Add python wrapper
This commit is contained in:
John Zhao
parent
2ff0ed504d
commit
072fe4d397
19
Makefile
19
Makefile
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@ -27,6 +27,7 @@ help:
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@echo " make samples build samples"
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@echo " make tools build tools"
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@echo " make ros build ros wrapper"
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@echo " make py build python wrapper"
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@echo " make clean|cleanall clean generated or useless things"
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.PHONY: help
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@ -158,6 +159,23 @@ cleanros:
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.PHONY: cleanros
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# python
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py: python
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python: install
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@$(call echo,Make $@)
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@$(call cmake_build,./wrappers/python/_build)
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.PHONY: py python
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cleanpy:
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@$(call echo,Make $@)
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@$(call rm,./wrappers/python/_build/)
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@$(call rm,./wrappers/python/_output/)
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.PHONY: cleanpy
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# clean
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clean:
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@ -175,6 +193,7 @@ clean:
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ifeq ($(HOST_OS),Linux)
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@$(MAKE) cleanros
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endif
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@$(MAKE) cleanpy
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cleanlog:
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@$(call rm_f,*INFO*)
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@ -1,3 +1,4 @@
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# Wrappers for MYNT® EYE SDK
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* [MYNT® EYE ROS Wrapper](https://github.com/slightech/MYNT-EYE-SDK-2/tree/master/wrappers/ros)
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* [MYNT® EYE Python Wrapper](https://github.com/slightech/MYNT-EYE-SDK-2/tree/master/wrappers/python)
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148
wrappers/python/CMakeLists.txt
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148
wrappers/python/CMakeLists.txt
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@ -0,0 +1,148 @@
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# Copyright 2018 Slightech Co., Ltd. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 3.0)
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project(mynteye_python VERSION 2.0.0 LANGUAGES C CXX)
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get_filename_component(PRO_DIR "${PROJECT_SOURCE_DIR}/../.." ABSOLUTE)
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include(${PRO_DIR}/cmake/Common.cmake)
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# configs
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#set(BOOST_ROOT)
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#set(BOOST_FIND_VERSION 1.67)
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# Boost Python 2.7
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set(PYTHON_FIND_VERSION 2.7)
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set(PYTHON_BOOST_SUFFIX 27)
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set(PYTHON_BOOST_CODE)
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# Boost Python 3.6
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#set(PYTHON_FIND_VERSION 3.6)
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#set(PYTHON_BOOST_SUFFIX 36)
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#set(PYTHON_BOOST_CODE 3)
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if(OS_MAC)
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execute_process(
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COMMAND brew --prefix python@2
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OUTPUT_VARIABLE PYTHON_INSTALL_PREFIX
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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if(PYTHON_INSTALL_PREFIX)
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message(STATUS "PYTHON_INSTALL_PREFIX: ${PYTHON_INSTALL_PREFIX}")
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set(PYTHON_INCLUDE_DIR "${PYTHON_INSTALL_PREFIX}/Frameworks/Python.framework/Headers")
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set(PYTHON_LIBRARY "${PYTHON_INSTALL_PREFIX}/Frameworks/Python.framework/Python")
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endif()
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endif()
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# options
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include(${PRO_DIR}/cmake/Option.cmake)
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if(NOT WITH_API)
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message(FATAL_ERROR "Must with API layer :(")
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endif()
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# flags
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if(OS_WIN)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
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else()
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
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endif()
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include(${PRO_DIR}/cmake/DetectCXX11.cmake)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=native")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
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string(STRIP "${CMAKE_C_FLAGS}" CMAKE_C_FLAGS)
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string(STRIP "${CMAKE_CXX_FLAGS}" CMAKE_CXX_FLAGS)
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message(STATUS "C_FLAGS: ${CMAKE_C_FLAGS}")
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message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
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# packages
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LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/third_party/glog/_build)
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find_package(glog REQUIRED)
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message(STATUS "Found glog: ${glog_VERSION}")
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LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
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find_package(mynteye REQUIRED)
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message(STATUS "Found mynteye: ${mynteye_VERSION}")
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if(CMAKE_VERSION VERSION_LESS "3.10" OR CMAKE_VERSION VERSION_EQUAL "3.10")
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find_package(Boost ${BOOST_FIND_VERSION} REQUIRED
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COMPONENTS python${PYTHON_BOOST_CODE}
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)
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else()
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find_package(Boost ${BOOST_FIND_VERSION} REQUIRED COMPONENTS
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python${PYTHON_BOOST_SUFFIX}
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)
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endif()
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message(STATUS "Found Boost: ${Boost_VERSION}")
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message(STATUS " Boost_INCLUDE_DIRS: ${Boost_INCLUDE_DIRS}")
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message(STATUS " Boost_LIBRARIES: ${Boost_LIBRARIES}")
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find_package(PythonLibs ${PYTHON_FIND_VERSION} REQUIRED)
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message(STATUS "Found PythonLibs: ${PYTHONLIBS_VERSION_STRING}")
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message(STATUS " PYTHON_INCLUDE_DIRS: ${PYTHON_INCLUDE_DIRS}")
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message(STATUS " PYTHON_LIBRARIES: ${PYTHON_LIBRARIES}")
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#LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
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# targets
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set(OUT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/_output")
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set_outdir(
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"${OUT_DIR}/lib"
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"${OUT_DIR}/lib"
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"${OUT_DIR}/bin"
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)
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if(OS_WIN)
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add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
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endif()
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# add_library_py(NAME
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# [SRCS src1 src2 ...]
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# [LINK_LIBS lib1 lib2 ...])
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macro(add_library_py NAME)
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set(options)
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set(oneValueArgs)
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set(multiValueArgs SRCS LINK_LIBS)
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cmake_parse_arguments(THIS "${options}" "${oneValueArgs}"
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"${multiValueArgs}" ${ARGN})
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add_library(${NAME} SHARED ${THIS_SRCS})
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target_link_libraries(${NAME}
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${THIS_LINK_LIBS} ${Boost_LIBRARIES} ${PYTHON_LIBRARIES}
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)
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target_include_directories(${NAME} PUBLIC
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${Boost_INCLUDE_DIRS}
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${PYTHON_INCLUDE_DIR}
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)
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set_target_properties(${NAME} PROPERTIES PREFIX "")
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if(OS_MAC)
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set_target_properties(${NAME} PROPERTIES SUFFIX ".so")
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endif()
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endmacro()
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## mynteye_py
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add_library_py(mynteye_py SRCS src/mynteye_py.cc LINK_LIBS mynteye)
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18
wrappers/python/README.md
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18
wrappers/python/README.md
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@ -0,0 +1,18 @@
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# MYNT® EYE Python Wrapper
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## Prerequisites
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* [Boost.Python](https://www.boost.org/doc/libs/1_67_0/libs/python/doc/html/index.html)
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## Build
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```bash
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cd <sdk>
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make python
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```
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## Run
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```bash
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python
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```
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5
wrappers/python/src/mynteye_py.cc
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5
wrappers/python/src/mynteye_py.cc
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#include <boost/python.hpp>
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using namespace boost::python; // NOLINT
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BOOST_PYTHON_MODULE(mynteye_py) {}
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