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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,29 @@ | ||
| /* | ||
| * MIT License | ||
| * | ||
| * Copyright (c) PhotonVision | ||
| * | ||
| * Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| * of this software and associated documentation files (the "Software"), to deal | ||
| * in the Software without restriction, including without limitation the rights | ||
| * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| * copies of the Software, and to permit persons to whom the Software is | ||
| * furnished to do so, subject to the following conditions: | ||
| * | ||
| * The above copyright notice and this permission notice shall be included in | ||
| * all copies or substantial portions of the Software. | ||
| * | ||
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| * SOFTWARE. | ||
| */ | ||
|
|
||
| #include <nanobind/nanobind.h> | ||
|
|
||
| void wrap_geom(nanobind::module_ m); | ||
| void wrap_photon(nanobind::module_ m); | ||
| void wrap_photon_sim(nanobind::module_ m); |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,56 @@ | ||
| /* | ||
| * MIT License | ||
| * | ||
| * Copyright (c) PhotonVision | ||
| * | ||
| * Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| * of this software and associated documentation files (the "Software"), to deal | ||
| * in the Software without restriction, including without limitation the rights | ||
| * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| * copies of the Software, and to permit persons to whom the Software is | ||
| * furnished to do so, subject to the following conditions: | ||
| * | ||
| * The above copyright notice and this permission notice shall be included in | ||
| * all copies or substantial portions of the Software. | ||
| * | ||
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| * SOFTWARE. | ||
| */ | ||
|
|
||
| #include <fmt/format.h> | ||
|
|
||
| #include <memory> | ||
|
|
||
| #include "photon/PhotonCamera.h" | ||
| #include "photon/simulation/VisionSystemSim.h" | ||
| #include "photonlib_nanobind.hpp" | ||
|
|
||
| // actual nanobind include | ||
| #include <nanobind/nanobind.h> | ||
| #include <nanobind/stl/string.h> | ||
| #include <nanobind/stl/vector.h> | ||
| #include <nanobind/stl/optional.h> | ||
|
|
||
| namespace nb = nanobind; | ||
| using namespace nb::literals; | ||
|
|
||
| frc::Pose3d makePose(double x, double y, double z, double W, double X, double Y, | ||
| double Z) { | ||
| return frc::Pose3d{frc::Translation3d{units::meter_t{x}, units::meter_t{y}, | ||
| units::meter_t{z}}, | ||
| frc::Rotation3d{frc::Quaternion{W, X, Y, Z}}}; | ||
| } | ||
|
|
||
| void wrap_geom(nb::module_ m) { | ||
| using namespace frc; | ||
| nb::class_<Transform3d>(m, "Transform3d").def(nb::init<>()); | ||
| nb::class_<Pose3d>(m, "Pose3d") | ||
| .def(nb::init<>()) | ||
| .def(nb::new_(&makePose), | ||
| "Create a Pose3d from translation/rotation components"); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,91 @@ | ||
| /* | ||
| * MIT License | ||
| * | ||
| * Copyright (c) PhotonVision | ||
| * | ||
| * Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| * of this software and associated documentation files (the "Software"), to deal | ||
| * in the Software without restriction, including without limitation the rights | ||
| * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| * copies of the Software, and to permit persons to whom the Software is | ||
| * furnished to do so, subject to the following conditions: | ||
| * | ||
| * The above copyright notice and this permission notice shall be included in | ||
| * all copies or substantial portions of the Software. | ||
| * | ||
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| * SOFTWARE. | ||
| */ | ||
|
|
||
| #include <fmt/format.h> | ||
|
|
||
| #include <memory> | ||
|
|
||
| #include "photon/PhotonCamera.h" | ||
| #include "photon/simulation/VisionSystemSim.h" | ||
| #include "photonlib_nanobind.hpp" | ||
|
|
||
| // actual nanobind include | ||
| #include <nanobind/nanobind.h> | ||
| #include <nanobind/stl/string.h> | ||
| #include <nanobind/stl/vector.h> | ||
| #include <nanobind/stl/optional.h> | ||
|
|
||
| namespace nb = nanobind; | ||
| using namespace nb::literals; | ||
|
|
||
| // repr helper | ||
| template <> struct fmt::formatter<photon::PhotonTrackedTarget> : formatter<string_view> { | ||
| auto format(photon::PhotonTrackedTarget const &c, format_context &ctx) const { | ||
| return fmt::format_to(ctx.out(), "PhotonTrackedTarget<yaw={},pitch={}>", c.yaw, c.pitch); | ||
| } | ||
| }; | ||
| template <> struct fmt::formatter<photon::PhotonPipelineMetadata> : formatter<string_view> { | ||
| auto format(photon::PhotonPipelineMetadata const &c, format_context &ctx) const { | ||
| return fmt::format_to(ctx.out(), "PhotonPipelineMetadata<sequenceID={}>", c.sequenceID); | ||
| } | ||
| }; | ||
|
|
||
| void wrap_photon(nb::module_ m) { | ||
| nb::class_<photon::PhotonPipelineMetadata>(m, "PhotonPipelineMetadata") | ||
| .def_ro("sequenceID", &photon::PhotonPipelineMetadata::sequenceID) | ||
| .def_ro("captureTimestampMicros", | ||
| &photon::PhotonPipelineMetadata::captureTimestampMicros) | ||
| .def_ro("publishTimestampMicros", | ||
| &photon::PhotonPipelineMetadata::publishTimestampMicros); | ||
|
|
||
| nb::class_<photon::PhotonTrackedTarget>(m, "PhotonTrackedTarget") | ||
| .def_ro("yaw", &photon::PhotonTrackedTarget::yaw) | ||
| .def_ro("pitch", &photon::PhotonTrackedTarget::pitch) | ||
| // String representation | ||
| .def("__repr__", [](const photon::PhotonTrackedTarget& t) { | ||
| std::string s; | ||
| fmt::format_to(std::back_inserter(s), | ||
| "{}>", t); | ||
| return s; | ||
| }); | ||
| nb::class_<photon::MultiTargetPNPResult>(m, "MultiTargetPNPResult") | ||
| .def_ro("fiducialIDsUsed", | ||
| &photon::MultiTargetPNPResult::fiducialIDsUsed); | ||
|
|
||
| nb::class_<photon::PhotonPipelineResult>(m, "PhotonPipelineResult") | ||
| .def_ro("metadata", &photon::PhotonPipelineResult::metadata) | ||
| .def_ro("targets", &photon::PhotonPipelineResult::targets) | ||
| .def_ro("multitagResult", &photon::PhotonPipelineResult::multitagResult) | ||
| .def("__repr__", [](const photon::PhotonPipelineResult& t) { | ||
| std::string s; | ||
| fmt::format_to(std::back_inserter(s), | ||
| "PhotonPipelineResult<metadata={},targets=[{}]>", t.metadata, fmt::join(t.targets, ", ")); | ||
| return s; | ||
| }); | ||
|
|
||
| nb::class_<photon::PhotonCamera>(m, "PhotonCamera") | ||
| .def(nb::init<const std::string&>()) | ||
| .def("GetDriverMode", &photon::PhotonCamera::GetDriverMode) | ||
| .def("GetLatestResult", &photon::PhotonCamera::GetLatestResult); | ||
| } |
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