py bindings

Cargo.toml

@@ -1,2 +1,2 @@
 [workspace]
-members = ["libodm", "leapdebug"]
+members = ["libodm", "pylibodm"]

README.md

@@ -1,7 +1,7 @@
 # OpenDepthMap
 Point cloud streams from Leap Motion cameras
 ```
-clang libclang-dev libopencv-dev
+clang libclang-dev libopencv-dev python3-dev python-dev
 
 ```
 

leapdebug/src/cli/logging.rs

@@ -1,21 +0,0 @@
-
-pub fn start_fern() {
-    fern::Dispatch::new()
-    // Perform allocation-free log formatting
-    .format(|out, message, record| {
-        out.finish(format_args!(
-            "{}[{}][{}] {}",
-            chrono::Local::now().format("[%Y-%m-%d][%H:%M:%S]"),
-            record.target(),
-            record.level(),
-            message
-        ))
-    })
-    // Add blanket level filter -
-    .level(log::LevelFilter::Debug)
-    
-    // Output to stdout, files, and other Dispatch configurations
-    .chain(std::io::stdout())
-    // Apply globally
-    .apply().unwrap();
-}

leapdebug/src/cli/mod.rs

@@ -1 +0,0 @@
-pub mod logging;

leapdebug/src/main.rs

@@ -1,24 +0,0 @@
-use std::time::Duration;
-
-use cli::logging::start_fern;
-use libodm::leapmotion::device::LeapMotionDevice;
-
-mod cli;
-
-fn main() {
-    start_fern();
-
-    // Init a device
-    let mut device = LeapMotionDevice::create_device(Duration::from_secs(4)).unwrap();
-
-    log::info!("Got data");
-
-    log::info!("Press CTRL+C to exit");
-    loop {
-        // Read a single frame
-        let frame = device.get_frame().unwrap();
-
-        // Show data
-        frame.debug_show();
-    }
-}

libodm/Cargo.toml

@@ -10,9 +10,8 @@ build = "build.rs"
 [dependencies]
 libc = "0.2.95"
 log = "0.4.14"
-glam = "0.15.2"
+# glam = "0.15.2"
-opencv = "0.53.0"
+# opencv = "0.53.0"
 
 [build-dependencies]
-cc = "1.0"
+cc = "1.0"
-pkg-config = "0.3.19"

libodm/src/image.rs

@@ -1,56 +1,32 @@
-use glam::UVec2;
-use opencv::{core::{Image2D, Mat, Mat_AUTO_STEP, Size, CV_8U}, highgui::{imshow, named_window, wait_key}};
 
-pub struct Image {
+pub struct Image<'a> {
-    size: UVec2,
+    width: u32,
-    raw_data: *const u8,
+    height: u32,
-    img: Mat,
+    buffer: &'a [u8],
 }
 
-impl Image {
+impl Image<'_> {
-
     /// Create a new image from raw data
-    pub fn new_raw(width: i32, height: i32, raw_data: *const u8) -> Result<Self, opencv::Error> {
+    pub fn new(width: i32, height: i32, raw_data: *const u8) -> Self {
-        // Build a CV size
+        Self {
-        let size = Size::new(width, height);
+            width: width as u32,
-
+            height: height as u32,
-        let image;
+            buffer: unsafe { std::slice::from_raw_parts(raw_data, (width * height) as usize) },
-        unsafe {
-            image =
-                Mat::new_size_with_data(size, CV_8U, raw_data as *mut libc::c_void, Mat_AUTO_STEP)?;
         }
-
-        Ok(Self {
-            size: UVec2::new(width as u32, height as u32),
-            raw_data,
-            img: image,
-        })
     }
 
-    /// Get the image size
+    /// Get the image width
-    pub fn get_size(&self) -> &UVec2 {
+    pub fn get_width(&self) -> u32 {
-        &self.size
+        self.width
+    }
+
+    /// Get the image height
+    pub fn get_height(&self) -> u32 {
+        self.height
     }
 
     /// Get the internal OpenCV image
-    pub fn get_image(&self) -> &Mat {
+    pub fn get_image(&self) -> &[u8] {
-        &self.img
+        &self.buffer
-    }
-
-    /// Show this image in a debug window
-    pub fn debug_show(&self){
-
-        // Create a debug window
-        imshow("Debug", &self.img).unwrap();
-        wait_key(0).unwrap();
-
     }
 }
-
-// impl Drop for Image {
-//     fn drop(&mut self) {
-//         unsafe {
-//             libc::free(self.raw_data as *mut libc::c_void);
-//         }
-//     }
-// }

libodm/src/leapmotion/device.rs

@@ -2,8 +2,6 @@
 
 use std::time::{Duration, SystemTime};
 
-use opencv::highgui::{imshow, wait_key};
-
 use crate::image::Image;
 
 use super::ffi;
@@ -25,23 +23,15 @@ pub enum DeviceError {
 }
 
 /// Represents a single data frame generated by the LeapMotion device
-pub struct DeviceFrame {
+pub struct DeviceFrame<'a> {
     /// Number of bytes per pixel
     pub bytes_per_pixel: u8,
 
     /// Image from the left camera
-    pub left_camera: Image,
+    pub left_camera: Image<'a>,
 
     /// Image from the right camera
-    pub right_camera: Image,
+    pub right_camera: Image<'a>,
-}
-
-impl DeviceFrame {
-    pub fn debug_show(&self){
-        imshow("Left Camera", self.left_camera.get_image()).unwrap();
-        imshow("Right Camera", self.right_camera.get_image()).unwrap();
-        wait_key(25).unwrap();
-    }
 }
 
 /// Represents a LeapMotion device, and provides safe wrappers around its FFI
@@ -114,8 +104,8 @@ impl LeapMotionDevice {
     /// Get the latest frame from the device
     pub fn get_frame(&mut self) -> Result<DeviceFrame, DeviceError> {
         // Update the frame data from the controller
-        unsafe{
+        unsafe {
-            if ffi::isControllerCreated(){
+            if ffi::isControllerCreated() {
                 ffi::updateFrame();
             }
         }
@@ -128,28 +118,30 @@ impl LeapMotionDevice {
         let image_width;
         let image_height;
         let bytes_per_pixel;
-        let mut left_image_raw;
+        let left_image_raw;
-        let mut right_image_raw;
+        let right_image_raw;
         unsafe {
             image_width = ffi::getImageWidth();
             image_height = ffi::getImageHeight();
             bytes_per_pixel = ffi::getImageBPP();
-            left_image_raw = ffi::getImageLeft();
+
-            right_image_raw = ffi::getImageRight();
+            if self.cameras_flipped {
+                left_image_raw = ffi::getImageRight();
+                right_image_raw = ffi::getImageLeft();
+            } else {
+                left_image_raw = ffi::getImageLeft();
+                right_image_raw = ffi::getImageRight();
+            }
         }
 
         // Build two images
-        let left_image = Image::new_raw(image_width, image_height, left_image_raw);
+        let left_image = Image::new(image_width, image_height, left_image_raw);
-        let right_image = Image::new_raw(image_width, image_height, right_image_raw);
+        let right_image = Image::new(image_width, image_height, right_image_raw);
-
-        if left_image.is_err() || right_image.is_err() {
-            return Err(DeviceError::DecodeError);
-        }
 
         Ok(DeviceFrame {
             bytes_per_pixel: bytes_per_pixel as u8,
-            left_camera: left_image.unwrap(),
+            left_camera: left_image,
-            right_camera: right_image.unwrap(),
+            right_camera: right_image,
         })
     }
 }

pylibodm/Cargo.toml

@@ -1,13 +1,17 @@
 [package]
-name = "leapdebug"
+name = "pylibodm"
 version = "0.1.0"
-authors = ["Evan Pratten <ewpratten@gmail.com>"]
 edition = "2018"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
+[lib]
+name = "pylibodm"
+crate-type = ["cdylib"]
+
 [dependencies]
 libodm = { version = "0.1.0", path = "../libodm"}
-fern = "0.6.0"
+
-log = "0.4.14"
+[dependencies.pyo3]
-chrono = "0.4.19"
+version = "0.13.2"
+features = ["extension-module"]

pylibodm/src/lib.rs

@@ -0,0 +1,114 @@
+use libodm::leapmotion::device::LeapMotionDevice;
+
+pub(crate) static mut DEVICE_INSTANCE: Option<LeapMotionDevice> = None;
+
+mod errors {
+    use libodm::leapmotion::device::DeviceError;
+    use pyo3::{exceptions::PyOSError, prelude::*};
+
+    #[derive(Debug)]
+    pub struct PyDeviceError(DeviceError);
+
+    impl From<DeviceError> for PyDeviceError {
+        fn from(e: DeviceError) -> Self {
+            Self { 0: e }
+        }
+    }
+
+    impl std::convert::From<PyDeviceError> for PyErr {
+        fn from(err: PyDeviceError) -> PyErr {
+            PyOSError::new_err(format!("{:?}", err.0))
+        }
+    }
+}
+
+mod device {
+    use std::time::Duration;
+
+    use libodm::{
+        image::Image,
+        leapmotion::device::{DeviceFrame, LeapMotionDevice},
+    };
+    use pyo3::prelude::*;
+
+    use crate::{errors::PyDeviceError, DEVICE_INSTANCE};
+
+    #[pyclass]
+    struct PyImage {
+        pub width: u32,
+        pub height: u32,
+        pub buffer: Vec<u8>,
+    }
+
+    impl IntoPy<PyImage> for Image<'_> {
+        fn into_py(self, py: Python) -> PyImage {
+            PyImage {
+                width: self.get_width(),
+                height: self.get_height(),
+                buffer: self.get_image().into_iter().map(|e| *e).collect(),
+            }
+        }
+    }
+
+    #[pyclass]
+    struct PyDeviceFrame {
+        pub bytes_per_pixel: u8,
+        pub left_camera: PyImage,
+        pub right_camera: PyImage,
+    }
+
+    impl IntoPy<PyDeviceFrame> for DeviceFrame<'_> {
+        fn into_py(self, py: Python) -> PyDeviceFrame {
+            PyDeviceFrame {
+                bytes_per_pixel: self.bytes_per_pixel,
+                left_camera: self.left_camera.into_py(py),
+                right_camera: self.right_camera.into_py(py),
+            }
+        }
+    }
+
+    #[pymodule]
+    pub fn leap_device(py: Python, m: &PyModule) -> PyResult<()> {
+        #[pyfn(m, "connect")]
+        fn connect(timeout_secs: u64) -> Result<(), PyDeviceError> {
+            // Create a leap device
+            let device = LeapMotionDevice::create_device(Duration::from_secs(timeout_secs))?;
+
+            // Override the instance
+            unsafe {
+                DEVICE_INSTANCE = Some(device);
+            }
+
+            Ok(())
+        }
+
+        #[pyfn(m, "set_cameras_flipped")]
+        fn set_cameras_flipped(flipped: bool) -> PyResult<()> {
+            unsafe {
+                DEVICE_INSTANCE
+                    .as_mut()
+                    .unwrap()
+                    .set_cameras_flipped(flipped);
+            }
+
+            Ok(())
+        }
+
+        #[pyfn(m, "get_cameras_flipped")]
+        fn get_cameras_flipped() -> PyResult<bool> {
+            Ok(unsafe { DEVICE_INSTANCE.as_ref().unwrap().cameras_flipped() })
+        }
+
+        #[pyfn(m, "has_frame")]
+        fn has_frame() -> PyResult<bool> {
+            Ok(unsafe { DEVICE_INSTANCE.as_mut().unwrap().has_frame() })
+        }
+
+        #[pyfn(m, "get_frame")]
+        fn get_frame(py: Python) -> Result<PyDeviceFrame, PyDeviceError> {
+            Ok(unsafe { DEVICE_INSTANCE.as_mut().unwrap().get_frame()?.into_py(py) })
+        }
+
+        Ok(())
+    }
+}