Import thiird library from cpp. Creating custom function

[marcomameli1992]

Dear I'm trying to import a library from SDK-SEN0579. Inside the library there are different version i'm trying to use the armv8 and x86_64 for ubuntu20.04.
If I test the run.sh file in the build directory, with a previous openCV 4.4 installation and the LD_LIBRARY_PATH configuration setted on /usr/local/lib it works correctly and return me the Depth map in an OpenCV window.
I have created the binding configuration that is completely compiled with cmakes and make but every time I try to use them in python I receive the error "Device /dev/video2 opened: CS20 Camera: CS20 Camera.
Traceback (most recent call last):
File "test.py", line 9, in
depth_frame = camera.get_depth_frame()
RuntimeError: Failed to get frameset
Segmentation fault (core dumped)
"

For completly reproduce the situation I starting from the SEDfolder/libsynexens3folder/example/depth.cpp for the code creation for the binding.

The cpp code is in reported next:

#include <pybind11/pybind11.h>
#include <pybind11/numpy.h>
#include <opencv2/opencv.hpp>
#include "libsynexens3/libsynexens3.h"

namespace py = pybind11;

class DepthCamera {
public:
    DepthCamera() {
        sy3::sy3_error e;
        ctx = sy3::sy3_create_context(e);
        dev = ctx->query_device(e);
        if (e != sy3::sy3_error::SUCCESS) {
            throw std::runtime_error("Failed to query device");
        }
        
        pline = sy3::sy3_create_pipeline(ctx, e);
        cfg = sy3_create_config(ctx, e);
        cfg->enable_stream(sy3::sy3_stream::SY3_STREAM_DEPTH, DEPTH_WIDTH, DEPTH_HEIGHT, e);
        cfg->enable_stream(sy3::sy3_stream::SY3_STREAM_IR, DEPTH_WIDTH, DEPTH_HEIGHT, e);
        pline->start(cfg, e);
    }

    ~DepthCamera() {
        delete pline;
        delete cfg;
        delete ctx;
    }

    py::array_t<uint16_t> get_depth_frame() {
        sy3::sy3_error e;
        sy3::frameset *frameset = pline->wait_for_frames(SY3_DEFAULT_TIMEOUT, e);
        if (e != sy3::sy3_error::SUCCESS) {
            throw std::runtime_error("Failed to get frameset");
        }

        sy3::depth_frame *depth_frame = frameset->get_depth_frame();
        if (!depth_frame) {
            delete frameset;
            throw std::runtime_error("Failed to get depth frame");
        }

        int width = depth_frame->get_width();
        int height = depth_frame->get_height();
        uint16_t *data = (uint16_t*)depth_frame->get_data();

        auto result = py::array_t<uint16_t>({height, width}, data);

        delete frameset;
        return result;
    }

private:
    sy3::context *ctx;
    sy3::device *dev;
    sy3::pipeline *pline;
    sy3::config *cfg;

    const int DEPTH_WIDTH = 640;
    const int DEPTH_HEIGHT = 480;
};

PYBIND11_MODULE(depth_camera, m) {
    py::class_<DepthCamera>(m, "DepthCamera")
        .def(py::init<>())
        .def("get_depth_frame", &DepthCamera::get_depth_frame);
}

the CMAkesLists.txt file is filled with:

cmake_minimum_required(VERSION 3.4...3.18)
project(depth_camera)

set(CMAKE_CXX_STANDARD 14)

# Aggiungi il percorso alla directory include di libsynexens3
include_directories(/home/k2admin/Downloads/SDK-SEN0579-master/NEW_ibsynexens3-v0.7.3.0-armv8-202303101117/binding/include)

# Aggiungi il percorso alla directory lib di libsynexens3
link_directories(/home/k2admin/Downloads/SDK-SEN0579-master/NEW_ibsynexens3-v0.7.3.0-armv8-202303101117/binding/lib/armv8)

find_package(pybind11 REQUIRED)
find_package(OpenCV REQUIRED)

include_directories(${OpenCV_INCLUDE_DIRS})



pybind11_add_module(depth_camera depth_camera.cpp)
target_link_libraries(depth_camera PRIVATE ${OpenCV_LIBS} synexens3)

the test.py is filled with:

import depth_camera
import numpy as np
import cv2

# Crea un'istanza della classe DepthCamera
camera = depth_camera.DepthCamera()

# Ottieni il frame di profondità
depth_frame = camera.get_depth_frame()

# Visualizza il frame di profondità
cv2.imshow("Depth Frame", depth_frame)
cv2.waitKey(0)
cv2.destroyAllWindows()

I have created inside the forlder the build one and after a cd I use the command:
cmake -Dpybind11_DIR=/home/admin/.local/lib/python3.8/site-packages/pybind11/share/cmake/pybind11 ..

and after that the make command.

after all I obtained the .so library and if I call it from python the import works but I can't obtain the depth frame.

Can anyone explain where is my error on do that work?