Add python wrapper

Makefile

@@ -27,6 +27,7 @@ help:
 	@echo "  make samples         build samples"
 	@echo "  make tools           build tools"
 	@echo "  make ros             build ros wrapper"
+	@echo "  make py              build python wrapper"
 	@echo "  make clean|cleanall  clean generated or useless things"
 
 .PHONY: help
@@ -158,6 +159,23 @@ cleanros:
 
 .PHONY: cleanros
 
+# python
+
+py: python
+
+python: install
+	@$(call echo,Make $@)
+	@$(call cmake_build,./wrappers/python/_build)
+
+.PHONY: py python
+
+cleanpy:
+	@$(call echo,Make $@)
+	@$(call rm,./wrappers/python/_build/)
+	@$(call rm,./wrappers/python/_output/)
+
+.PHONY: cleanpy
+
 # clean
 
 clean:
@@ -175,6 +193,7 @@ clean:
 ifeq ($(HOST_OS),Linux)
 	@$(MAKE) cleanros
 endif
+	@$(MAKE) cleanpy
 
 cleanlog:
 	@$(call rm_f,*INFO*)

wrappers/README.md

@@ -1,3 +1,4 @@
 # Wrappers for MYNT® EYE SDK
 
 * [MYNT® EYE ROS Wrapper](https://github.com/slightech/MYNT-EYE-SDK-2/tree/master/wrappers/ros)
+* [MYNT® EYE Python Wrapper](https://github.com/slightech/MYNT-EYE-SDK-2/tree/master/wrappers/python)

wrappers/python/CMakeLists.txt

@@ -0,0 +1,148 @@
+# 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.
+
+cmake_minimum_required(VERSION 3.0)
+
+project(mynteye_python VERSION 2.0.0 LANGUAGES C CXX)
+
+get_filename_component(PRO_DIR "${PROJECT_SOURCE_DIR}/../.." ABSOLUTE)
+
+include(${PRO_DIR}/cmake/Common.cmake)
+
+# configs
+
+#set(BOOST_ROOT)
+#set(BOOST_FIND_VERSION 1.67)
+
+# Boost Python 2.7
+set(PYTHON_FIND_VERSION 2.7)
+set(PYTHON_BOOST_SUFFIX 27)
+set(PYTHON_BOOST_CODE)
+# Boost Python 3.6
+#set(PYTHON_FIND_VERSION 3.6)
+#set(PYTHON_BOOST_SUFFIX 36)
+#set(PYTHON_BOOST_CODE 3)
+
+if(OS_MAC)
+  execute_process(
+    COMMAND brew --prefix python@2
+    OUTPUT_VARIABLE PYTHON_INSTALL_PREFIX
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+  )
+  if(PYTHON_INSTALL_PREFIX)
+    message(STATUS "PYTHON_INSTALL_PREFIX: ${PYTHON_INSTALL_PREFIX}")
+    set(PYTHON_INCLUDE_DIR "${PYTHON_INSTALL_PREFIX}/Frameworks/Python.framework/Headers")
+    set(PYTHON_LIBRARY "${PYTHON_INSTALL_PREFIX}/Frameworks/Python.framework/Python")
+  endif()
+endif()
+
+# options
+
+include(${PRO_DIR}/cmake/Option.cmake)
+
+if(NOT WITH_API)
+  message(FATAL_ERROR "Must with API layer :(")
+endif()
+
+# flags
+
+if(OS_WIN)
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
+else()
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
+endif()
+
+include(${PRO_DIR}/cmake/DetectCXX11.cmake)
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=native")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
+
+string(STRIP "${CMAKE_C_FLAGS}" CMAKE_C_FLAGS)
+string(STRIP "${CMAKE_CXX_FLAGS}" CMAKE_CXX_FLAGS)
+message(STATUS "C_FLAGS: ${CMAKE_C_FLAGS}")
+message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
+
+# packages
+
+LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/third_party/glog/_build)
+find_package(glog REQUIRED)
+message(STATUS "Found glog: ${glog_VERSION}")
+
+LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
+find_package(mynteye REQUIRED)
+message(STATUS "Found mynteye: ${mynteye_VERSION}")
+
+if(CMAKE_VERSION VERSION_LESS "3.10" OR CMAKE_VERSION VERSION_EQUAL "3.10")
+  find_package(Boost ${BOOST_FIND_VERSION} REQUIRED
+    COMPONENTS python${PYTHON_BOOST_CODE}
+  )
+else()
+  find_package(Boost ${BOOST_FIND_VERSION} REQUIRED COMPONENTS
+    python${PYTHON_BOOST_SUFFIX}
+  )
+endif()
+message(STATUS "Found Boost: ${Boost_VERSION}")
+message(STATUS "  Boost_INCLUDE_DIRS: ${Boost_INCLUDE_DIRS}")
+message(STATUS "  Boost_LIBRARIES: ${Boost_LIBRARIES}")
+
+find_package(PythonLibs ${PYTHON_FIND_VERSION} REQUIRED)
+message(STATUS "Found PythonLibs: ${PYTHONLIBS_VERSION_STRING}")
+message(STATUS "  PYTHON_INCLUDE_DIRS: ${PYTHON_INCLUDE_DIRS}")
+message(STATUS "  PYTHON_LIBRARIES: ${PYTHON_LIBRARIES}")
+
+#LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
+
+# targets
+
+set(OUT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/_output")
+
+set_outdir(
+  "${OUT_DIR}/lib"
+  "${OUT_DIR}/lib"
+  "${OUT_DIR}/bin"
+)
+
+if(OS_WIN)
+  add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
+endif()
+
+# add_library_py(NAME
+#                [SRCS src1 src2 ...]
+#                [LINK_LIBS lib1 lib2 ...])
+macro(add_library_py NAME)
+  set(options)
+  set(oneValueArgs)
+  set(multiValueArgs SRCS LINK_LIBS)
+  cmake_parse_arguments(THIS "${options}" "${oneValueArgs}"
+                        "${multiValueArgs}" ${ARGN})
+
+  add_library(${NAME} SHARED ${THIS_SRCS})
+  target_link_libraries(${NAME}
+    ${THIS_LINK_LIBS} ${Boost_LIBRARIES} ${PYTHON_LIBRARIES}
+  )
+  target_include_directories(${NAME} PUBLIC
+    ${Boost_INCLUDE_DIRS}
+    ${PYTHON_INCLUDE_DIR}
+  )
+  set_target_properties(${NAME} PROPERTIES PREFIX "")
+  if(OS_MAC)
+    set_target_properties(${NAME} PROPERTIES SUFFIX ".so")
+  endif()
+endmacro()
+
+## mynteye_py
+
+add_library_py(mynteye_py SRCS src/mynteye_py.cc LINK_LIBS mynteye)

wrappers/python/README.md

@@ -0,0 +1,18 @@
+# MYNT® EYE Python Wrapper
+
+## Prerequisites
+
+* [Boost.Python](https://www.boost.org/doc/libs/1_67_0/libs/python/doc/html/index.html)
+
+## Build
+
+```bash
+cd <sdk>
+make python
+```
+
+## Run
+
+```bash
+python
+```

wrappers/python/src/mynteye_py.cc

@@ -0,0 +1,5 @@
+#include <boost/python.hpp>
+
+using namespace boost::python;  // NOLINT
+
+BOOST_PYTHON_MODULE(mynteye_py) {}