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Added support for a pybind11 embedded module target #1416

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a5be139
Added support for a pybind11 embedded module target to be built by CM…
thehiddenwaffle Aug 7, 2025
8386773
compile defs for bindings
thehiddenwaffle Aug 7, 2025
1ec76be
Add example showcasing embedded Python usage in C++ projects for pipe…
thehiddenwaffle Oct 10, 2025
1d05f37
Add examples for building and running pipelines with embedded Python …
thehiddenwaffle Oct 14, 2025
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10 changes: 9 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -1125,7 +1125,15 @@ if (EMSCRIPTEN)
endif()

if (DEPTHAI_BUILD_PYTHON)
add_subdirectory(bindings/python)
if(DEPTHAI_PYTHON_EMBEDDED_MODULE_TARGET)
set(TARGET_EMBED_ALIAS "embed")
set(TARGET_EMBED_NAME ${PROJECT_NAME}-${TARGET_EMBED_ALIAS} CACHE INTERNAL "Embedded Python module target name")
add_subdirectory(bindings/python)
set_target_properties(${TARGET_EMBED_NAME} PROPERTIES EXPORT_NAME ${TARGET_EMBED_ALIAS})
list(APPEND targets_to_export ${TARGET_EMBED_NAME})
else ()
add_subdirectory(bindings/python)
endif ()
endif()

########################
Expand Down
44 changes: 43 additions & 1 deletion bindings/python/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@ option(DEPTHAI_PYTHON_ENABLE_TESTS "Enable tests" OFF)
option(DEPTHAI_PYTHON_ENABLE_EXAMPLES "Enable examples" OFF)
option(DEPTHAI_PYTHON_BUILD_DOCSTRINGS "Generate docstrings from header files if module 'pybind11_mkdoc' available" ON)
option(DEPTHAI_PYTHON_EMBEDDED_MODULE "Create an embeddable module" OFF)
cmake_dependent_option(DEPTHAI_PYTHON_EMBEDDED_MODULE_TARGET "Create an additional target with pybind embedded module" OFF DEPTHAI_PYTHON_EMBEDDED_MODULE && TARGET_EMBED_NAME OFF)

# Add pybind11 dependency
#add_subdirectory(pybind11-2.5.0)
Expand Down Expand Up @@ -171,6 +172,9 @@ endif()

# Add files for python module
if(DEPTHAI_PYTHON_EMBEDDED_MODULE)
if (DEPTHAI_PYTHON_EMBEDDED_MODULE_TARGET)
add_library(${TARGET_EMBED_NAME} SHARED ${SOURCE_LIST})
endif ()
add_library(${TARGET_NAME} ${SOURCE_LIST})
else()
pybind11_add_module(${TARGET_NAME} ${SOURCE_LIST})
Expand Down Expand Up @@ -273,8 +277,15 @@ endif()
target_include_directories(${TARGET_NAME} PRIVATE src ${DOCSTRINGS_INCLUDE_PLACEHOLDER_DIR} "${CMAKE_CURRENT_LIST_DIR}/../../src")
if(DEPTHAI_MERGED_TARGET)
target_include_directories(${TARGET_NAME} PRIVATE external/pybind11_opencv_numpy)
if (DEPTHAI_PYTHON_EMBEDDED_MODULE_TARGET)
target_include_directories(${TARGET_EMBED_NAME} PRIVATE external/pybind11_opencv_numpy)
endif ()
endif()

if (DEPTHAI_PYTHON_EMBEDDED_MODULE_TARGET)
target_include_directories(${TARGET_EMBED_NAME} PRIVATE src ${DOCSTRINGS_INCLUDE_PLACEHOLDER_DIR} "${CMAKE_CURRENT_LIST_DIR}/../../src")
endif ()

set(DEPTHAI_LINK_TARGET depthai::core)
if(NOT DEPTHAI_MERGED_TARGET)
list(APPEND DEPTHAI_LINK_TARGET depthai::opencv)
Expand All @@ -299,16 +310,48 @@ target_link_libraries(${TARGET_NAME}
spdlog::spdlog
)

if (DEPTHAI_PYTHON_EMBEDDED_MODULE_TARGET)
target_link_libraries(${TARGET_EMBED_NAME}
PUBLIC
# pybind11
pybind11::embed
depthai::core
PRIVATE
hedley
pybind11_json
xtensor-python
spdlog::spdlog
)
endif ()

string(TIMESTAMP BUILD_DATETIME "%Y-%m-%d %H:%M:%S +0000" UTC)

# Add embedded module option, otherwise link to pybind11 as usual
if(DEPTHAI_PYTHON_EMBEDDED_MODULE)
target_compile_definitions(${TARGET_NAME} PRIVATE DEPTHAI_PYTHON_EMBEDDED_MODULE)
if (DEPTHAI_PYTHON_EMBEDDED_MODULE_TARGET)
target_compile_definitions(${TARGET_EMBED_NAME}
PRIVATE
DEPTHAI_PYTHON_VERSION="${DEPTHAI_PYTHON_VERSION}"
DEPTHAI_PYTHON_COMMIT_HASH="${BUILD_COMMIT}"
DEPTHAI_PYTHON_COMMIT_DATETIME="${BUILD_COMMIT_DATETIME}"
DEPTHAI_PYTHON_BUILD_DATETIME="${BUILD_DATETIME}"
DEPTHAI_PYTHON_EMBEDDED_MODULE
)
endif ()
endif()

if(DEPTHAI_ENABLE_REMOTE_CONNECTION)
target_compile_definitions(${TARGET_NAME} PRIVATE DEPTHAI_ENABLE_REMOTE_CONNECTION)
if (DEPTHAI_PYTHON_EMBEDDED_MODULE_TARGET)
target_compile_definitions(${TARGET_EMBED_NAME} PRIVATE DEPTHAI_ENABLE_REMOTE_CONNECTION)
endif ()
endif()
if(DEPTHAI_ENABLE_EVENTS_MANAGER)
target_compile_definitions(${TARGET_NAME} PRIVATE DEPTHAI_ENABLE_EVENTS_MANAGER)
if (DEPTHAI_PYTHON_EMBEDDED_MODULE_TARGET)
target_compile_definitions(${TARGET_EMBED_NAME} PRIVATE DEPTHAI_ENABLE_EVENTS_MANAGER)
endif ()
endif()

# Add the clang-format target
Expand Down Expand Up @@ -356,7 +399,6 @@ execute_process(COMMAND ${PYTHON_EXECUTABLE} "-c" "${version_command}"
)


string(TIMESTAMP BUILD_DATETIME "%Y-%m-%d %H:%M:%S +0000" UTC)
target_compile_definitions(${TARGET_NAME}
PRIVATE
DEPTHAI_PYTHON_VERSION="${DEPTHAI_PYTHON_VERSION}"
Expand Down
2 changes: 2 additions & 0 deletions bindings/python/src/py_bindings.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,9 @@

#ifdef DEPTHAI_PYTHON_EMBEDDED_MODULE
#include <pybind11/embed.h>
// Don't think this symbol ever exists? Not finding it using `objdump -T libdepthai-core.so | grep bindngs`
extern "C" void depthai_bindings_init() {} // to force inclusion
extern "C" PyObject* pybind11_init_impl_depthai();
#endif

// Specify module
Expand Down