Merge pull request #9011 from mengyui/python-software-device

fix software device in Python wrapper

include/librealsense2/h/rs_types.h

@@ -251,7 +251,8 @@ typedef enum rs2_matchers
    RS2_MATCHER_DEFAULT, //the default matcher compare all the streams based on closest timestamp
 
    RS2_MATCHER_COUNT
-}rs2_matchers;
+} rs2_matchers;
+const char* rs2_matchers_to_string(rs2_matchers stream);
 
 typedef struct rs2_device_info rs2_device_info;
 typedef struct rs2_device rs2_device;

src/realsense.def

@@ -128,6 +128,7 @@ EXPORTS
     rs2_exception_type_to_string
     rs2_extension_type_to_string
     rs2_extension_to_string
+    rs2_matchers_to_string
     rs2_playback_status_to_string
     rs2_log_severity_to_string
     rs2_log

src/rs.cpp

@@ -1274,6 +1274,7 @@ const char* rs2_log_severity_to_string(rs2_log_severity severity)
 const char* rs2_exception_type_to_string(rs2_exception_type type)                         { return librealsense::get_string(type);         }
 const char* rs2_playback_status_to_string(rs2_playback_status status)                     { return librealsense::get_string(status);       }
 const char* rs2_extension_type_to_string(rs2_extension type)                              { return librealsense::get_string(type);         }
+const char* rs2_matchers_to_string(rs2_matchers matcher)                                  { return librealsense::get_string(matcher);      }
 const char* rs2_frame_metadata_to_string(rs2_frame_metadata_value metadata)               { return librealsense::get_string(metadata);     }
 const char* rs2_extension_to_string(rs2_extension type)                                   { return rs2_extension_type_to_string(type);     }
 const char* rs2_frame_metadata_value_to_string(rs2_frame_metadata_value metadata)         { return rs2_frame_metadata_to_string(metadata); }

src/types.cpp

@@ -627,6 +627,8 @@ namespace librealsense
             CASE(DI_C)
             CASE(DLR_C)
             CASE(DLR)
+            CASE(DIC)
+            CASE(DIC_C)
             CASE(DEFAULT)
         default: assert(!is_valid(value)); return UNKNOWN_VALUE;
         }

wrappers/csharp/Intel.RealSense/Types/Enums/Matchers.cs

@@ -14,6 +14,10 @@ public enum Matchers
                  // commonlly used by RS415, RS435
         DLR,     // compare depth, left and right ir based on frame number,
                  // commonlly used by RS400, RS405, RS410, RS420, RS430
+        DIC,     //compare depth, ir and confidence based on frame number used by RS500
+        DIC_C,   //compare depth, ir and confidence based on frame number,
+                 //compare the set of corresponding depth, ir and confidence with color based on closest timestamp,
+                 //commonly used by RS515
         Default, // the default matcher compare all the streams based on closest timestamp
     }
 }

wrappers/python/c_files.cpp

@@ -25,7 +25,7 @@ void init_c_files(py::module &m) {
     BIND_ENUM(m, rs2_distortion, RS2_DISTORTION_COUNT, "Distortion model: defines how pixel coordinates should be mapped to sensor coordinates.")
     BIND_ENUM(m, rs2_log_severity, RS2_LOG_SEVERITY_COUNT, "Severity of the librealsense logger.")
     BIND_ENUM(m, rs2_extension, RS2_EXTENSION_COUNT, "Specifies advanced interfaces (capabilities) objects may implement.")
-//    BIND_ENUM(m, rs2_matchers, RS2_MATCHER_COUNT, "Specifies types of different matchers.") // TODO: implement rs2_matchers_to_string()
+    BIND_ENUM(m, rs2_matchers, RS2_MATCHER_COUNT, "Specifies types of different matchers.")
     BIND_ENUM(m, rs2_camera_info, RS2_CAMERA_INFO_COUNT, "This information is mainly available for camera debug and troubleshooting and should not be used in applications.")
     BIND_ENUM(m, rs2_stream, RS2_STREAM_COUNT, "Streams are different types of data provided by RealSense devices.")
     BIND_ENUM(m, rs2_format, RS2_FORMAT_COUNT, "A stream's format identifies how binary data is encoded within a frame.")

wrappers/python/pyrs_frame.cpp

@@ -53,6 +53,7 @@ void init_frame(py::module &m) {
         .def(BIND_DOWNCAST(stream_profile, stream_profile))
         .def(BIND_DOWNCAST(stream_profile, video_stream_profile))
         .def(BIND_DOWNCAST(stream_profile, motion_stream_profile))
+        .def(BIND_DOWNCAST(stream_profile, pose_stream_profile))
         .def("stream_name", &rs2::stream_profile::stream_name, "The stream's human-readable name.")
         .def("is_default", &rs2::stream_profile::is_default, "Checks if the stream profile is marked/assigned as default, "
              "meaning that the profile will be selected when the user requests stream configuration using wildcards.")

wrappers/python/pyrs_internal.cpp

@@ -117,7 +117,7 @@ void init_internal(py::module &m) {
 
     /** rs_internal.hpp **/
     // rs2::software_sensor
-    py::class_<rs2::software_sensor> software_sensor(m, "software_sensor");
+    py::class_<rs2::software_sensor, rs2::sensor> software_sensor(m, "software_sensor");
     software_sensor.def("add_video_stream", &rs2::software_sensor::add_video_stream, "Add video stream to software sensor",
                         "video_stream"_a, "is_default"_a=false)
         .def("add_motion_stream", &rs2::software_sensor::add_motion_stream, "Add motion stream to software sensor",
@@ -137,7 +137,7 @@ void init_internal(py::module &m) {
         .def("on_notification", &rs2::software_sensor::on_notification, "notif"_a);
 
     // rs2::software_device
-    py::class_<rs2::software_device> software_device(m, "software_device");
+    py::class_<rs2::software_device, rs2::device> software_device(m, "software_device");
     software_device.def(py::init<>())
         .def("add_sensor", &rs2::software_device::add_sensor, "Add software sensor with given name "
             "to the software device.", "name"_a)
@@ -149,9 +149,9 @@ void init_internal(py::module &m) {
         .def("register_info", &rs2::software_device::register_info, "Add a new camera info value, like serial number",
              "info"_a, "val"_a)
         .def("update_info", &rs2::software_device::update_info, "Update an existing camera info value, like serial number",
-             "info"_a, "val"_a);
-        //.def("create_matcher", &rs2::software_device::create_matcher, "Set the wanted matcher type that will "
-        //     "be used by the syncer", "matcher"_a) // TODO: bind rs2_matchers enum.
+             "info"_a, "val"_a)
+        .def("create_matcher", &rs2::software_device::create_matcher, "Set the wanted matcher type that will "
+            "be used by the syncer", "matcher"_a);
 
     // rs2::firmware_log_message
     py::class_<rs2::firmware_log_message> firmware_log_message(m, "firmware_log_message");