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pyrs_device.cpp
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/* License: Apache 2.0. See LICENSE file in root directory.
Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
#include "python.hpp"
#include "../include/librealsense2/hpp/rs_internal.hpp"
#include "../include/librealsense2/hpp/rs_device.hpp"
#include "../include/librealsense2/hpp/rs_record_playback.hpp" // for downcasts
void init_device(py::module &m) {
/** rs_device.hpp **/
py::class_<rs2::device> device(m, "device"); // No docstring in C++
device.def("query_sensors", &rs2::device::query_sensors, "Returns the list of adjacent devices, "
"sharing the same physical parent composite device.")
.def_property_readonly("sensors", &rs2::device::query_sensors, "List of adjacent devices, "
"sharing the same physical parent composite device. Identical to calling query_sensors.")
.def("first_depth_sensor", [](rs2::device& self) { return self.first<rs2::depth_sensor>(); }) // No docstring in C++
.def("first_roi_sensor", [](rs2::device& self) { return self.first<rs2::roi_sensor>(); }) // No docstring in C++
.def("first_pose_sensor", [](rs2::device& self) { return self.first<rs2::pose_sensor>(); }) // No docstring in C++
.def("first_color_sensor", [](rs2::device& self) { return self.first<rs2::color_sensor>(); }) // No docstring in C++
.def("first_motion_sensor", [](rs2::device& self) { return self.first<rs2::motion_sensor>(); }) // No docstring in C++
.def("first_fisheye_sensor", [](rs2::device& self) { return self.first<rs2::fisheye_sensor>(); }) // No docstring in C++
.def("supports", &rs2::device::supports, "Check if specific camera info is supported.", "info"_a)
.def("get_info", &rs2::device::get_info, "Retrieve camera specific information, "
"like versions of various internal components", "info"_a)
.def("hardware_reset", &rs2::device::hardware_reset, "Send hardware reset request to the device")
.def(py::init<>())
.def("__nonzero__", &rs2::device::operator bool)
.def(BIND_DOWNCAST(device, debug_protocol))
.def(BIND_DOWNCAST(device, playback))
.def(BIND_DOWNCAST(device, recorder))
.def(BIND_DOWNCAST(device, tm2))
.def(BIND_DOWNCAST(device, updatable))
.def(BIND_DOWNCAST(device, update_device))
.def(BIND_DOWNCAST(device, auto_calibrated_device))
.def(BIND_DOWNCAST(device, device_calibration))
.def(BIND_DOWNCAST(device, firmware_logger))
.def("__repr__", [](const rs2::device &self) {
std::stringstream ss;
ss << "<" SNAME ".device: " << self.get_info(RS2_CAMERA_INFO_NAME)
<< " (S/N: " << self.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)
<< ")>";
return ss.str();
});
// not binding update_progress_callback, templated
py::class_<rs2::updatable, rs2::device> updatable(m, "updatable"); // No docstring in C++
updatable.def(py::init<rs2::device>())
.def("enter_update_state", &rs2::updatable::enter_update_state, "Move the device to update state, this will cause the updatable device to disconnect and reconnect as an update device.")
.def("create_flash_backup", (std::vector<uint8_t>(rs2::updatable::*)() const) &rs2::updatable::create_flash_backup,
"Create backup of camera flash memory. Such backup does not constitute valid firmware image, and cannot be "
"loaded back to the device, but it does contain all calibration and device information.", py::call_guard<py::gil_scoped_release>())
.def("create_flash_backup", [](rs2::updatable& self, std::function<void(float)> f) { return self.create_flash_backup(f); },
"Create backup of camera flash memory. Such backup does not constitute valid firmware image, and cannot be "
"loaded back to the device, but it does contain all calibration and device information.",
"callback"_a, py::call_guard<py::gil_scoped_release>())
.def("update_unsigned", (void(rs2::updatable::*)(const std::vector<uint8_t>&, int) const) &rs2::updatable::update_unsigned,
"Update an updatable device to the provided unsigned firmware. This call is executed on the caller's thread.", "fw_image"_a,
"update_mode"_a = RS2_UNSIGNED_UPDATE_MODE_UPDATE, py::call_guard<py::gil_scoped_release>())
.def("update_unsigned", [](rs2::updatable& self, const std::vector<uint8_t>& fw_image, std::function<void(float)> f, int update_mode) { return self.update_unsigned(fw_image, f, update_mode); },
"Update an updatable device to the provided unsigned firmware. This call is executed on the caller's thread and it supports progress notifications via the callback.",
"fw_image"_a, "callback"_a, "update_mode"_a = RS2_UNSIGNED_UPDATE_MODE_UPDATE, py::call_guard<py::gil_scoped_release>());
py::class_<rs2::update_device, rs2::device> update_device(m, "update_device");
update_device.def(py::init<rs2::device>())
.def("update", [](rs2::update_device& self, const std::vector<uint8_t>& fw_image) { return self.update(fw_image); },
"Update an updatable device to the provided firmware. This call is executed on the caller's thread.", "fw_image"_a, py::call_guard<py::gil_scoped_release>())
.def("update", [](rs2::update_device& self, const std::vector<uint8_t>& fw_image, std::function<void(float)> f) { return self.update(fw_image, f); },
"Update an updatable device to the provided firmware. This call is executed on the caller's thread and it supports progress notifications via the callback.",
"fw_image"_a, "callback"_a, py::call_guard<py::gil_scoped_release>());
py::class_<rs2::auto_calibrated_device, rs2::device> auto_calibrated_device(m, "auto_calibrated_device");
auto_calibrated_device.def(py::init<rs2::device>(), "device"_a)
.def("write_calibration", &rs2::auto_calibrated_device::write_calibration, "Write calibration that was set by set_calibration_table to device's EEPROM.", py::call_guard<py::gil_scoped_release>())
.def("run_on_chip_calibration", [](rs2::auto_calibrated_device& self, std::string json_content, int timeout_ms)
{
float health;
return py::make_tuple(self.run_on_chip_calibration(json_content, &health, timeout_ms), health);
},"This will improve the depth noise (plane fit RMS). This call is executed on the caller's thread.","json_content"_a, "timeout_ms"_a, py::call_guard<py::gil_scoped_release>())
.def("run_on_chip_calibration", [](rs2::auto_calibrated_device& self, std::string json_content, std::function<void(float)> f, int timeout_ms)
{
float health;
return py::make_tuple(self.run_on_chip_calibration(json_content, &health, f, timeout_ms), health);
},"This will improve the depth noise (plane fit RMS). This call is executed on the caller's thread and it supports progress notifications via the callback.", "json_content"_a, "callback"_a, "timeout_ms"_a, py::call_guard<py::gil_scoped_release>())
.def("run_tare_calibration", [](const rs2::auto_calibrated_device& self, float ground_truth_mm, std::string json_content, int timeout_ms)
{
return self.run_tare_calibration(ground_truth_mm, json_content, timeout_ms);
}, "This will adjust camera absolute distance to flat target. This call is executed on the caller's thread and it supports progress notifications via the callback.", "ground_truth_mm"_a, "json_content"_a, "timeout_ms"_a, py::call_guard<py::gil_scoped_release>())
.def("run_tare_calibration", [](const rs2::auto_calibrated_device& self, float ground_truth_mm, std::string json_content, std::function<void(float)> callback, int timeout_ms)
{
return self.run_tare_calibration(ground_truth_mm, json_content, callback, timeout_ms);
}, "This will adjust camera absolute distance to flat target. This call is executed on the caller's thread.", "ground_truth_mm"_a, "json_content"_a, "callback"_a, "timeout_ms"_a, py::call_guard<py::gil_scoped_release>())
.def("get_calibration_table", &rs2::auto_calibrated_device::get_calibration_table, "Read current calibration table from flash.")
.def("set_calibration_table", &rs2::auto_calibrated_device::set_calibration_table, "Set current table to dynamic area.")
.def("reset_to_factory_calibration", &rs2::auto_calibrated_device::reset_to_factory_calibration, "Reset device to factory calibration.");
py::class_<rs2::device_calibration, rs2::device> device_calibration( m, "device_calibration" );
device_calibration.def( py::init<rs2::device>(), "device"_a )
.def( "trigger_device_calibration",
[]( rs2::device_calibration & self, rs2_calibration_type type )
{
py::gil_scoped_release gil;
self.trigger_device_calibration( type );
},
"Trigger the given calibration, if available", "calibration_type"_a )
.def( "register_calibration_change_callback",
[]( rs2::device_calibration& self, std::function<void( rs2_calibration_status )> callback )
{
self.register_calibration_change_callback(
[callback]( rs2_calibration_status status )
{
try
{
// "When calling a C++ function from Python, the GIL is always held"
// -- since we're not being called from Python but instead are calling it,
// we need to acquire it to not have issues with other threads...
py::gil_scoped_acquire gil;
callback( status );
}
catch( ... )
{
std::cerr << "?!?!?!!? exception in python register_calibration_change_callback ?!?!?!?!?" << std::endl;
}
} );
},
"Register (only once!) a callback that gets called for each change in calibration", "callback"_a );
py::class_<rs2::debug_protocol> debug_protocol(m, "debug_protocol"); // No docstring in C++
debug_protocol.def(py::init<rs2::device>())
.def("send_and_receive_raw_data", &rs2::debug_protocol::send_and_receive_raw_data,
"input"_a); // No docstring in C++
py::class_<rs2::device_list> device_list(m, "device_list"); // No docstring in C++
device_list.def(py::init<>())
.def("contains", &rs2::device_list::contains) // No docstring in C++
.def("__getitem__", [](const rs2::device_list& self, size_t i) {
if (i >= self.size())
throw py::index_error();
return self[uint32_t(i)];
})
.def("__len__", &rs2::device_list::size)
.def("size", &rs2::device_list::size) // No docstring in C++
.def("__iter__", [](const rs2::device_list& self) {
return py::make_iterator(self.begin(), self.end());
}, py::keep_alive<0, 1>())
.def("__getitem__", [](const rs2::device_list& self, py::slice slice) {
size_t start, stop, step, slicelength;
if (!slice.compute(self.size(), &start, &stop, &step, &slicelength))
throw py::error_already_set();
auto *dlist = new std::vector<rs2::device>(slicelength);
for (size_t i = 0; i < slicelength; ++i) {
(*dlist)[i] = self[uint32_t(start)];
start += step;
}
return dlist;
})
.def("front", &rs2::device_list::front) // No docstring in C++
.def("back", &rs2::device_list::back); // No docstring in C++
py::class_<rs2::tm2, rs2::device> tm2(m, "tm2", "The tm2 class is an interface for T2XX devices, such as T265.\n"
"For T265, it provides RS2_STREAM_FISHEYE(2), RS2_STREAM_GYRO, "
"RS2_STREAM_ACCEL, and RS2_STREAM_POSE streams, and contains the following sensors:\n"
"-pose_sensor: map and relocalization functions.\n"
"-wheel_odometer: input for odometry data.");
tm2.def(py::init<rs2::device>(), "device"_a)
.def("enable_loopback", &rs2::tm2::enable_loopback, "Enter the given device into "
"loopback operation mode that uses the given file as input for raw data", "filename"_a)
.def("disable_loopback", &rs2::tm2::disable_loopback, "Restores the given device into normal operation mode")
.def("is_loopback_enabled", &rs2::tm2::is_loopback_enabled, "Checks if the device is in loopback mode or not")
.def("set_intrinsics", &rs2::tm2::set_intrinsics, "Set camera intrinsics", "sensor_id"_a, "intrinsics"_a)
.def("set_extrinsics", &rs2::tm2::set_extrinsics, "Set camera extrinsics", "from_stream"_a, "from_id"_a, "to_stream"_a, "to_id"_a, "extrinsics"_a)
.def("set_motion_device_intrinsics", &rs2::tm2::set_motion_device_intrinsics, "Set motion device intrinsics", "stream_type"_a, "motion_intrinsics"_a)
.def("reset_to_factory_calibration", &rs2::tm2::reset_to_factory_calibration, "Reset to factory calibration")
.def("write_calibration", &rs2::tm2::write_calibration, "Write calibration to device's EEPROM");
/** end rs_device.hpp **/
}