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pyrs_internal.cpp
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pyrs_internal.cpp
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/* License: Apache 2.0. See LICENSE file in root directory.
Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
#include "pyrealsense2.h"
#include <librealsense2/hpp/rs_internal.hpp>
#include <cstring>
void init_internal(py::module &m) {
/** rs_internal.h **/
py::class_<rs2_video_stream> video_stream(m, "video_stream", "All the parameters"
" required to define a video stream.");
video_stream.def(py::init<>())
.def_readwrite("type", &rs2_video_stream::type)
.def_readwrite("index", &rs2_video_stream::index)
.def_readwrite("uid", &rs2_video_stream::uid)
.def_readwrite("width", &rs2_video_stream::width)
.def_readwrite("height", &rs2_video_stream::height)
.def_readwrite("fps", &rs2_video_stream::fps)
.def_readwrite("bpp", &rs2_video_stream::bpp)
.def_readwrite("fmt", &rs2_video_stream::fmt)
.def_readwrite("intrinsics", &rs2_video_stream::intrinsics);
py::class_<rs2_motion_stream> motion_stream(m, "motion_stream", "All the parameters"
" required to define a motion stream.");
motion_stream.def(py::init<>())
.def_readwrite("type", &rs2_motion_stream::type)
.def_readwrite("index", &rs2_motion_stream::index)
.def_readwrite("uid", &rs2_motion_stream::uid)
.def_readwrite("fps", &rs2_motion_stream::fps)
.def_readwrite("fmt", &rs2_motion_stream::fmt)
.def_readwrite("intrinsics", &rs2_motion_stream::intrinsics);
py::class_<rs2_pose_stream> pose_stream(m, "pose_stream", "All the parameters"
" required to define a pose stream.");
pose_stream.def(py::init<>())
.def_readwrite("type", &rs2_pose_stream::type)
.def_readwrite("index", &rs2_pose_stream::index)
.def_readwrite("uid", &rs2_pose_stream::uid)
.def_readwrite("fps", &rs2_pose_stream::fps)
.def_readwrite("fmt", &rs2_pose_stream::fmt);
py::class_< rs2_software_video_frame >( m,
"software_video_frame",
"All the parameters required to define a video frame" )
.def( py::init( []() { return rs2_software_video_frame{ 0 }; } ) )
.def_property(
"pixels",
[]( const rs2_software_video_frame & self ) {
if( ! self.profile || ! self.pixels )
return BufData( nullptr, 1, "b", 0 );
// TODO: Not all formats (e.g. RAW10) are properly handled (see struct FmtToType in
// python.hpp)
auto vp = rs2::stream_profile( self.profile ).as< rs2::video_stream_profile >();
size_t size = fmt_to_value< itemsize >( vp.format() );
size_t upp = self.bpp / size;
if( upp == 1 )
return BufData( self.pixels,
size,
fmt_to_value< fmtstring >( vp.format() ),
2,
{ (size_t)vp.height(), (size_t)vp.width() },
{ vp.width() * size, size } );
else
return BufData( self.pixels,
size,
fmt_to_value< fmtstring >( vp.format() ),
3,
{ (size_t)vp.height(), (size_t)vp.width(), upp },
{ vp.width() * upp * size, upp * size, size } );
},
[]( rs2_software_video_frame & self, py::buffer buf ) {
if( self.deleter )
self.deleter( self.pixels );
auto data = buf.request();
if( ! data.size || ! data.itemsize )
{
self.pixels = nullptr;
self.deleter = nullptr;
}
else
{
self.pixels
= new uint8_t[data.size
* data.itemsize]; // fwiw, might be possible to convert
// data.format -> underlying data type
std::memcpy( self.pixels, data.ptr, data.size * data.itemsize );
self.deleter = []( void * ptr ) {
delete[]( uint8_t * ) ptr;
};
}
} )
.def_readwrite("stride", &rs2_software_video_frame::stride)
.def_readwrite("bpp", &rs2_software_video_frame::bpp)
.def_readwrite("timestamp", &rs2_software_video_frame::timestamp)
.def_readwrite("domain", &rs2_software_video_frame::domain)
.def_readwrite("frame_number", &rs2_software_video_frame::frame_number)
.def_readwrite("depth_units", &rs2_software_video_frame::depth_units)
.def_property(
"profile",
[]( const rs2_software_video_frame & self ) {
if( ! self.profile )
return rs2::video_stream_profile();
else
return rs2::stream_profile( self.profile ).as< rs2::video_stream_profile >();
},
[]( rs2_software_video_frame & self, rs2::video_stream_profile const & profile ) {
self.profile = profile.get();
} )
.def( "__repr__", []( const rs2_software_video_frame& self ) {
std::ostringstream ss;
ss << "<" << SNAME << ".software_video_frame";
if( self.profile )
{
rs2::stream_profile profile( self.profile );
ss << " " << rs2_format_to_string( profile.format() );
}
ss << " #" << self.frame_number;
ss << " @" << self.timestamp;
ss << ">";
return ss.str();
} );
py::class_<rs2_software_motion_frame> software_motion_frame(m, "software_motion_frame", "All the parameters "
"required to define a motion frame.");
software_motion_frame //
.def( py::init( []() { return rs2_software_motion_frame{ 0 }; } ) )
.def_property("data", [](const rs2_software_motion_frame& self) -> rs2_vector {
auto data = reinterpret_cast<const float*>(self.data);
return rs2_vector{ data[0], data[1], data[2] };
}, [](rs2_software_motion_frame& self, rs2_vector data) {
if (self.deleter) self.deleter(self.data);
self.data = new float[3];
float *dptr = reinterpret_cast<float*>(self.data);
dptr[0] = data.x;
dptr[1] = data.y;
dptr[2] = data.z;
self.deleter = [](void* ptr){ delete[]( float * ) ptr; };
})
.def_readwrite("timestamp", &rs2_software_motion_frame::timestamp)
.def_readwrite("domain", &rs2_software_motion_frame::domain)
.def_readwrite("frame_number", &rs2_software_motion_frame::frame_number)
.def_property("profile", [](const rs2_software_motion_frame& self) { return rs2::stream_profile(self.profile).as<rs2::motion_stream_profile>(); },
[](rs2_software_motion_frame& self, rs2::motion_stream_profile profile) { self.profile = profile.get(); });
py::class_<rs2_software_pose_frame> software_pose_frame(m, "software_pose_frame", "All the parameters "
"required to define a pose frame.");
software_pose_frame //
.def( py::init( []() { return rs2_software_pose_frame{ 0 }; } ) )
.def_property(
"data",
[]( const rs2_software_pose_frame & self ) -> rs2_pose {
return *reinterpret_cast< const rs2_pose * >( self.data );
},
[]( rs2_software_pose_frame & self, rs2_pose data ) {
if( self.deleter )
self.deleter( self.data );
self.data = new rs2_pose( data );
self.deleter = []( void * ptr ) {
delete(rs2_pose *)ptr;
};
} )
.def_readwrite("timestamp", &rs2_software_pose_frame::timestamp)
.def_readwrite("domain", &rs2_software_pose_frame::domain)
.def_readwrite("frame_number", &rs2_software_pose_frame::frame_number)
.def_property("profile", [](const rs2_software_pose_frame& self) { return rs2::stream_profile(self.profile).as<rs2::pose_stream_profile>(); },
[](rs2_software_pose_frame& self, rs2::pose_stream_profile profile) { self.profile = profile.get(); });
py::class_<rs2_software_notification> software_notification(m, "software_notification", "All the parameters "
"required to define a sensor notification.");
software_notification.def(py::init<>())
.def_readwrite("category", &rs2_software_notification::category)
.def_readwrite("type", &rs2_software_notification::type)
.def_readwrite("severity", &rs2_software_notification::severity)
.def_readwrite("description", &rs2_software_notification::description)
.def_readwrite("serialized_data", &rs2_software_notification::serialized_data);
/** end rs_internal.h **/
/** rs_internal.hpp **/
// rs2::software_sensor
py::class_<rs2::software_sensor, rs2::sensor> software_sensor(m, "software_sensor");
software_sensor
.def( "add_video_stream",
&rs2::software_sensor::add_video_stream,
"Add video stream to software sensor",
"video_stream"_a,
"is_default"_a = false )
.def("add_motion_stream", &rs2::software_sensor::add_motion_stream, "Add motion stream to software sensor",
"motion_stream"_a, "is_default"_a = false)
.def("add_pose_stream", &rs2::software_sensor::add_pose_stream, "Add pose stream to software sensor",
"pose_stream"_a, "is_default"_a = false)
.def("on_video_frame", &rs2::software_sensor::on_video_frame, "Inject video frame into the sensor", "frame"_a)
.def("on_motion_frame", &rs2::software_sensor::on_motion_frame, "Inject motion frame into the sensor", "frame"_a)
.def("on_pose_frame", &rs2::software_sensor::on_pose_frame, "Inject pose frame into the sensor", "frame"_a)
.def("set_metadata", &rs2::software_sensor::set_metadata, "Set frame metadata for the upcoming frames", "value"_a, "type"_a)
.def("add_read_only_option", &rs2::software_sensor::add_read_only_option, "Register read-only option that "
"will be supported by the sensor", "option"_a, "val"_a)
.def("set_read_only_option", &rs2::software_sensor::set_read_only_option, "Update value of registered "
"read-only option", "option"_a, "val"_a)
.def("add_option", &rs2::software_sensor::add_option, "Register option that will be supported by the sensor",
"option"_a, "range"_a, "is_writable"_a=true)
.def("on_notification", &rs2::software_sensor::on_notification, "notif"_a);
// rs2::software_device
py::class_<rs2::software_device, rs2::device> software_device(m, "software_device");
software_device.def(py::init<>())
.def("add_sensor", &rs2::software_device::add_sensor, "Add software sensor with given name "
"to the software device.", "name"_a)
.def("set_destruction_callback", &rs2::software_device::set_destruction_callback<std::function<void()>>,
"Register destruction callback", "callback"_a)
.def("add_to", &rs2::software_device::add_to, "Add software device to existing context.\n"
"Any future queries on the context will return this device.\n"
"This operation cannot be undone (except for destroying the context)", "ctx"_a)
.def("register_info", &rs2::software_device::register_info, "Add a new camera info value, like serial number",
"info"_a, "val"_a)
.def("update_info", &rs2::software_device::update_info, "Update an existing camera info value, like serial number",
"info"_a, "val"_a)
.def("create_matcher", &rs2::software_device::create_matcher, "Set the wanted matcher type that will "
"be used by the syncer", "matcher"_a);
// rs2::firmware_log_message
py::class_<rs2::firmware_log_message> firmware_log_message(m, "firmware_log_message");
firmware_log_message.def("get_severity", &rs2::firmware_log_message::get_severity, "Get severity ")
.def("get_severity_str", &rs2::firmware_log_message::get_severity_str, "Get severity string ")
.def("get_timestamp", &rs2::firmware_log_message::get_timestamp, "Get timestamp ")
.def("get_data", &rs2::firmware_log_message::data, "Get data ")
.def("get_size", &rs2::firmware_log_message::size, "Get size ");
// rs2::firmware_log_parsed_message
py::class_<rs2::firmware_log_parsed_message> firmware_log_parsed_message(m, "firmware_log_parsed_message");
firmware_log_parsed_message.def("get_message", &rs2::firmware_log_parsed_message::message, "Get message ")
.def("get_file_name", &rs2::firmware_log_parsed_message::file_name, "Get file name ")
.def("get_thread_name", &rs2::firmware_log_parsed_message::thread_name, "Get thread name ")
.def("get_severity", &rs2::firmware_log_parsed_message::severity, "Get severity ")
.def("get_line", &rs2::firmware_log_parsed_message::line, "Get line ")
.def("get_timestamp", &rs2::firmware_log_parsed_message::timestamp, "Get timestamp ")
.def("get_sequence_id", &rs2::firmware_log_parsed_message::sequence_id, "Get sequence id");
// rs2::firmware_logger
py::class_<rs2::firmware_logger, rs2::device> firmware_logger(m, "firmware_logger");
firmware_logger.def(py::init<rs2::device>(), "device"_a)
.def("create_message", &rs2::firmware_logger::create_message, "Create FW Log")
.def("create_parsed_message", &rs2::firmware_logger::create_parsed_message, "Create FW Parsed Log")
.def("get_number_of_fw_logs", &rs2::firmware_logger::get_number_of_fw_logs, "Get Number of Fw Logs Polled From Device")
.def("get_firmware_log", &rs2::firmware_logger::get_firmware_log, "Get FW Log", "msg"_a)
.def("get_flash_log", &rs2::firmware_logger::get_flash_log, "Get Flash Log", "msg"_a)
.def("init_parser", &rs2::firmware_logger::init_parser, "Initialize Parser with content of xml file",
"xml_content"_a)
.def("parse_log", &rs2::firmware_logger::parse_log, "Parse Fw Log ", "msg"_a, "parsed_msg"_a);
// rs2::terminal_parser
py::class_<rs2::terminal_parser> terminal_parser(m, "terminal_parser");
terminal_parser.def(py::init<const std::string&>(), "xml_content"_a)
.def("parse_command", &rs2::terminal_parser::parse_command, "Parse Command ", "cmd"_a)
.def("parse_response", &rs2::terminal_parser::parse_response, "Parse Response ", "cmd"_a, "response"_a);
/** end rs_internal.hpp **/
}