Metadata-Version: 2.2
Name: arducam-imx704
Version: 1.0.0
Summary: Python bindings for the Arducam IMX704 dToF camera library
Author: Arducam
License: 
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Classifier: Development Status :: 4 - Beta
Classifier: License :: OSI Approved :: Apache Software License
Classifier: Operating System :: POSIX :: Linux
Classifier: Programming Language :: C++
Classifier: Programming Language :: Python :: 3
Classifier: Programming Language :: Python :: 3.8
Classifier: Programming Language :: Python :: 3.9
Classifier: Programming Language :: Python :: 3.10
Classifier: Programming Language :: Python :: 3.11
Classifier: Programming Language :: Python :: 3.12
Classifier: Programming Language :: Python :: 3.13
Classifier: Programming Language :: Python :: 3.14
Classifier: Topic :: Multimedia :: Video :: Capture
Requires-Python: >=3.8
Requires-Dist: numpy<2; python_version < "3.13"
Requires-Dist: numpy>=2; python_version >= "3.13"
Description-Content-Type: text/markdown

# IMX704 Camera Library

[English](README.md) | [简体中文](README_CN.md)

This repository provides a C++17 processing and capture library for IMX704 dToF cameras with optional Python bindings.

The public C++ API uses the `arducam::depthsense` namespace. Live camera discovery and capture use the Linux media-controller and V4L2 interfaces. The current hardware pipeline implementation targets NVIDIA Jetson systems.

> [!IMPORTANT]
> Kernel camera drivers and device-tree files are not included in this repository. A compatible IMX704 driver and media graph must already be installed on the target system.

## Features

- IMX704 camera discovery and control
- V4L2 image capture
- Raw image decoding
- Point cloud, radial depth, noise, peak-height, histogram, and PDC output
- Single-depth and dual-depth processing
- Offline camera and custom-stream support
- Optional Python bindings built with pybind11

## Supported environment

- Linux
- CMake 3.18.4 or later
- A compiler with C++17 support (GCC or Clang)
- NVIDIA Jetson/aarch64 for live V4L2 camera capture
- Python 3 and pybind11 when Python bindings are enabled

The core processing sources can be compiled on other Linux architectures, but `WITH_V4L2` is enabled automatically only when CMake detects `aarch64`.

## Current limitations

- Embedded-data capture and processing are not currently supported.

## Repository layout

```text
.
├── CMakeLists.txt
├── cmake/                         # Platform and compiler configuration
├── lib/
│   ├── include/imx704_camera/     # Public C++ headers
│   ├── src/
│   │   ├── imx704_camera/         # C++ implementation and private headers
│   │   │   ├── pipeline/          # Generic and Jetson media pipelines
│   │   │   ├── spl/               # Raw decoding and depth processing
│   │   │   └── v4l2/              # V4L2 stream implementation
│   │   └── python/                # Python wrapper and pybind11 module
└── scripts/
    ├── build_lib.sh
    ├── create_imx704_lib_venv_jetson.sh
    └── pip_requirements.txt
```

## Build the C++ library

Install the basic build tools:

```bash
sudo apt install build-essential g++ cmake
```

Run the build helper from the repository root:

```bash
./scripts/build_lib.sh
```

The script uses GCC and a Release build by default. Useful options are:

```text
--build-type=Release|Debug|asan|lsan|tsan|msan|ubsan
--clang
-py, --with-pybind11
```

For example, to make a Debug build with Clang:

```bash
./scripts/build_lib.sh --clang --build-type=Debug
```

Build files are written below `build/`. Installed artifacts are written to a platform-specific directory below `dist/`.

## Build the Python bindings on Jetson

Create the Python environment:

```bash
./scripts/create_imx704_lib_venv_jetson.sh
source venv/imx704_lib_jetson/bin/activate
```

Then build with pybind11 enabled:

```bash
./scripts/build_lib.sh --with-pybind11
```

The Python module and `imx704_processor.py` are installed in the platform-specific `dist/<platform>/lib/` directory.

## Build release packages

Install the Python packaging dependencies or activate the project virtual environment:

```bash
python3 -m pip install -r scripts/pip_requirements.txt
```

Build both the Debian development package and Python wheel:

```bash
./scripts/build_packages.sh
```

Build only one package type when needed:

```bash
./scripts/build_packages.sh --deb-only
./scripts/build_packages.sh --wheel-only
```

The script builds packages for the current CPU architecture and Python interpreter. Run it on the target Jetson/Python environment to produce Jetson release artifacts.

All packages are written to `dist/packages/` inside this repository:

```text
dist/packages/
├── libarducam-imx704-dev_<version>_<architecture>.deb
└── arducam_imx704-<version>-<python>-<abi>-<platform>.whl
```

The Debian package contains the static C++ library, public headers, and license. The wheel contains `imx704_library_bindings` and `imx704_processor.py`. The build script never copies artifacts to the parent directory.

Use `./scripts/build_packages.sh --help` for all options. The release version must match in `CMakeLists.txt` and `pyproject.toml`; the script validates this before building.

### Build Jetson/aarch64 packages with Docker

An x86_64 development host can produce an arm64 Debian package and CPython 3.8 through 3.14 wheels for Jetson systems in arm64 containers. Docker Buildx and linux/arm64 container support are required.

```bash
./scripts/build_jetson_aarch64_docker.sh
```

Use `--deb-only` or `--wheel-only` to build one package type. The resulting `*_arm64.deb` and `cp38` through `cp314` manylinux aarch64 wheels are written to `dist/packages/`. The Debian package uses an Ubuntu 22.04 builder, while wheels use a manylinux builder and separate per-Python build directories. The installation environment must provide a Python version matching one of the wheel tags.

## Use the C++ API

Include the public headers from `lib/include` and use the `arducam::depthsense` namespace:

```cpp
#include <imx704_camera/camera.h>
#include <imx704_camera/camera_manager.h>

using namespace arducam::depthsense;

camera_manager& manager = camera_manager::getInstance();
manager.init();

const auto cameras = manager.get_camera_list();
if (!cameras.empty()) {
    auto camera = manager.get_camera(cameras.front().id);
    camera->open(0x311C);
    camera->start();

    const frame_buffer& frame = camera->get_frame(100);

    camera->stop();
    camera->close();
}
```

See [`lib/include/imx704_camera`](lib/include/imx704_camera) for the public API.

## License

See [`lib/LICENSE`](lib/LICENSE).
