diff --git a/.gitignore b/.gitignore
index c82a2d2d45d75be79cc8017c1ae310bfbe9f5a70..7089fbff58672c045049b9e9c683b420098b0425 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,7 +3,7 @@
**/include/ftl/config.h
**/src/config.cpp
**/*.blend1
-SDK/Python/ftl/__pycache__
+__pycache__
fabric/
fabric-js/
build/
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 97954b3a9d23434b59b0be3dfa0ef85a83639596..423cb70b94a8bb418d8c700860ff0c9fe95c3d99 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -18,6 +18,8 @@ linux:
stage: all
tags:
- linux
+ variables:
+ FTL_LIB: ../../build/SDK/C/libftl-dev.so
# before_script:
# - export DEBIAN_FRONTEND=noninteractive
# - apt-get update -qq && apt-get install -y -qq g++ cmake git
@@ -28,6 +30,8 @@ linux:
- cmake .. -DWITH_OPTFLOW=TRUE -DUSE_CPPCHECK=FALSE -DBUILD_CALIBRATION=TRUE -DWITH_CERES=TRUE -DCMAKE_BUILD_TYPE=Release
- make
- ctest --output-on-failure
+ - cd ../SDK/Python
+ - python3 -m unittest discover test
webserver-deploy:
only:
diff --git a/SDK/Python/LICENSE b/SDK/Python/LICENSE
new file mode 120000
index 0000000000000000000000000000000000000000..30cff7403da04711c46979a06f6bf8eb10ee088a
--- /dev/null
+++ b/SDK/Python/LICENSE
@@ -0,0 +1 @@
+../../LICENSE
\ No newline at end of file
diff --git a/SDK/Python/README.md b/SDK/Python/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/SDK/Python/ftl/streamwriter.py b/SDK/Python/ftl/streamwriter.py
index 8d75dc793614038c998a3638d55d3b1bbe9649aa..ce8d86479cb6e705b39a641fdf73acf7a19fc7d0 100644
--- a/SDK/Python/ftl/streamwriter.py
+++ b/SDK/Python/ftl/streamwriter.py
@@ -1,17 +1,36 @@
-from . types import Channel, is_float_channel, Camera, Pipeline
+from . types import FTLException, Channel, is_float_channel, Camera, Pipeline
import numpy as np
from enum import IntEnum
import ctypes
-
+import sys
import os.path
+################################################################################
+# Try to locate shared library
+
_paths = [
".",
"/usr/lib",
"/usr/local/lib",
]
+_libpath = None
+if "FTL_LIB" in os.environ and os.path.exists(os.environ["FTL_LIB"]):
+ _libpath = os.environ["FTL_LIB"]
+
+else:
+ for p in _paths:
+ p = os.path.join(p, "libftl-dev.so")
+ if os.path.exists(p):
+ _libpath = p
+ break
+
+if _libpath is None:
+ raise FileNotFoundError("libftl-dev.so not found")
+
+################################################################################
+
class _imageformat_t(IntEnum):
FLOAT = 0
BGRA = 1
@@ -20,16 +39,6 @@ class _imageformat_t(IntEnum):
BGR = 4
RGB_FLOAT = 5
-_libpath = None
-for p in _paths:
- p = os.path.join(p, "libftl-dev.so")
- if os.path.exists(p):
- _libpath = p
- break
-
-if _libpath is None:
- raise FileNotFoundError("libftl-dev.so not found")
-
_c_api = ctypes.CDLL(_libpath)
_c_api.ftlCreateWriteStream.restype = ctypes.c_void_p
@@ -70,12 +79,22 @@ _c_api.ftlDestroyStream.argtypes = [ctypes.c_void_p]
def _ftl_check(retval):
if retval != 0:
- raise Exception("FTL api returned %i" % retval)
+ raise FTLException(retval ,"FTL api returned %i" % retval)
class FTLStreamWriter:
def __init__(self, fname):
self._sources = {}
- self._instance = _c_api.ftlCreateWriteStream(bytes(fname, "utf8"))
+
+ if isinstance(fname, str):
+ fname_ = bytes(fname, sys.getdefaultencoding())
+
+ elif isinstance(fname, bytes):
+ fname_ = fname
+
+ else:
+ raise TypeError()
+
+ self._instance = _c_api.ftlCreateWriteStream(fname_)
if self._instance is None:
raise Exception("Error: ftlCreateWriteStream")
@@ -148,9 +167,11 @@ class FTLStreamWriter:
func = _c_api.ftlIntrinsicsWriteLeft if channel == Channel.Calibration else _c_api.ftlIntrinsicsWriteRight
- _ftl_check(func(self._instance, source, camera.width, camera.height,
- camera.fx, camera.cx, camera.cy, camera.baseline,
- camera.min_depth, camera.max_depth))
+ _ftl_check(func(self._instance, source,
+ int(camera.width), int(camera.height),
+ float(camera.fx), float(camera.cx),
+ float(camera.cy), float(camera.baseline),
+ float(camera.min_depth), float(camera.max_depth)))
self._sources[source] = camera
@@ -168,6 +189,8 @@ class FTLStreamWriter:
def write(self, source, channel, data):
""" Write data to stream """
+ source = int(source)
+ channel = Channel(channel)
if channel in [Channel.Calibration, Channel.Calibration2]:
self._write_calibration(source, channel, data)
diff --git a/SDK/Python/ftl/types.py b/SDK/Python/ftl/types.py
index 78d78e43068f8e49005e47b3c3e3c95640ed4bf6..54631343fe37a8cf1262d0b07ca88c52bf53702d 100644
--- a/SDK/Python/ftl/types.py
+++ b/SDK/Python/ftl/types.py
@@ -1,6 +1,11 @@
from typing import NamedTuple
from enum import IntEnum
+class FTLException(Exception):
+ def __init__(self, code, message):
+ self.code = code
+ self.message = message
+
class Pipeline(IntEnum):
DEPTH = 0
RECONSTRUCT = 1
diff --git a/SDK/Python/setup.py b/SDK/Python/setup.py
new file mode 100644
index 0000000000000000000000000000000000000000..35234abc623c991442a59d9035dd8ecdc1ac339b
--- /dev/null
+++ b/SDK/Python/setup.py
@@ -0,0 +1,16 @@
+import setuptools
+
+with open("README.md"), "r") as fh:
+ long_description = fh.read()
+
+setuptools.setup(
+ name="ftl-python",
+ version="0.0.1", # TODO: CMAKE
+ long_description=long_description,
+ long_description_content_type="text/markdown",
+ packages=setuptools.find_packages(),
+ classifiers=[
+ "Programming Language :: Python :: 3"
+ ],
+ python_requires='>=3.6',
+)
diff --git a/SDK/Python/test/__init__.py b/SDK/Python/test/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/SDK/Python/test/test_streamwriter.py b/SDK/Python/test/test_streamwriter.py
new file mode 100644
index 0000000000000000000000000000000000000000..b822a739c6c405dc50338d102de20b2a3a347777
--- /dev/null
+++ b/SDK/Python/test/test_streamwriter.py
@@ -0,0 +1,59 @@
+import unittest
+import tempfile
+import os
+
+from ftl import FTLStreamWriter
+from ftl.types import Channel, Camera, FTLException
+
+import numpy as np
+
+class TestStreamWriter(unittest.TestCase):
+
+ def test_create_and_delete_file(self):
+ """ Test constructor and destructor (empty file) """
+
+ with tempfile.NamedTemporaryFile(suffix=".ftl") as f:
+ stream = FTLStreamWriter(f.name)
+ stream.__del__()
+
+ def test_write_frames_float32_1080p(self):
+ """ Write random image, correct types and values """
+
+ with tempfile.NamedTemporaryFile(suffix=".ftl") as f:
+ stream = FTLStreamWriter(f.name)
+ calib = Camera(700.0, 700.0, 960.0, 540.0, 1920, 1080, 0.0, 10.0, 0.20, 0.0)
+ im = np.random.rand(1080, 1920, 3).astype(np.float32)
+
+ stream.write(0, Channel.Calibration, calib)
+ stream.write(0, Channel.Colour, im)
+
+ def test_write_calib_wrong_compatible_type(self):
+ """ Write calibration with incorrect but compatible types (float/int) """
+
+ with tempfile.NamedTemporaryFile(suffix=".ftl") as f:
+ stream = FTLStreamWriter(f.name)
+ calib = Camera(700, 700.0, 960, 540.0, 1920.0, 1080, 0, 10.0, 0.2, 0)
+
+ stream.write(0, Channel.Calibration, calib)
+
+ def test_write_calib_wrong_incompatible_type(self):
+ """ Write calibration with incorrect and incompatible types """
+
+ with tempfile.NamedTemporaryFile(suffix=".ftl") as f:
+ stream = FTLStreamWriter(f.name)
+ calib = Camera("foo", "bar", 960, 540.0, 1920.0, 1080, 0, 10.0, 0.2, 0)
+
+ with self.assertRaises(ValueError):
+ stream.write(0, Channel.Calibration, calib)
+
+ def test_empty_nextframe(self):
+ """ Call nextframe() on empty stream """
+
+ with tempfile.NamedTemporaryFile(suffix=".ftl") as f:
+ stream = FTLStreamWriter(f.name)
+
+ with self.assertRaises(FTLException):
+ stream.next_frame()
+
+if __name__ == '__main__':
+ unittest.main()
\ No newline at end of file