forked from IntelRealSense/librealsense
-
Notifications
You must be signed in to change notification settings - Fork 0
/
c_files.cpp
156 lines (142 loc) · 9.8 KB
/
c_files.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
/* License: Apache 2.0. See LICENSE file in root directory.
Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
#include "python.hpp"
#include "../include/librealsense2/rs.h"
#include <iomanip>
#include "types.h"
std::string make_pythonic_str(std::string str)
{
std::transform(begin(str), end(str), begin(str), ::tolower); //Make lower case
std::replace(begin(str), end(str), ' ', '_'); //replace spaces with underscore
if (str == "6dof") //Currently this is the only enum that starts with a digit
{
return "six_dof";
}
return str;
}
void init_c_files(py::module &m) {
/** Binding of rs2_* enums */
BIND_ENUM(m, rs2_notification_category, RS2_NOTIFICATION_CATEGORY_COUNT, "Category of the librealsense notification.")
// rs2_exception_type
BIND_ENUM(m, rs2_distortion, RS2_DISTORTION_COUNT, "Distortion model: defines how pixel coordinates should be mapped to sensor coordinates.")
BIND_ENUM(m, rs2_log_severity, RS2_LOG_SEVERITY_COUNT, "Severity of the librealsense logger.")
BIND_ENUM(m, rs2_extension, RS2_EXTENSION_COUNT, "Specifies advanced interfaces (capabilities) objects may implement.")
BIND_ENUM(m, rs2_matchers, RS2_MATCHER_COUNT, "Specifies types of different matchers.")
BIND_ENUM(m, rs2_camera_info, RS2_CAMERA_INFO_COUNT, "This information is mainly available for camera debug and troubleshooting and should not be used in applications.")
BIND_ENUM(m, rs2_stream, RS2_STREAM_COUNT, "Streams are different types of data provided by RealSense devices.")
BIND_ENUM(m, rs2_format, RS2_FORMAT_COUNT, "A stream's format identifies how binary data is encoded within a frame.")
BIND_ENUM(m, rs2_timestamp_domain, RS2_TIMESTAMP_DOMAIN_COUNT, "Specifies the clock in relation to which the frame timestamp was measured.")
BIND_ENUM(m, rs2_frame_metadata_value, RS2_FRAME_METADATA_COUNT, "Per-Frame-Metadata is the set of read-only properties that might be exposed for each individual frame.")
BIND_ENUM(m, rs2_calib_target_type, RS2_CALIB_TARGET_COUNT, "Calibration target type.")
BIND_ENUM(m, rs2_option, RS2_OPTION_COUNT, "Defines general configuration controls. These can generally be mapped to camera UVC controls, and can be set / queried at any time unless stated otherwise.")
// Force binding of deprecated (renamed) options that we still want to expose for backwards compatibility
py_rs2_option.value("ambient_light", RS2_OPTION_AMBIENT_LIGHT);
py_rs2_option.value( "lld_temperature", RS2_OPTION_LLD_TEMPERATURE );
BIND_ENUM(m, rs2_l500_visual_preset, RS2_L500_VISUAL_PRESET_COUNT, "For L500 devices: provides optimized settings (presets) for specific types of usage.")
BIND_ENUM(m, rs2_playback_status, RS2_PLAYBACK_STATUS_COUNT, "") // No docstring in C++
BIND_ENUM(m, rs2_calibration_type, RS2_CALIBRATION_TYPE_COUNT, "Calibration type for use in device_calibration")
BIND_ENUM_CUSTOM(m, rs2_calibration_status, RS2_CALIBRATION_STATUS_FIRST, RS2_CALIBRATION_STATUS_LAST, "Calibration callback status for use in device_calibration.trigger_device_calibration")
/** rs_types.h **/
py::class_<rs2_intrinsics> intrinsics(m, "intrinsics", "Video stream intrinsics.");
intrinsics.def(py::init<>())
.def_readwrite("width", &rs2_intrinsics::width, "Width of the image in pixels")
.def_readwrite("height", &rs2_intrinsics::height, "Height of the image in pixels")
.def_readwrite("ppx", &rs2_intrinsics::ppx, "Horizontal coordinate of the principal point of the image, as a pixel offset from the left edge")
.def_readwrite("ppy", &rs2_intrinsics::ppy, "Vertical coordinate of the principal point of the image, as a pixel offset from the top edge")
.def_readwrite("fx", &rs2_intrinsics::fx, "Focal length of the image plane, as a multiple of pixel width")
.def_readwrite("fy", &rs2_intrinsics::fy, "Focal length of the image plane, as a multiple of pixel height")
.def_readwrite("model", &rs2_intrinsics::model, "Distortion model of the image")
.def_property(BIND_RAW_ARRAY_PROPERTY(rs2_intrinsics, coeffs, float, 5), "Distortion coefficients")
.def("__repr__", [](const rs2_intrinsics& self) {
std::ostringstream ss;
ss << self;
return ss.str();
});
py::class_<rs2_dsm_params> dsm_params( m, "dsm_params", "Video stream DSM parameters" );
dsm_params.def( py::init<>() )
.def_readonly( "timestamp", &rs2_dsm_params::timestamp, "seconds since epoch" )
.def_readonly( "version", &rs2_dsm_params::version, "major<<12 | minor<<4 | patch" )
.def_readwrite( "model", &rs2_dsm_params::model, "correction model (0/1/2 none/AOT/TOA)" )
.def_property( BIND_RAW_ARRAY_PROPERTY( rs2_dsm_params, flags, uint8_t, sizeof( rs2_dsm_params::flags )), "flags" )
.def_readwrite( "h_scale", &rs2_dsm_params::h_scale, "horizontal DSM scale" )
.def_readwrite( "v_scale", &rs2_dsm_params::v_scale, "vertical DSM scale" )
.def_readwrite( "h_offset", &rs2_dsm_params::h_offset, "horizontal DSM offset" )
.def_readwrite( "v_offset", &rs2_dsm_params::v_offset, "vertical DSM offset" )
.def_readwrite( "rtd_offset", &rs2_dsm_params::rtd_offset, "the Round-Trip-Distance delay" )
.def_property_readonly( "temp",
[]( rs2_dsm_params const & self ) -> float {
return float( self.temp_x2 ) / 2;
},
"temperature (LDD for depth; HUM for color)" )
.def_property( BIND_RAW_ARRAY_PROPERTY( rs2_dsm_params, reserved, uint8_t, sizeof( rs2_dsm_params::reserved )), "reserved" )
.def( "__repr__",
[]( const rs2_dsm_params & self )
{
std::ostringstream ss;
ss << self;
return ss.str();
} );
py::class_<rs2_motion_device_intrinsic> motion_device_intrinsic(m, "motion_device_intrinsic", "Motion device intrinsics: scale, bias, and variances.");
motion_device_intrinsic.def(py::init<>())
.def_property(BIND_RAW_2D_ARRAY_PROPERTY(rs2_motion_device_intrinsic, data, float, 3, 4), "3x4 matrix with 3x3 scale and cross axis and 3x1 biases")
.def_property(BIND_RAW_ARRAY_PROPERTY(rs2_motion_device_intrinsic, noise_variances, float, 3), "Variance of noise for X, Y, and Z axis")
.def_property(BIND_RAW_ARRAY_PROPERTY(rs2_motion_device_intrinsic, bias_variances, float, 3), "Variance of bias for X, Y, and Z axis")
.def("__repr__", [](const rs2_motion_device_intrinsic& self) {
std::stringstream ss;
ss << "data: " << matrix_to_string(self.data) << ", ";
ss << "noise_variances: " << array_to_string(self.noise_variances) << ", ";
ss << "bias_variances: " << array_to_string(self.bias_variances);
return ss.str();
});
// rs2_vertex
// rs2_pixel
py::class_<rs2_vector> vector(m, "vector", "3D vector in Euclidean coordinate space.");
vector.def(py::init<>())
.def_readwrite("x", &rs2_vector::x)
.def_readwrite("y", &rs2_vector::y)
.def_readwrite("z", &rs2_vector::z)
.def("__repr__", [](const rs2_vector& self) {
std::stringstream ss;
ss << "x: " << self.x << ", ";
ss << "y: " << self.y << ", ";
ss << "z: " << self.z;
return ss.str();
});
py::class_<rs2_quaternion> quaternion(m, "quaternion", "Quaternion used to represent rotation.");
quaternion.def(py::init<>())
.def_readwrite("x", &rs2_quaternion::x)
.def_readwrite("y", &rs2_quaternion::y)
.def_readwrite("z", &rs2_quaternion::z)
.def_readwrite("w", &rs2_quaternion::w)
.def("__repr__", [](const rs2_quaternion& self) {
std::stringstream ss;
ss << "x: " << self.x << ", ";
ss << "y: " << self.y << ", ";
ss << "z: " << self.z << ", ";
ss << "w: " << self.w;
return ss.str();
});
py::class_<rs2_pose> pose(m, "pose"); // No docstring in C++
pose.def(py::init<>())
.def_readwrite("translation", &rs2_pose::translation, "X, Y, Z values of translation, in meters (relative to initial position)")
.def_readwrite("velocity", &rs2_pose::velocity, "X, Y, Z values of velocity, in meters/sec")
.def_readwrite("acceleration", &rs2_pose::acceleration, "X, Y, Z values of acceleration, in meters/sec^2")
.def_readwrite("rotation", &rs2_pose::rotation, "Qi, Qj, Qk, Qr components of rotation as represented in quaternion rotation (relative to initial position)")
.def_readwrite("angular_velocity", &rs2_pose::angular_velocity, "X, Y, Z values of angular velocity, in radians/sec")
.def_readwrite("angular_acceleration", &rs2_pose::angular_acceleration, "X, Y, Z values of angular acceleration, in radians/sec^2")
.def_readwrite("tracker_confidence", &rs2_pose::tracker_confidence, "Pose confidence 0x0 - Failed, 0x1 - Low, 0x2 - Medium, 0x3 - High")
.def_readwrite("mapper_confidence", &rs2_pose::mapper_confidence, "Pose map confidence 0x0 - Failed, 0x1 - Low, 0x2 - Medium, 0x3 - High");
/** end rs_types.h **/
/** rs_sensor.h **/
py::class_<rs2_extrinsics> extrinsics(m, "extrinsics", "Cross-stream extrinsics: encodes the topology describing how the different devices are oriented.");
extrinsics.def(py::init<>())
.def_property(BIND_RAW_ARRAY_PROPERTY(rs2_extrinsics, rotation, float, 9), "Column - major 3x3 rotation matrix")
.def_property(BIND_RAW_ARRAY_PROPERTY(rs2_extrinsics, translation, float, 3), "Three-element translation vector, in meters")
.def("__repr__", [](const rs2_extrinsics &e) {
std::stringstream ss;
ss << "rotation: " << array_to_string(e.rotation);
ss << "\ntranslation: " << array_to_string(e.translation);
return ss.str();
});
/** end rs_sensor.h **/
}