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Add rvc4 specific Feature Tracker node
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126 changes: 126 additions & 0 deletions
126
bindings/python/src/pipeline/datatype/FeatureTrackerConfigBindingsRvc4.cpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,126 @@ | ||
| #include "DatatypeBindings.hpp" | ||
| #include "pipeline/CommonBindings.hpp" | ||
| #include <unordered_map> | ||
| #include <memory> | ||
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| // depthai | ||
| #include "depthai/pipeline/datatype/FeatureTrackerConfigRvc4.hpp" | ||
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| //pybind | ||
| #include <pybind11/chrono.h> | ||
| #include <pybind11/numpy.h> | ||
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| // #include "spdlog/spdlog.h" | ||
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| void bind_featuretrackerconfigRvc4(pybind11::module& m, void* pCallstack){ | ||
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| using namespace dai; | ||
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| // py::class_<RawFeatureTrackerConfig, RawBuffer, std::shared_ptr<RawFeatureTrackerConfig>> rawFeatureTrackerConfig(m, "RawFeatureTrackerConfig", DOC(dai, RawFeatureTrackerConfig)); | ||
| py::class_<FeatureTrackerConfigRvc4, Py<FeatureTrackerConfigRvc4>, Buffer, std::shared_ptr<FeatureTrackerConfigRvc4>> featureTrackerConfigRvc4(m, "FeatureTrackerConfigRvc4", DOC(dai, FeatureTrackerConfigRvc4)); | ||
| py::class_<FeatureTrackerConfigRvc4::CornerDetector> cornerDetector(featureTrackerConfigRvc4, "CornerDetector", DOC(dai, FeatureTrackerConfigRvc4, CornerDetector)); | ||
| py::enum_<FeatureTrackerConfigRvc4::CornerDetector::Type> cornerDetectorType(cornerDetector, "Type", DOC(dai, FeatureTrackerConfigRvc4, CornerDetector, Type)); | ||
| py::class_<FeatureTrackerConfigRvc4::CornerDetector::Thresholds> cornerDetectorThresholds(cornerDetector, "Thresholds", DOC(dai, FeatureTrackerConfigRvc4, CornerDetector, Thresholds)); | ||
| py::class_<FeatureTrackerConfigRvc4::MotionEstimator> motionEstimator(featureTrackerConfigRvc4, "MotionEstimator", DOC(dai, FeatureTrackerConfigRvc4, MotionEstimator)); | ||
| py::enum_<FeatureTrackerConfigRvc4::MotionEstimator::Type> motionEstimatorType(motionEstimator, "Type", DOC(dai, FeatureTrackerConfigRvc4, MotionEstimator, Type)); | ||
| py::class_<FeatureTrackerConfigRvc4::MotionEstimator::OpticalFlow> motionEstimatorOpticalFlow(motionEstimator, "OpticalFlow", DOC(dai, FeatureTrackerConfigRvc4, MotionEstimator, OpticalFlow)); | ||
| py::class_<FeatureTrackerConfigRvc4::FeatureMaintainer> featureMaintainer(featureTrackerConfigRvc4, "FeatureMaintainer", DOC(dai, FeatureTrackerConfigRvc4, FeatureMaintainer)); | ||
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| /////////////////////////////////////////////////////////////////////// | ||
| /////////////////////////////////////////////////////////////////////// | ||
| /////////////////////////////////////////////////////////////////////// | ||
| // Call the rest of the type defines, then perform the actual bindings | ||
| Callstack* callstack = (Callstack*) pCallstack; | ||
| auto cb = callstack->top(); | ||
| callstack->pop(); | ||
| cb(m, pCallstack); | ||
| // Actual bindings | ||
| /////////////////////////////////////////////////////////////////////// | ||
| /////////////////////////////////////////////////////////////////////// | ||
| /////////////////////////////////////////////////////////////////////// | ||
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| // // Metadata / raw | ||
| // rawFeatureTrackerConfig | ||
| // .def(py::init<>()) | ||
| // .def_readwrite("cornerDetector", &FeatureTrackerConfigRvc4::cornerDetector, DOC(dai, FeatureTrackerConfigRvc4, cornerDetector)) | ||
| // .def_readwrite("motionEstimator", &FeatureTrackerConfigRvc4::motionEstimator, DOC(dai, FeatureTrackerConfigRvc4, motionEstimator)) | ||
| // .def_readwrite("featureMaintainer", &FeatureTrackerConfigRvc4::featureMaintainer, DOC(dai, FeatureTrackerConfigRvc4, featureMaintainer)) | ||
| // ; | ||
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| cornerDetectorType | ||
| .value("HARRIS", FeatureTrackerConfigRvc4::CornerDetector::Type::HARRIS) | ||
| ; | ||
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| cornerDetectorThresholds | ||
| .def(py::init<>()) | ||
| .def_readwrite("harrisScore", &FeatureTrackerConfigRvc4::CornerDetector::Thresholds::harrisScore, DOC(dai, FeatureTrackerConfigRvc4, CornerDetector, Thresholds, harrisScore)) | ||
| .def_readwrite("robustness", &FeatureTrackerConfigRvc4::CornerDetector::Thresholds::robustness, DOC(dai, FeatureTrackerConfigRvc4, CornerDetector, Thresholds, robustness)) | ||
| ; | ||
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| cornerDetector | ||
| .def(py::init<>()) | ||
| .def_readwrite("type", &FeatureTrackerConfigRvc4::CornerDetector::type, DOC(dai, FeatureTrackerConfigRvc4, CornerDetector, type)) | ||
| .def_readwrite("numMaxFeatures", &FeatureTrackerConfigRvc4::CornerDetector::numMaxFeatures, DOC(dai, FeatureTrackerConfigRvc4, CornerDetector, numMaxFeatures)) | ||
| .def_readwrite("gradientFilterShift", &FeatureTrackerConfigRvc4::CornerDetector::gradientFilterShift, DOC(dai, FeatureTrackerConfigRvc4, CornerDetector, gradientFilterShift)) | ||
| .def_readwrite("descriptorLpf", &FeatureTrackerConfigRvc4::CornerDetector::descriptorLpf, DOC(dai, FeatureTrackerConfigRvc4, CornerDetector, descriptorLpf)) | ||
| .def_readwrite("thresholds", &FeatureTrackerConfigRvc4::CornerDetector::thresholds, DOC(dai, FeatureTrackerConfigRvc4, CornerDetector, thresholds)) | ||
| ; | ||
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| motionEstimatorType | ||
| .value("HW_MOTION_ESTIMATION", FeatureTrackerConfigRvc4::MotionEstimator::Type::HW_MOTION_ESTIMATION) | ||
| ; | ||
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| motionEstimatorOpticalFlow | ||
| .def(py::init<>()) | ||
| .def_readwrite("pyramidLevels", &FeatureTrackerConfigRvc4::MotionEstimator::OpticalFlow::pyramidLevels, DOC(dai, FeatureTrackerConfigRvc4, MotionEstimator, OpticalFlow, pyramidLevels)) | ||
| .def_readwrite("searchWindowWidth", &FeatureTrackerConfigRvc4::MotionEstimator::OpticalFlow::searchWindowWidth, DOC(dai, FeatureTrackerConfigRvc4, MotionEstimator, OpticalFlow, searchWindowWidth)) | ||
| .def_readwrite("searchWindowHeight", &FeatureTrackerConfigRvc4::MotionEstimator::OpticalFlow::searchWindowHeight, DOC(dai, FeatureTrackerConfigRvc4, MotionEstimator, OpticalFlow, searchWindowHeight)) | ||
| .def_readwrite("epsilon", &FeatureTrackerConfigRvc4::MotionEstimator::OpticalFlow::epsilon, DOC(dai, FeatureTrackerConfigRvc4, MotionEstimator, OpticalFlow, epsilon)) | ||
| .def_readwrite("maxIterations", &FeatureTrackerConfigRvc4::MotionEstimator::OpticalFlow::maxIterations, DOC(dai, FeatureTrackerConfigRvc4, MotionEstimator, OpticalFlow, maxIterations)) | ||
| ; | ||
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| motionEstimator | ||
| .def(py::init<>()) | ||
| .def_readwrite("enable", &FeatureTrackerConfigRvc4::MotionEstimator::enable, DOC(dai, FeatureTrackerConfigRvc4, MotionEstimator, enable)) | ||
| .def_readwrite("type", &FeatureTrackerConfigRvc4::MotionEstimator::type, DOC(dai, FeatureTrackerConfigRvc4, MotionEstimator, type)) | ||
| .def_readwrite("opticalFlow", &FeatureTrackerConfigRvc4::MotionEstimator::opticalFlow, DOC(dai, FeatureTrackerConfigRvc4, MotionEstimator, opticalFlow)) | ||
| ; | ||
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| featureMaintainer | ||
| .def(py::init<>()) | ||
| .def_readwrite("enable", &FeatureTrackerConfigRvc4::FeatureMaintainer::enable, DOC(dai, FeatureTrackerConfigRvc4, FeatureMaintainer, enable)) | ||
| .def_readwrite("minimumDistanceBetweenFeatures", &FeatureTrackerConfigRvc4::FeatureMaintainer::minimumDistanceBetweenFeatures, DOC(dai, FeatureTrackerConfigRvc4, FeatureMaintainer, minimumDistanceBetweenFeatures)) | ||
| .def_readwrite("lostFeatureErrorThreshold", &FeatureTrackerConfigRvc4::FeatureMaintainer::lostFeatureErrorThreshold, DOC(dai, FeatureTrackerConfigRvc4, FeatureMaintainer, lostFeatureErrorThreshold)) | ||
| .def_readwrite("trackedFeatureThreshold", &FeatureTrackerConfigRvc4::FeatureMaintainer::trackedFeatureThreshold, DOC(dai, FeatureTrackerConfigRvc4, FeatureMaintainer, trackedFeatureThreshold)) | ||
| .def_readwrite("confidenceThreshold", &FeatureTrackerConfigRvc4::FeatureMaintainer::confidenceThreshold, DOC(dai, FeatureTrackerConfigRvc4, FeatureMaintainer, confidenceThreshold)) | ||
| ; | ||
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| // Message | ||
| featureTrackerConfigRvc4 | ||
| .def(py::init<>()) | ||
| // .def(py::init<std::shared_ptr<FeatureTrackerConfigRvc4>>()) | ||
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| .def("setCornerDetector", static_cast<FeatureTrackerConfigRvc4&(FeatureTrackerConfigRvc4::*)(dai::FeatureTrackerConfigRvc4::CornerDetector::Type)>(&FeatureTrackerConfigRvc4::setCornerDetector), py::arg("cornerDetector"), DOC(dai, FeatureTrackerConfigRvc4, setCornerDetector)) | ||
| .def("setCornerDetector", static_cast<FeatureTrackerConfigRvc4&(FeatureTrackerConfigRvc4::*)(dai::FeatureTrackerConfigRvc4::CornerDetector)>(&FeatureTrackerConfigRvc4::setCornerDetector), py::arg("config"), DOC(dai, FeatureTrackerConfigRvc4, setCornerDetector, 2)) | ||
| .def("setMotionEstimator", static_cast<FeatureTrackerConfigRvc4&(FeatureTrackerConfigRvc4::*)(bool)>(&FeatureTrackerConfigRvc4::setMotionEstimator), py::arg("enable"), DOC(dai, FeatureTrackerConfigRvc4, setMotionEstimator)) | ||
| .def("setMotionEstimator", static_cast<FeatureTrackerConfigRvc4&(FeatureTrackerConfigRvc4::*)(dai::FeatureTrackerConfigRvc4::MotionEstimator)>(&FeatureTrackerConfigRvc4::setMotionEstimator), py::arg("config"), DOC(dai, FeatureTrackerConfigRvc4, setMotionEstimator, 2)) | ||
| .def("setHwMotionEstimation", &FeatureTrackerConfigRvc4::setHwMotionEstimation, DOC(dai, FeatureTrackerConfigRvc4, setHwMotionEstimation)) | ||
| .def("setFeatureMaintainer", static_cast<FeatureTrackerConfigRvc4&(FeatureTrackerConfigRvc4::*)(bool)>(&FeatureTrackerConfigRvc4::setFeatureMaintainer), py::arg("enable"), DOC(dai, FeatureTrackerConfigRvc4, setFeatureMaintainer)) | ||
| .def("setFeatureMaintainer", static_cast<FeatureTrackerConfigRvc4&(FeatureTrackerConfigRvc4::*)(dai::FeatureTrackerConfigRvc4::FeatureMaintainer)>(&FeatureTrackerConfigRvc4::setFeatureMaintainer), py::arg("config"), DOC(dai, FeatureTrackerConfigRvc4, setFeatureMaintainer, 2)) | ||
| .def("setNumMaxFeatures", &FeatureTrackerConfigRvc4::setNumMaxFeatures, py::arg("numMaxFeatures"), DOC(dai, FeatureTrackerConfigRvc4, setNumMaxFeatures)) | ||
| .def("setHarrisCornerDetectorThreshold", &FeatureTrackerConfigRvc4::setHarrisCornerDetectorThreshold, py::arg("cornerDetectorThreshold"), DOC(dai, FeatureTrackerConfigRvc4, setHarrisCornerDetectorThreshold)) | ||
| .def("setHarrisCornerDetectorRobustness", &FeatureTrackerConfigRvc4::setHarrisCornerDetectorRobustness, py::arg("cornerDetectorRobustness"), DOC(dai, FeatureTrackerConfigRvc4, setHarrisCornerDetectorRobustness)) | ||
| .def("setConfidence", &FeatureTrackerConfigRvc4::setConfidence, py::arg("confidenceThreshold"), DOC(dai, FeatureTrackerConfigRvc4, setConfidence)) | ||
| .def("setFilterCoeffs", &FeatureTrackerConfigRvc4::setFilterCoeffs, py::arg("filterCoeffs"), DOC(dai, FeatureTrackerConfigRvc4, setFilterCoeffs)) | ||
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| // .def("set", &FeatureTrackerConfigRvc4::set, py::arg("config"), DOC(dai, FeatureTrackerConfigRvc4, set)) | ||
| // .def("get", &FeatureTrackerConfigRvc4::get, DOC(dai, FeatureTrackerConfigRvc4, get)) | ||
| ; | ||
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| // add aliases | ||
| m.attr("FeatureTrackerConfigRvc4").attr("CornerDetector") = m.attr("FeatureTrackerConfigRvc4").attr("CornerDetector"); | ||
| m.attr("FeatureTrackerConfigRvc4").attr("MotionEstimator") = m.attr("FeatureTrackerConfigRvc4").attr("MotionEstimator"); | ||
| m.attr("FeatureTrackerConfigRvc4").attr("FeatureMaintainer") = m.attr("FeatureTrackerConfigRvc4").attr("FeatureMaintainer"); | ||
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| } |
65 changes: 65 additions & 0 deletions
65
bindings/python/src/pipeline/node/FeatureTrackerBindingsRvc4.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| #include "NodeBindings.hpp" | ||
| #include "Common.hpp" | ||
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| #include "depthai/pipeline/Pipeline.hpp" | ||
| #include "depthai/pipeline/Node.hpp" | ||
| #include "depthai/pipeline/node/FeatureTrackerRvc4.hpp" | ||
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| void bind_featuretrackerRvc4(pybind11::module& m, void* pCallstack){ | ||
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| using namespace dai; | ||
| using namespace dai::node; | ||
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| // Node and Properties declare upfront | ||
| py::class_<FeatureTrackerPropertiesRvc4> featureTrackerProperties(m, "FeatureTrackerPropertiesRvc4", DOC(dai, FeatureTrackerPropertiesRvc4)); | ||
| auto featureTracker = ADD_NODE(FeatureTrackerRvc4); | ||
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| /////////////////////////////////////////////////////////////////////// | ||
| /////////////////////////////////////////////////////////////////////// | ||
| /////////////////////////////////////////////////////////////////////// | ||
| // Call the rest of the type defines, then perform the actual bindings | ||
| Callstack* callstack = (Callstack*) pCallstack; | ||
| auto cb = callstack->top(); | ||
| callstack->pop(); | ||
| cb(m, pCallstack); | ||
| // Actual bindings | ||
| /////////////////////////////////////////////////////////////////////// | ||
| /////////////////////////////////////////////////////////////////////// | ||
| /////////////////////////////////////////////////////////////////////// | ||
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| // FeatureTrackerRvc4 properties | ||
| featureTrackerProperties | ||
| .def_readwrite("initialConfig", &FeatureTrackerPropertiesRvc4::initialConfig, DOC(dai, FeatureTrackerPropertiesRvc4, initialConfig)) | ||
| ; | ||
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| // FeatureTrackerRvc4 Node | ||
| featureTracker | ||
| .def_readonly("inputConfig", &FeatureTrackerRvc4::inputConfig, DOC(dai, node, FeatureTrackerRvc4, inputConfig)) | ||
| .def_readonly("inputImage", &FeatureTrackerRvc4::inputImage, DOC(dai, node, FeatureTrackerRvc4, inputImage)) | ||
| .def_readonly("outputFeatures", &FeatureTrackerRvc4::outputFeatures, DOC(dai, node, FeatureTrackerRvc4, outputFeatures)) | ||
| .def_readonly("passthroughInputImage", &FeatureTrackerRvc4::passthroughInputImage, DOC(dai, node, FeatureTrackerRvc4, passthroughInputImage)) | ||
| .def_readonly("initialConfig", &FeatureTrackerRvc4::initialConfig, DOC(dai, node, FeatureTrackerRvc4, initialConfig)) | ||
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| .def("setWaitForConfigInput", [](FeatureTrackerRvc4& obj, bool wait){ | ||
| // Issue a deprecation warning | ||
| PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'inputConfig.setWaitForMessage()' instead", 1); | ||
| HEDLEY_DIAGNOSTIC_PUSH | ||
| HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED | ||
| obj.setWaitForConfigInput(wait); | ||
| HEDLEY_DIAGNOSTIC_POP | ||
| }, py::arg("wait"), DOC(dai, node, FeatureTrackerRvc4, setWaitForConfigInput)) | ||
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| .def("getWaitForConfigInput", [](FeatureTrackerRvc4& obj){ | ||
| // Issue a deprecation warning | ||
| PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'inputConfig.setWaitForMessage()' instead", 1); | ||
| HEDLEY_DIAGNOSTIC_PUSH | ||
| HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED | ||
| return obj.getWaitForConfigInput(); | ||
| HEDLEY_DIAGNOSTIC_POP | ||
| }, DOC(dai, node, FeatureTrackerRvc4, getWaitForConfigInput)) | ||
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| ; | ||
| daiNodeModule.attr("FeatureTrackerRvc4").attr("Properties") = featureTrackerProperties; | ||
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| } |
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