text: // Copyright 2018 Slightech Co., Ltd. All rights reserved.
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  #include <vector>
  
  // #include <boost/python.hpp>
  #include <boost/python/class.hpp>
  #include <boost/python/enum.hpp>
  #include <boost/python/list.hpp>
  #include <boost/python/module.hpp>
  #include <boost/python/operators.hpp>
  #include <boost/python/stl_iterator.hpp>
  #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
  
  #include <opencv2/core/core.hpp>
  
  #include "mynteye/logger.h"
  #include "mynteye/api/api.h"
  #include "mynteye/device/utils.h"
  
  #include "array_indexing_suite.hpp"
  #include "array_ref.hpp"
  
  // #define PY_ARRAY_UNIQUE_SYMBOL pbcvt_ARRAY_API
  // #include "pyboostcvconverter/pyboostcvconverter.hpp"
  #include "np_opencv_converter.hpp"
  
  #define ENUM_EXPORT_VALUES
  
  namespace bp = boost::python;
  
  namespace {
  
  template <typename T>
  inline void std_vector_assign(
      std::vector<T> &l, const bp::object &o) {  // NOLINT
    l.assign(bp::stl_input_iterator<T>(o), bp::stl_input_iterator<T>());
  }
  
  template <typename T>
  inline std::vector<T> py_list_to_std_vector(const bp::object &o) {
    return std::vector<T>(
        bp::stl_input_iterator<T>(o), bp::stl_input_iterator<T>());
  }
  
  template <typename T>
  inline bp::list std_vector_to_py_list(const std::vector<T> &v) {
    bp::list l;
    for (auto &&val : v) {
      l.append(val);
    }
    return l;
  }
  
  template <typename Container>
  char **new_cstrings(const Container &strings, std::size_t n) {
    char **cstrings = new char *[n];
    for (std::size_t i = 0; i < n; i++) {
      cstrings[i] = new char[strings[i].size() + 1];
      std::strcpy(cstrings[i], strings[i].c_str());  // NOLINT
    }
    return cstrings;
  }
  
  void del_cstrings(char **cstrings, std::size_t n) {
    for (std::size_t i = 0; i < n; i++) {
      delete[] cstrings[i];
    }
    delete[] cstrings;
  }
  
  }  // namespace
  
  MYNTEYE_BEGIN_NAMESPACE
  
  namespace python {
  
  // api wrapper
  
  struct MYNTEYE_API StreamData {
    /** ImgData. */
    ImgData img;
    /** Frame. */
    PyObject *frame;
  
    bool operator==(const StreamData &other) const {
      return img.frame_id == other.img.frame_id &&
             img.timestamp == other.img.timestamp;
    }
  };
  
  struct MYNTEYE_API MotionData {
    /** ImuData. */
    ImuData imu;
  
    bool operator==(const MotionData &other) const {
      return imu.frame_id == other.imu.frame_id &&
             imu.timestamp == other.imu.timestamp;
    }
  };
  
  class MYNTEYE_API APIWrap : public API {
   public:
    explicit APIWrap(std::shared_ptr<Device> device) : API(device) {}
    ~APIWrap() {}
  
    static std::shared_ptr<APIWrap> Create() {
      auto &&device = device::select();
      if (!device)
        return nullptr;
      return std::make_shared<APIWrap>(device);
    }
  
    static std::shared_ptr<APIWrap> Create(int argc, char *argv[]) {
      static glog_init _(argc, argv);
      auto &&device = device::select();
      if (!device)
        return nullptr;
      return std::make_shared<APIWrap>(device);
    }
  
    python::StreamData GetStreamData(const Stream &stream) {
      auto &&data = API::GetStreamData(stream);
      // return {*data.img, pbcvt::fromMatToNDArray(data.frame)};
      return {*data.img,
              fs::python::Mat_to_PyObject<cv::Mat>::convert(data.frame)};
    }
  
    std::vector<python::StreamData> GetStreamDatas(const Stream &stream) {
      std::vector<python::StreamData> datas;
      for (auto &&data : API::GetStreamDatas(stream)) {
        // datas.push_back({*data.img, pbcvt::fromMatToNDArray(data.frame)});
        datas.push_back(
            {*data.img,
             fs::python::Mat_to_PyObject<cv::Mat>::convert(data.frame)});
      }
      return datas;
    }
  
    std::vector<python::MotionData> GetMotionDatas() {
      std::vector<python::MotionData> datas;
      for (auto &&data : API::GetMotionDatas()) {
        datas.push_back({*data.imu});
      }
      return datas;
    }
  };
  
  // api create static methods
  
  std::shared_ptr<APIWrap> (*api_create_1)() = &APIWrap::Create;
  
  std::shared_ptr<APIWrap> api_create_2(bp::list argv) {
    auto &&args = py_list_to_std_vector<std::string>(argv);
    auto &&n = args.size();
    if (n == 0) {
      return APIWrap::Create();
    }
    char **cstrings = new_cstrings(args, n);
    auto &&api = APIWrap::Create(args.size(), cstrings);
    del_cstrings(cstrings, n);
    return api;
  }
  
  // glog_init create static methods
  
  std::shared_ptr<glog_init> glog_init_create(bp::list argv) {
    auto &&args = py_list_to_std_vector<std::string>(argv);
    auto &&n = args.size();
    assert(n > 0);
    char **cstrings = new_cstrings(args, n);
    auto &&ret = std::make_shared<glog_init>(args.size(), cstrings);
    del_cstrings(cstrings, n);
    return ret;
  }
  
  // BOOST_PYTHON_MODULE
  
  BOOST_PYTHON_MODULE(mynteye_py) {
    /*
    Py_Initialize();
    import_array();
    bp::to_python_converter<cv::Mat, pbcvt::matToNDArrayBoostConverter>();
    pbcvt::matFromNDArrayBoostConverter();
    */
    fs::python::init_and_export_converters();
    py::scope scope = py::scope();
  
    bp::class_<array_ref<double>>("DoubleArray")
        .def(array_indexing_suite<array_ref<double>>());
  
    bp::class_<array_ref<array_ref<double>>>("Double2DArray")
        .def(array_indexing_suite<array_ref<array_ref<double>>>{});
  
    // types.h - enums
  
    bp::enum_<Model>("Model")
        .value("STANDARD", Model::STANDARD)
  #ifdef ENUM_EXPORT_VALUES
        .export_values()
  #endif
        ;  // NOLINT
  
    bp::enum_<Stream>("Stream")
        .value("LEFT", Stream::LEFT)
        .value("RIGHT", Stream::RIGHT)
        .value("LEFT_RECTIFIED", Stream::LEFT_RECTIFIED)
        .value("RIGHT_RECTIFIED", Stream::RIGHT_RECTIFIED)
        .value("DISPARITY", Stream::DISPARITY)
        .value("DISPARITY_NORMALIZED", Stream::DISPARITY_NORMALIZED)
        .value("DEPTH", Stream::DEPTH)
        .value("POINTS", Stream::POINTS)
  #ifdef ENUM_EXPORT_VALUES
        .export_values()
  #endif
        ;  // NOLINT
  
    bp::enum_<Capabilities>("Capabilities")
        .value("STEREO", Capabilities::STEREO)
        .value("COLOR", Capabilities::COLOR)
        .value("DEPTH", Capabilities::DEPTH)
        .value("POINTS", Capabilities::POINTS)
        .value("FISHEYE", Capabilities::FISHEYE)
        .value("INFRARED", Capabilities::INFRARED)
        .value("INFRARED2", Capabilities::INFRARED2)
        .value("IMU", Capabilities::IMU)
  #ifdef ENUM_EXPORT_VALUES
        .export_values()
  #endif
        ;  // NOLINT
  
    bp::enum_<Info>("Info")
        .value("DEVICE_NAME", Info::DEVICE_NAME)
        .value("SERIAL_NUMBER", Info::SERIAL_NUMBER)
        .value("FIRMWARE_VERSION", Info::FIRMWARE_VERSION)
        .value("HARDWARE_VERSION", Info::HARDWARE_VERSION)
        .value("SPEC_VERSION", Info::SPEC_VERSION)
        .value("LENS_TYPE", Info::LENS_TYPE)
        .value("IMU_TYPE", Info::IMU_TYPE)
        .value("NOMINAL_BASELINE", Info::NOMINAL_BASELINE)
  #ifdef ENUM_EXPORT_VALUES
        .export_values()
  #endif
        ;  // NOLINT
  
    bp::enum_<Option>("Option")
        .value("GAIN", Option::GAIN)
        .value("BRIGHTNESS", Option::BRIGHTNESS)
        .value("CONTRAST", Option::CONTRAST)
        .value("FRAME_RATE", Option::FRAME_RATE)
        .value("IMU_FREQUENCY", Option::IMU_FREQUENCY)
        .value("EXPOSURE_MODE", Option::EXPOSURE_MODE)
        .value("MAX_GAIN", Option::MAX_GAIN)
        .value("MAX_EXPOSURE_TIME", Option::MAX_EXPOSURE_TIME)
        .value("DESIRED_BRIGHTNESS", Option::DESIRED_BRIGHTNESS)
        .value("IR_CONTROL", Option::IR_CONTROL)
        .value("HDR_MODE", Option::HDR_MODE)
        .value("ZERO_DRIFT_CALIBRATION", Option::ZERO_DRIFT_CALIBRATION)
        .value("ERASE_CHIP", Option::ERASE_CHIP)
  #ifdef ENUM_EXPORT_VALUES
        .export_values()
  #endif
        ;  // NOLINT
  
    bp::enum_<Source>("Source")
        .value("VIDEO_STREAMING", Source::VIDEO_STREAMING)
        .value("MOTION_TRACKING", Source::MOTION_TRACKING)
        .value("ALL", Source::ALL)
  #ifdef ENUM_EXPORT_VALUES
        .export_values()
  #endif
        ;  // NOLINT
  
    bp::enum_<AddOns>("AddOns")
        .value("INFRARED", AddOns::INFRARED)
        .value("INFRARED2", AddOns::INFRARED2)
  #ifdef ENUM_EXPORT_VALUES
        .export_values()
  #endif
        ;  // NOLINT
  
    bp::enum_<Format>("Format")
        .value("GREY", Format::GREY)
        .value("YUYV", Format::YUYV)
  #ifdef ENUM_EXPORT_VALUES
        .export_values()
  #endif
        ;  // NOLINT
  
    // types.h - types
  
    bp::class_<StreamRequest>("StreamRequest")
        .def_readonly("width", &StreamRequest::width)
        .def_readonly("height", &StreamRequest::height)
        .def_readonly("format", &StreamRequest::format)
        .def_readonly("fps", &StreamRequest::fps)
        .def(bp::self == bp::self)
        .def(bp::self != bp::self)
        .def(bp::self_ns::str(bp::self));
  
    bp::class_<std::vector<StreamRequest>>("StreamRequestVec")
        .def(bp::vector_indexing_suite<std::vector<StreamRequest>>());
  
    bp::class_<Intrinsics>("Intrinsics")
        .def_readonly("width", &Intrinsics::width)
        .def_readonly("height", &Intrinsics::height)
        .def_readonly("fx", &Intrinsics::fx)
        .def_readonly("fy", &Intrinsics::fy)
        .def_readonly("cx", &Intrinsics::cx)
        .def_readonly("cy", &Intrinsics::cy)
        .def_readonly("model", &Intrinsics::model)
        .add_property(
            "coeffs", +[](Intrinsics *o) { return array_ref<double>{o->coeffs}; })
        .def(bp::self_ns::str(bp::self));
  
    bp::class_<ImuIntrinsics>("ImuIntrinsics")
        .add_property(
            "scale",
            +[](ImuIntrinsics *o) {
              return array_ref<array_ref<double>>{o->scale};
            })
        .add_property(
            "drift",
            +[](ImuIntrinsics *o) { return array_ref<double>{o->drift}; })
        .add_property(
            "noise",
            +[](ImuIntrinsics *o) { return array_ref<double>{o->noise}; })
        .add_property(
            "bias", +[](ImuIntrinsics *o) { return array_ref<double>{o->bias}; })
        .def(bp::self_ns::str(bp::self));
  
    bp::class_<MotionIntrinsics>("MotionIntrinsics")
        .def_readonly("accel", &MotionIntrinsics::accel)
        .def_readonly("gyro", &MotionIntrinsics::gyro)
        .def(bp::self_ns::str(bp::self));
  
    bp::class_<Extrinsics>("Extrinsics")
        .add_property(
            "rotation",
            +[](Extrinsics *o) {
              return array_ref<array_ref<double>>{o->rotation};
            })
        .add_property(
            "translation",
            +[](Extrinsics *o) { return array_ref<double>{o->translation}; })
        .def("inverse", &Extrinsics::Inverse)
        .def(bp::self_ns::str(bp::self));
  
    bp::class_<ImgData>("ImgData")
        .def_readonly("frame_id", &ImgData::frame_id)
        .def_readonly("timestamp", &ImgData::timestamp)
        .def_readonly("exposure_time", &ImgData::exposure_time);
  
    // bp::register_ptr_to_python<std::shared_ptr<ImgData>>();
  
    bp::class_<ImuData>("ImuData")
        .def_readonly("frame_id", &ImuData::frame_id)
        .def_readonly("timestamp", &ImuData::timestamp)
        .add_property(
            "accel", +[](ImuData *o) { return array_ref<double>{o->accel}; })
        .add_property(
            "gyro", +[](ImuData *o) { return array_ref<double>{o->gyro}; })
        .def_readonly("temperature", &ImuData::temperature);
  
    // bp::register_ptr_to_python<std::shared_ptr<ImuData>>();
  
    bp::class_<OptionInfo>("OptionInfo")
        .def_readonly("min", &OptionInfo::min)
        .def_readonly("max", &OptionInfo::max)
        .def_readonly("def", &OptionInfo::def)
        .def(bp::self_ns::str(bp::self));
  
    // api.h - API
  
    bp::class_<python::StreamData>("StreamData")
        .def_readonly("img", &python::StreamData::img)
        .def_readonly("frame", &python::StreamData::frame);
  
    bp::class_<std::vector<python::StreamData>>("StreamDataVec")
        .def(bp::vector_indexing_suite<std::vector<python::StreamData>>());
  
    bp::class_<python::MotionData>("MotionData")
        .def_readonly("imu", &python::MotionData::imu);
  
    bp::class_<std::vector<python::MotionData>>("MotionDataVec")
        .def(bp::vector_indexing_suite<std::vector<python::MotionData>>());
  
    bool (APIWrap::*supports_stream)(const Stream &) const = &APIWrap::Supports;
    bool (APIWrap::*supports_capabilities)(const Capabilities &) const =
        &APIWrap::Supports;
    bool (APIWrap::*supports_option)(const Option &) const = &APIWrap::Supports;
    bool (APIWrap::*supports_addons)(const AddOns &) const = &APIWrap::Supports;
  
    python::StreamData (APIWrap::*get_stream_data)(const Stream &) =
        &APIWrap::GetStreamData;
    std::vector<python::StreamData> (APIWrap::*get_stream_datas)(const Stream &) =
        &APIWrap::GetStreamDatas;
    std::vector<python::MotionData> (APIWrap::*get_motion_datas)() =
        &APIWrap::GetMotionDatas;
  
    bp::class_<APIWrap, boost::noncopyable>("API", bp::no_init)
        .def("create", api_create_1)
        .def("create", &api_create_2)
        .staticmethod("create")
        .add_property("model", &APIWrap::GetModel)
        .def("supports", supports_stream)
        .def("supports", supports_capabilities)
        .def("supports", supports_option)
        .def("supports", supports_addons)
        .def(
            "get_stream_requests", &APIWrap::GetStreamRequests,
            bp::return_value_policy<bp::reference_existing_object>())
        .def("config_stream_request", &APIWrap::ConfigStreamRequest)
        .def("get_info", &APIWrap::GetInfo)
        .def("get_intrinsics", &APIWrap::GetIntrinsics)
        .def("get_extrinsics", &APIWrap::GetExtrinsics)
        .def("get_motion_intrinsics", &APIWrap::GetMotionIntrinsics)
        .def("get_motion_extrinsics", &APIWrap::GetMotionExtrinsics)
        .def("log_option_infos", &APIWrap::LogOptionInfos)
        .def("get_option_info", &APIWrap::GetOptionInfo)
        .def("get_option_value", &APIWrap::GetOptionValue)
        .def("set_option_value", &APIWrap::SetOptionValue)
        .def("run_option_action", &APIWrap::RunOptionAction)
        // .def("set_stream_callback", &APIWrap::SetStreamCallback)
        // .def("set_motion_callback", &APIWrap::SetMotionCallback)
        // .def("has_stream_callback", &APIWrap::HasStreamCallback)
        // .def("has_motion_callback", &APIWrap::HasMotionCallback)
        .def("start", &APIWrap::Start)
        .def("stop", &APIWrap::Stop)
        .def("wait_for_streams", &APIWrap::WaitForStreams)
        .def("enable_stream_data", &APIWrap::EnableStreamData)
        .def("disable_stream_data", &APIWrap::DisableStreamData)
        .def("get_stream_data", get_stream_data)
        .def("get_stream_datas", get_stream_datas)
        .def(
            "enable_motion_datas", &APIWrap::EnableMotionDatas,
            (bp::arg("max_size") = std::numeric_limits<std::size_t>::max()))
        .def("get_motion_datas", get_motion_datas)
        .def("enable_plugin", &APIWrap::EnablePlugin);
  
    bp::register_ptr_to_python<std::shared_ptr<APIWrap>>();
  
    // logger.h - glog_init
  
    bp::class_<glog_init, boost::noncopyable>("glog_init", bp::no_init)
        .def("create", &glog_init_create)
        .staticmethod("create");
  
    bp::register_ptr_to_python<std::shared_ptr<glog_init>>();
  }
  
  }  // namespace python
  
  MYNTEYE_END_NAMESPACE
  