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Merge pull request #7 from nqminds/refactor/use-pybind11-mkdoc
Use `pybind11_mkdoc` to make Python docstrings from C++ comments
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,105 @@ | ||
| #include <chrono> | ||
| #include <filesystem> | ||
| #include <fstream> | ||
| #include <iostream> | ||
| #include <stdexcept> | ||
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| #include <pybind11/numpy.h> | ||
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| /** | ||
| * IRImager object - interfaces with a camera. | ||
| */ | ||
| class IRImager { | ||
| public: | ||
| IRImager() = default; | ||
| /** | ||
| * Loads the configuration for an IR Camera from the given XML file | ||
| */ | ||
| IRImager(const std::filesystem::path &xml_path) { | ||
| std::ifstream xml_stream(xml_path, std::fstream::in); | ||
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| std::string xml_header(5, '\0'); | ||
| xml_stream.read(xml_header.data(), xml_header.size()); | ||
| if (xml_header != std::string("<?xml")) { | ||
| throw std::runtime_error("Invalid XML file: The given XML file does not start with '<?xml'"); | ||
| } | ||
| } | ||
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| /** | ||
| * Start video grabbing | ||
| * | ||
| * Prefer using `with irimager: ...` to automatically start/stop streaming | ||
| * on errors. | ||
| * | ||
| * @throws RuntimeError if streaming cannot be started, e.g. if the camera | ||
| * is not connected. | ||
| */ | ||
| void start_streaming() { | ||
| streaming = true; | ||
| } | ||
|
|
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| /** | ||
| * Stop video grabbing | ||
| */ | ||
| void stop_streaming() { | ||
| streaming = false; | ||
| } | ||
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| IRImager* _enter_() { | ||
| start_streaming(); | ||
| return this; | ||
| } | ||
|
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| void _exit_( | ||
| [[maybe_unused]] const std::optional<pybind11::type> &exc_type, | ||
| [[maybe_unused]] const std::optional<pybind11::error_already_set> &exc_value, | ||
| [[maybe_unused]] const pybind11::object &traceback) { | ||
| stop_streaming(); | ||
| } | ||
|
|
||
| /** | ||
| * Return a frame | ||
| * | ||
| * @throws RuntimeError if a frame cannot be loaded, | ||
| * e.g. if the camera isn't streaming. | ||
| * | ||
| * @returns A tuple containing: | ||
| * 1. A 2-D numpy array containing the image. This must be adjusted | ||
| * by :py:meth:`~IRImager.get_temp_range_decimal` to get the | ||
| * actual temperature in degrees Celcius. | ||
| * 2. The time the image was taken. | ||
| */ | ||
| std::tuple<pybind11::array_t<uint16_t>, std::chrono::system_clock::time_point> get_frame() { | ||
| if (!streaming) { | ||
| throw std::runtime_error("IRIMAGER_STREAMOFF: Not streaming"); | ||
| } | ||
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| auto frame_size = std::array<ssize_t, 2>{128, 128}; | ||
| auto my_array = pybind11::array_t<uint16_t>(frame_size); | ||
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| auto r = my_array.mutable_unchecked<frame_size.size()>(); | ||
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| for (ssize_t i = 0; i < frame_size[0]; i++) { | ||
| for (ssize_t j = 0; j < frame_size[1]; j++) { | ||
| r(i, j) = 1800 * std::pow(10, get_temp_range_decimal()); | ||
| } | ||
| } | ||
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| return std::make_tuple(my_array, std::chrono::system_clock::now()); | ||
| } | ||
|
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| /** | ||
| * The number of decimal places in the thermal data | ||
| * | ||
| * For example, if :py:meth:`~IRImager.get_frame` returns 18000, you can | ||
| * divide this number by 10 to the power of the result of | ||
| * :py:meth:`~IRImager.get_temp_range_decimal` to get the actual | ||
| * temperature in degrees Celcius. | ||
| */ | ||
| short get_temp_range_decimal() { | ||
| return 1; | ||
| } | ||
|
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| private: | ||
| bool streaming = false; | ||
| }; |