[RVC2] Added getStereoPairs and getAvailableStereoPairs API (#959)

* Added bindings for getStereoPairs * Available stereo pairs bindings. * Bump core. * Update core with merged get_stereo_pairs
luxonis · Jan 24, 2024 · 72b0b72 · 72b0b72
1 parent 4802dfa
commit 72b0b72
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Showing 3 changed files with 19 additions and 1 deletion.
diff --git a/depthai-core b/depthai-core
diff --git a/src/DeviceBindings.cpp b/src/DeviceBindings.cpp
@@ -614,6 +614,8 @@ void DeviceBindings::bind(pybind11::module& m, void* pCallstack){
         .def("getConnectionInterfaces", [](DeviceBase& d) { py::gil_scoped_release release; return d.getConnectionInterfaces(); }, DOC(dai, DeviceBase, getConnectionInterfaces))
         .def("getConnectedCameraFeatures", [](DeviceBase& d) { py::gil_scoped_release release; return d.getConnectedCameraFeatures(); }, DOC(dai, DeviceBase, getConnectedCameraFeatures))
         .def("getCameraSensorNames", [](DeviceBase& d) { py::gil_scoped_release release; return d.getCameraSensorNames(); }, DOC(dai, DeviceBase, getCameraSensorNames))
+        .def("getStereoPairs", [](DeviceBase& d) { py::gil_scoped_release release; return d.getStereoPairs(); }, DOC(dai, DeviceBase, getStereoPairs))
+        .def("getAvailableStereoPairs", [](DeviceBase& d) { py::gil_scoped_release release; return d.getAvailableStereoPairs(); }, DOC(dai, DeviceBase, getAvailableStereoPairs))
         .def("getConnectedIMU", [](DeviceBase& d) { py::gil_scoped_release release; return d.getConnectedIMU(); }, DOC(dai, DeviceBase, getConnectedIMU))
         .def("getIMUFirmwareVersion", [](DeviceBase& d) { py::gil_scoped_release release; return d.getIMUFirmwareVersion(); }, DOC(dai, DeviceBase, getIMUFirmwareVersion))
         .def("getEmbeddedIMUFirmwareVersion", [](DeviceBase& d) { py::gil_scoped_release release; return d.getEmbeddedIMUFirmwareVersion(); }, DOC(dai, DeviceBase, getEmbeddedIMUFirmwareVersion))

diff --git a/src/pipeline/CommonBindings.cpp b/src/pipeline/CommonBindings.cpp
@@ -23,13 +23,15 @@
 #include "depthai-shared/common/DetectionParserOptions.hpp"
 #include "depthai-shared/common/RotatedRect.hpp"
 #include "depthai-shared/common/Rect.hpp"
+#include "depthai-shared/common/StereoPair.hpp"
 #include "depthai-shared/common/Colormap.hpp"
 #include "depthai-shared/common/FrameEvent.hpp"
 #include "depthai-shared/common/Interpolation.hpp"
 
 // depthai
 #include "depthai/common/CameraFeatures.hpp"
 #include "depthai/common/CameraExposureOffset.hpp"
+#include "depthai/common/StereoPair.hpp"
 #include "depthai/utility/ProfilingData.hpp"
 
 void CommonBindings::bind(pybind11::module& m, void* pCallstack){
@@ -61,6 +63,7 @@ void CommonBindings::bind(pybind11::module& m, void* pCallstack){
     py::class_<DetectionParserOptions> detectionParserOptions(m, "DetectionParserOptions", DOC(dai, DetectionParserOptions));
     py::class_<RotatedRect> rotatedRect(m, "RotatedRect", DOC(dai, RotatedRect));
     py::class_<Rect> rect(m, "Rect", DOC(dai, Rect));
+    py::class_<StereoPair> stereoPair(m, "StereoPair", DOC(dai, StereoPair));
     py::enum_<CameraExposureOffset> cameraExposureOffset(m, "CameraExposureOffset");
     py::enum_<Colormap> colormap(m, "Colormap", DOC(dai, Colormap));
     py::enum_<FrameEvent> frameEvent(m, "FrameEvent", DOC(dai, FrameEvent));
@@ -108,6 +111,19 @@ void CommonBindings::bind(pybind11::module& m, void* pCallstack){
         .def_readwrite("height", &Rect::height)
         ;
 
+    stereoPair
+        .def(py::init<>())
+        .def_readwrite("left", &StereoPair::left)
+        .def_readwrite("right", &StereoPair::right)
+        .def_readwrite("baseline", &StereoPair::baseline)
+        .def_readwrite("isVertical", &StereoPair::isVertical)
+        .def("__repr__", [](StereoPair& stereoPair) {
+            std::stringstream stream;
+            stream << stereoPair;
+            return stream.str();
+        })
+        ;
+
     timestamp
         .def(py::init<>())
         .def_readwrite("sec", &Timestamp::sec)
+1 −1		cmake/Depthai/DepthaiDeviceSideConfig.cmake
+25 −0		include/depthai/common/StereoPair.hpp
+17 −0		include/depthai/device/DeviceBase.hpp
+1 −1		shared/depthai-shared
+69 −0		src/device/DeviceBase.cpp