@@ -179,6 +179,7 @@ summary({
'Tracing support': tracing_enabled,
'Android support': android_enabled,
'GStreamer support': gst_enabled,
+ 'Python bindings': pycamera_enabled,
'V4L2 emulation support': v4l2_enabled,
'cam application': cam_enabled,
'qcam application': qcam_enabled,
@@ -58,3 +58,8 @@ option('v4l2',
type : 'boolean',
value : false,
description : 'Compile the V4L2 compatibility layer')
+
+option('pycamera',
+ type : 'feature',
+ value : 'auto',
+ description : 'Enable libcamera Python bindings (experimental)')
@@ -37,4 +37,5 @@ subdir('cam')
subdir('qcam')
subdir('gstreamer')
+subdir('py')
subdir('v4l2')
new file mode 100644
@@ -0,0 +1,12 @@
+# SPDX-License-Identifier: LGPL-2.1-or-later
+# Copyright (C) 2021, Tomi Valkeinen <tomi.valkeinen@ideasonboard.com>
+
+from ._libcamera import *
+import mmap
+
+
+def __FrameBuffer__mmap(self, plane):
+ return mmap.mmap(self.fd(plane), self.length(plane), mmap.MAP_SHARED, mmap.PROT_READ)
+
+
+FrameBuffer.mmap = __FrameBuffer__mmap
new file mode 100644
@@ -0,0 +1,43 @@
+# SPDX-License-Identifier: CC0-1.0
+
+py3_dep = dependency('python3', required : get_option('pycamera'))
+
+if not py3_dep.found()
+ pycamera_enabled = false
+ subdir_done()
+endif
+
+pycamera_enabled = true
+
+pybind11_proj = subproject('pybind11')
+pybind11_dep = pybind11_proj.get_variable('pybind11_dep')
+
+pycamera_sources = files([
+ 'pymain.cpp',
+ 'pyenums.cpp',
+])
+
+pycamera_deps = [
+ libcamera_public,
+ py3_dep,
+ pybind11_dep,
+]
+
+pycamera_args = ['-fvisibility=hidden']
+pycamera_args += ['-Wno-shadow']
+pycamera_args += ['-DPYBIND11_USE_SMART_HOLDER_AS_DEFAULT']
+
+destdir = get_option('libdir') + '/python' + py3_dep.version() + '/site-packages/libcamera'
+
+pycamera = shared_module('_libcamera',
+ pycamera_sources,
+ install : true,
+ install_dir : destdir,
+ name_prefix : '',
+ dependencies : pycamera_deps,
+ cpp_args : pycamera_args)
+
+run_command('ln', '-fsT', '../../../../src/py/libcamera/__init__.py',
+ meson.current_build_dir() / '__init__.py')
+
+install_data(['__init__.py'], install_dir : destdir)
new file mode 100644
@@ -0,0 +1,53 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2021, Tomi Valkeinen <tomi.valkeinen@ideasonboard.com>
+ *
+ * Python bindings
+ */
+
+#include <libcamera/libcamera.h>
+
+#include <pybind11/smart_holder.h>
+
+namespace py = pybind11;
+
+using namespace libcamera;
+
+void init_pyenums(py::module &m)
+{
+ py::enum_<CameraConfiguration::Status>(m, "ConfigurationStatus")
+ .value("Valid", CameraConfiguration::Valid)
+ .value("Adjusted", CameraConfiguration::Adjusted)
+ .value("Invalid", CameraConfiguration::Invalid);
+
+ py::enum_<StreamRole>(m, "StreamRole")
+ .value("StillCapture", StreamRole::StillCapture)
+ .value("Raw", StreamRole::Raw)
+ .value("VideoRecording", StreamRole::VideoRecording)
+ .value("Viewfinder", StreamRole::Viewfinder);
+
+ py::enum_<Request::Status>(m, "RequestStatus")
+ .value("Pending", Request::RequestPending)
+ .value("Complete", Request::RequestComplete)
+ .value("Cancelled", Request::RequestCancelled);
+
+ py::enum_<FrameMetadata::Status>(m, "FrameMetadataStatus")
+ .value("Success", FrameMetadata::FrameSuccess)
+ .value("Error", FrameMetadata::FrameError)
+ .value("Cancelled", FrameMetadata::FrameCancelled);
+
+ py::enum_<Request::ReuseFlag>(m, "ReuseFlag")
+ .value("Default", Request::ReuseFlag::Default)
+ .value("ReuseBuffers", Request::ReuseFlag::ReuseBuffers);
+
+ py::enum_<ControlType>(m, "ControlType")
+ .value("None", ControlType::ControlTypeNone)
+ .value("Bool", ControlType::ControlTypeBool)
+ .value("Byte", ControlType::ControlTypeByte)
+ .value("Integer32", ControlType::ControlTypeInteger32)
+ .value("Integer64", ControlType::ControlTypeInteger64)
+ .value("Float", ControlType::ControlTypeFloat)
+ .value("String", ControlType::ControlTypeString)
+ .value("Rectangle", ControlType::ControlTypeRectangle)
+ .value("Size", ControlType::ControlTypeSize);
+}
new file mode 100644
@@ -0,0 +1,452 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2021, Tomi Valkeinen <tomi.valkeinen@ideasonboard.com>
+ *
+ * Python bindings
+ */
+
+/*
+ * To generate pylibcamera stubs:
+ * PYTHONPATH=build/src/py pybind11-stubgen --no-setup-py -o build/src/py libcamera
+ */
+
+#include <chrono>
+#include <fcntl.h>
+#include <mutex>
+#include <sys/eventfd.h>
+#include <sys/mman.h>
+#include <thread>
+#include <unistd.h>
+
+#include <libcamera/libcamera.h>
+
+#include <pybind11/functional.h>
+#include <pybind11/smart_holder.h>
+#include <pybind11/stl.h>
+#include <pybind11/stl_bind.h>
+
+namespace py = pybind11;
+
+using namespace std;
+using namespace libcamera;
+
+template<typename T>
+static py::object ValueOrTuple(const ControlValue &cv)
+{
+ if (cv.isArray()) {
+ const T *v = reinterpret_cast<const T *>(cv.data().data());
+ auto t = py::tuple(cv.numElements());
+
+ for (size_t i = 0; i < cv.numElements(); ++i)
+ t[i] = v[i];
+
+ return t;
+ }
+
+ return py::cast(cv.get<T>());
+}
+
+static py::object ControlValueToPy(const ControlValue &cv)
+{
+ switch (cv.type()) {
+ case ControlTypeBool:
+ return ValueOrTuple<bool>(cv);
+ case ControlTypeByte:
+ return ValueOrTuple<uint8_t>(cv);
+ case ControlTypeInteger32:
+ return ValueOrTuple<int32_t>(cv);
+ case ControlTypeInteger64:
+ return ValueOrTuple<int64_t>(cv);
+ case ControlTypeFloat:
+ return ValueOrTuple<float>(cv);
+ case ControlTypeString:
+ return py::cast(cv.get<string>());
+ case ControlTypeRectangle: {
+ const Rectangle *v = reinterpret_cast<const Rectangle *>(cv.data().data());
+ return py::make_tuple(v->x, v->y, v->width, v->height);
+ }
+ case ControlTypeSize: {
+ const Size *v = reinterpret_cast<const Size *>(cv.data().data());
+ return py::make_tuple(v->width, v->height);
+ }
+ case ControlTypeNone:
+ default:
+ throw runtime_error("Unsupported ControlValue type");
+ }
+}
+
+static ControlValue PyToControlValue(const py::object &ob, ControlType type)
+{
+ switch (type) {
+ case ControlTypeBool:
+ return ControlValue(ob.cast<bool>());
+ case ControlTypeByte:
+ return ControlValue(ob.cast<uint8_t>());
+ case ControlTypeInteger32:
+ return ControlValue(ob.cast<int32_t>());
+ case ControlTypeInteger64:
+ return ControlValue(ob.cast<int64_t>());
+ case ControlTypeFloat:
+ return ControlValue(ob.cast<float>());
+ case ControlTypeString:
+ return ControlValue(ob.cast<string>());
+ case ControlTypeRectangle:
+ case ControlTypeSize:
+ case ControlTypeNone:
+ default:
+ throw runtime_error("Control type not implemented");
+ }
+}
+
+static weak_ptr<CameraManager> g_camera_manager;
+static int g_eventfd;
+static mutex g_reqlist_mutex;
+static vector<Request *> g_reqlist;
+
+static void handleRequestCompleted(Request *req)
+{
+ {
+ lock_guard guard(g_reqlist_mutex);
+ g_reqlist.push_back(req);
+ }
+
+ uint64_t v = 1;
+ write(g_eventfd, &v, 8);
+}
+
+void init_pyenums(py::module &m);
+
+PYBIND11_MODULE(_libcamera, m)
+{
+ init_pyenums(m);
+
+ /* Forward declarations */
+
+ /*
+ * We need to declare all the classes here so that Python docstrings
+ * can be generated correctly.
+ * https://pybind11.readthedocs.io/en/latest/advanced/misc.html#avoiding-c-types-in-docstrings
+ */
+
+ auto pyCameraManager = py::class_<CameraManager>(m, "CameraManager");
+ auto pyCamera = py::class_<Camera>(m, "Camera");
+ auto pyCameraConfiguration = py::class_<CameraConfiguration>(m, "CameraConfiguration");
+ auto pyStreamConfiguration = py::class_<StreamConfiguration>(m, "StreamConfiguration");
+ auto pyStreamFormats = py::class_<StreamFormats>(m, "StreamFormats");
+ auto pyFrameBufferAllocator = py::class_<FrameBufferAllocator>(m, "FrameBufferAllocator");
+ auto pyFrameBuffer = py::class_<FrameBuffer>(m, "FrameBuffer");
+ auto pyStream = py::class_<Stream>(m, "Stream");
+ auto pyControlId = py::class_<ControlId>(m, "ControlId");
+ auto pyRequest = py::class_<Request>(m, "Request");
+ auto pyFrameMetadata = py::class_<FrameMetadata>(m, "FrameMetadata");
+
+ /* Global functions */
+ m.def("logSetLevel", &logSetLevel);
+
+ /* Classes */
+ pyCameraManager
+ .def_static("singleton", []() {
+ shared_ptr<CameraManager> cm = g_camera_manager.lock();
+ if (cm)
+ return cm;
+
+ int fd = eventfd(0, 0);
+ if (fd == -1)
+ throw std::system_error(errno, std::generic_category(), "Failed to create eventfd");
+
+ cm = shared_ptr<CameraManager>(new CameraManager, [](auto p) {
+ close(g_eventfd);
+ g_eventfd = -1;
+ delete p;
+ });
+
+ g_eventfd = fd;
+ g_camera_manager = cm;
+
+ int ret = cm->start();
+ if (ret)
+ throw std::system_error(-ret, std::generic_category(), "Failed to start CameraManager");
+
+ return cm;
+ })
+
+ .def_property_readonly("version", &CameraManager::version)
+
+ .def_property_readonly("efd", [](CameraManager &) {
+ return g_eventfd;
+ })
+
+ .def("getReadyRequests", [](CameraManager &) {
+ vector<Request *> v;
+
+ {
+ lock_guard guard(g_reqlist_mutex);
+ swap(v, g_reqlist);
+ }
+
+ vector<py::object> ret;
+
+ for (Request *req : v) {
+ py::object o = py::cast(req);
+ /* decrease the ref increased in Camera::queueRequest() */
+ o.dec_ref();
+ ret.push_back(o);
+ }
+
+ return ret;
+ })
+
+ .def("get", py::overload_cast<const string &>(&CameraManager::get), py::keep_alive<0, 1>())
+
+ .def("find", [](CameraManager &self, string str) {
+ std::transform(str.begin(), str.end(), str.begin(), ::tolower);
+
+ for (auto c : self.cameras()) {
+ string id = c->id();
+
+ std::transform(id.begin(), id.end(), id.begin(), ::tolower);
+
+ if (id.find(str) != string::npos)
+ return c;
+ }
+
+ return shared_ptr<Camera>();
+ }, py::keep_alive<0, 1>())
+
+ /* Create a list of Cameras, where each camera has a keep-alive to CameraManager */
+ .def_property_readonly("cameras", [](CameraManager &self) {
+ py::list l;
+
+ for (auto &c : self.cameras()) {
+ py::object py_cm = py::cast(self);
+ py::object py_cam = py::cast(c);
+ py::detail::keep_alive_impl(py_cam, py_cm);
+ l.append(py_cam);
+ }
+
+ return l;
+ });
+
+ pyCamera
+ .def_property_readonly("id", &Camera::id)
+ .def("acquire", &Camera::acquire)
+ .def("release", &Camera::release)
+ .def("start", [](Camera &self) {
+ self.requestCompleted.connect(handleRequestCompleted);
+
+ int ret = self.start();
+ if (ret)
+ self.requestCompleted.disconnect(handleRequestCompleted);
+
+ return ret;
+ })
+
+ .def("stop", [](Camera &self) {
+ int ret = self.stop();
+ if (!ret)
+ self.requestCompleted.disconnect(handleRequestCompleted);
+
+ return ret;
+ })
+
+ .def("__repr__", [](Camera &self) {
+ return "<libcamera.Camera '" + self.id() + "'>";
+ })
+
+ /* Keep the camera alive, as StreamConfiguration contains a Stream* */
+ .def("generateConfiguration", &Camera::generateConfiguration, py::keep_alive<0, 1>())
+ .def("configure", &Camera::configure)
+
+ .def("createRequest", &Camera::createRequest, py::arg("cookie") = 0)
+
+ .def("queueRequest", [](Camera &self, Request *req) {
+ py::object py_req = py::cast(req);
+
+ py_req.inc_ref();
+
+ int ret = self.queueRequest(req);
+ if (ret)
+ py_req.dec_ref();
+
+ return ret;
+ })
+
+ .def_property_readonly("streams", [](Camera &self) {
+ py::set set;
+ for (auto &s : self.streams()) {
+ py::object py_self = py::cast(self);
+ py::object py_s = py::cast(s);
+ py::detail::keep_alive_impl(py_s, py_self);
+ set.add(py_s);
+ }
+ return set;
+ })
+
+ .def("find_control", [](Camera &self, const string &name) {
+ const auto &controls = self.controls();
+
+ auto it = find_if(controls.begin(), controls.end(),
+ [&name](const auto &kvp) { return kvp.first->name() == name; });
+
+ if (it == controls.end())
+ throw runtime_error("Control not found");
+
+ return it->first;
+ }, py::return_value_policy::reference_internal)
+
+ .def_property_readonly("controls", [](Camera &self) {
+ py::dict ret;
+
+ for (const auto &[id, ci] : self.controls()) {
+ ret[id->name().c_str()] = make_tuple<py::object>(ControlValueToPy(ci.min()),
+ ControlValueToPy(ci.max()),
+ ControlValueToPy(ci.def()));
+ }
+
+ return ret;
+ })
+
+ .def_property_readonly("properties", [](Camera &self) {
+ py::dict ret;
+
+ for (const auto &[key, cv] : self.properties()) {
+ const ControlId *id = properties::properties.at(key);
+ py::object ob = ControlValueToPy(cv);
+
+ ret[id->name().c_str()] = ob;
+ }
+
+ return ret;
+ });
+
+ pyCameraConfiguration
+ .def("__iter__", [](CameraConfiguration &self) {
+ return py::make_iterator<py::return_value_policy::reference_internal>(self);
+ }, py::keep_alive<0, 1>())
+ .def("__len__", [](CameraConfiguration &self) {
+ return self.size();
+ })
+ .def("validate", &CameraConfiguration::validate)
+ .def("at", py::overload_cast<unsigned int>(&CameraConfiguration::at), py::return_value_policy::reference_internal)
+ .def_property_readonly("size", &CameraConfiguration::size)
+ .def_property_readonly("empty", &CameraConfiguration::empty);
+
+ pyStreamConfiguration
+ .def("toString", &StreamConfiguration::toString)
+ .def_property_readonly("stream", &StreamConfiguration::stream, py::return_value_policy::reference_internal)
+ .def_property(
+ "size",
+ [](StreamConfiguration &self) { return make_tuple(self.size.width, self.size.height); },
+ [](StreamConfiguration &self, tuple<uint32_t, uint32_t> size) { self.size.width = get<0>(size); self.size.height = get<1>(size); })
+ .def_property(
+ "pixelFormat",
+ [](StreamConfiguration &self) { return self.pixelFormat.toString(); },
+ [](StreamConfiguration &self, string fmt) { self.pixelFormat = PixelFormat::fromString(fmt); })
+ .def_readwrite("stride", &StreamConfiguration::stride)
+ .def_readwrite("frameSize", &StreamConfiguration::frameSize)
+ .def_readwrite("bufferCount", &StreamConfiguration::bufferCount)
+ .def_property_readonly("formats", &StreamConfiguration::formats, py::return_value_policy::reference_internal);
+
+ pyStreamFormats
+ .def_property_readonly("pixelFormats", [](StreamFormats &self) {
+ vector<string> fmts;
+ for (auto &fmt : self.pixelformats())
+ fmts.push_back(fmt.toString());
+ return fmts;
+ })
+ .def("sizes", [](StreamFormats &self, const string &pixelFormat) {
+ auto fmt = PixelFormat::fromString(pixelFormat);
+ vector<tuple<uint32_t, uint32_t>> fmts;
+ for (const auto &s : self.sizes(fmt))
+ fmts.push_back(make_tuple(s.width, s.height));
+ return fmts;
+ })
+ .def("range", [](StreamFormats &self, const string &pixelFormat) {
+ auto fmt = PixelFormat::fromString(pixelFormat);
+ const auto &range = self.range(fmt);
+ return make_tuple(make_tuple(range.hStep, range.vStep),
+ make_tuple(range.min.width, range.min.height),
+ make_tuple(range.max.width, range.max.height));
+ });
+
+ pyFrameBufferAllocator
+ .def(py::init<shared_ptr<Camera>>(), py::keep_alive<1, 2>())
+ .def("allocate", &FrameBufferAllocator::allocate)
+ .def_property_readonly("allocated", &FrameBufferAllocator::allocated)
+ /* Create a list of FrameBuffers, where each FrameBuffer has a keep-alive to FrameBufferAllocator */
+ .def("buffers", [](FrameBufferAllocator &self, Stream *stream) {
+ py::object py_self = py::cast(self);
+ py::list l;
+ for (auto &ub : self.buffers(stream)) {
+ py::object py_buf = py::cast(ub.get(), py::return_value_policy::reference_internal, py_self);
+ l.append(py_buf);
+ }
+ return l;
+ });
+
+ pyFrameBuffer
+ /* TODO: implement FrameBuffer::Plane properly */
+ .def(py::init([](vector<tuple<int, unsigned int>> planes, unsigned int cookie) {
+ vector<FrameBuffer::Plane> v;
+ for (const auto &t : planes)
+ v.push_back({ SharedFD(get<0>(t)), FrameBuffer::Plane::kInvalidOffset, get<1>(t) });
+ return new FrameBuffer(v, cookie);
+ }))
+ .def_property_readonly("metadata", &FrameBuffer::metadata, py::return_value_policy::reference_internal)
+ .def("length", [](FrameBuffer &self, uint32_t idx) {
+ const FrameBuffer::Plane &plane = self.planes()[idx];
+ return plane.length;
+ })
+ .def("fd", [](FrameBuffer &self, uint32_t idx) {
+ const FrameBuffer::Plane &plane = self.planes()[idx];
+ return plane.fd.get();
+ })
+ .def_property("cookie", &FrameBuffer::cookie, &FrameBuffer::setCookie);
+
+ pyStream
+ .def_property_readonly("configuration", &Stream::configuration);
+
+ pyControlId
+ .def_property_readonly("id", &ControlId::id)
+ .def_property_readonly("name", &ControlId::name)
+ .def_property_readonly("type", &ControlId::type);
+
+ pyRequest
+ /* Fence is not supported, so we cannot expose addBuffer() directly */
+ .def("addBuffer", [](Request &self, const Stream *stream, FrameBuffer *buffer) {
+ return self.addBuffer(stream, buffer);
+ }, py::keep_alive<1, 3>()) /* Request keeps Framebuffer alive */
+ .def_property_readonly("status", &Request::status)
+ .def_property_readonly("buffers", &Request::buffers)
+ .def_property_readonly("cookie", &Request::cookie)
+ .def_property_readonly("hasPendingBuffers", &Request::hasPendingBuffers)
+ .def("set_control", [](Request &self, ControlId &id, py::object value) {
+ self.controls().set(id.id(), PyToControlValue(value, id.type()));
+ })
+ .def_property_readonly("metadata", [](Request &self) {
+ py::dict ret;
+
+ for (const auto &[key, cv] : self.metadata()) {
+ const ControlId *id = controls::controls.at(key);
+ py::object ob = ControlValueToPy(cv);
+
+ ret[id->name().c_str()] = ob;
+ }
+
+ return ret;
+ })
+ /* As we add a keep_alive to the fb in addBuffers(), we can only allow reuse with ReuseBuffers. */
+ .def("reuse", [](Request &self) { self.reuse(Request::ReuseFlag::ReuseBuffers); });
+
+ pyFrameMetadata
+ .def_readonly("status", &FrameMetadata::status)
+ .def_readonly("sequence", &FrameMetadata::sequence)
+ .def_readonly("timestamp", &FrameMetadata::timestamp)
+ /* temporary helper, to be removed */
+ .def_property_readonly("bytesused", [](FrameMetadata &self) {
+ vector<unsigned int> v;
+ v.resize(self.planes().size());
+ transform(self.planes().begin(), self.planes().end(), v.begin(), [](const auto &p) { return p.bytesused; });
+ return v;
+ });
+}
new file mode 100644
@@ -0,0 +1 @@
+subdir('libcamera')
@@ -1,3 +1,4 @@
/googletest-release*
/libyuv
-/packagecache
\ No newline at end of file
+/packagecache
+/pybind11*/
new file mode 100644
@@ -0,0 +1,6 @@
+[wrap-git]
+url = https://github.com/tomba/pybind11.git
+revision = smart_holder
+
+[provide]
+pybind11 = pybind11_dep
Add libcamera Python bindings. pybind11 is used to generate the C++ <-> Python layer. We use pybind11 'smart_holder' version to avoid issues with private destructors and shared_ptr. There is also an alternative solution here: https://github.com/pybind/pybind11/pull/2067 Only a subset of libcamera classes are exposed. Implementing and testing the wrapper classes is challenging, and as such only classes that I have needed have been added so far. Signed-off-by: Tomi Valkeinen <tomi.valkeinen@ideasonboard.com> --- meson.build | 1 + meson_options.txt | 5 + src/meson.build | 1 + src/py/libcamera/__init__.py | 12 + src/py/libcamera/meson.build | 43 ++++ src/py/libcamera/pyenums.cpp | 53 ++++ src/py/libcamera/pymain.cpp | 452 +++++++++++++++++++++++++++++++++++ src/py/meson.build | 1 + subprojects/.gitignore | 3 +- subprojects/pybind11.wrap | 6 + 10 files changed, 576 insertions(+), 1 deletion(-) create mode 100644 src/py/libcamera/__init__.py create mode 100644 src/py/libcamera/meson.build create mode 100644 src/py/libcamera/pyenums.cpp create mode 100644 src/py/libcamera/pymain.cpp create mode 100644 src/py/meson.build create mode 100644 subprojects/pybind11.wrap