIspHeight", &Camera::getIspHeight, DOC(dai, node, Camera, getIspHeight))
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.def("setPreviewNumFramesPool", &Camera::setPreviewNumFramesPool, DOC(dai, node, Camera, setPreviewNumFramesPool))
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.def("setVideoNumFramesPool", &Camera::setVideoNumFramesPool, DOC(dai, node, Camera, setVideoNumFramesPool))
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.def("setStillNumFramesPool", &Camera::setStillNumFramesPool, DOC(dai, node, Camera, setStillNumFramesPool))
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.def("setRawNumFramesPool", &Camera::setRawNumFramesPool, DOC(dai, node, Camera, setRawNumFramesPool))
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.def("setIspNumFramesPool", &Camera::setIspNumFramesPool, DOC(dai, node, Camera, setIspNumFramesPool))
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.def("setNumFramesPool", &Camera::setNumFramesPool, py::arg("raw"), py::arg("isp"), py::arg("preview"), py::arg("video"), py::arg("still"), DOC(dai, node, Camera, setNumFramesPool))
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.def("getPreviewNumFramesPool", &Camera::getPreviewNumFramesPool, DOC(dai, node, Camera, getPreviewNumFramesPool))
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.def("getVideoNumFramesPool", &Camera::getVideoNumFramesPool, DOC(dai, node, Camera, getVideoNumFramesPool))
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.def("getStillNumFramesPool", &Camera::getStillNumFramesPool, DOC(dai, node, Camera, getStillNumFramesPool))
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.def("getRawNumFramesPool", &Camera::getRawNumFramesPool, DOC(dai, node, Camera, getRawNumFramesPool))
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.def("getIspNumFramesPool", &Camera::getIspNumFramesPool, DOC(dai, node, Camera, getIspNumFramesPool))
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.def("setCamera", &Camera::setCamera, py::arg("name"), DOC(dai, node, Camera, setCamera))
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.def("getCamera", &Camera::getCamera, DOC(dai, node, Camera, getCamera))
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;
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// ALIAS
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daiNodeModule.attr("Camera").attr("Properties") = cameraProperties;
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}

‎src/pipeline/node/NodeBindings.cpp‎

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@@ -94,6 +94,7 @@ py::class_<Map, holder_type> bindNodeMap(py::handle scope, const std::string &na
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void bind_xlinkin(pybind11::module& m, void* pCallstack);
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void bind_xlinkout(pybind11::module& m, void* pCallstack);
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void bind_colorcamera(pybind11::module& m, void* pCallstack);
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void bind_camera(pybind11::module& m, void* pCallstack);
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void bind_monocamera(pybind11::module& m, void* pCallstack);
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void bind_stereodepth(pybind11::module& m, void* pCallstack);
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void bind_neuralnetwork(pybind11::module& m, void* pCallstack);
@@ -122,6 +123,7 @@ void NodeBindings::addToCallstack(std::deque<StackFunction>& callstack) {
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callstack.push_front(bind_xlinkin);
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callstack.push_front(bind_xlinkout);
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callstack.push_front(bind_colorcamera);
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callstack.push_front(bind_camera);
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callstack.push_front(bind_monocamera);
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callstack.push_front(bind_stereodepth);
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callstack.push_front(bind_neuralnetwork);

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