Merge pull request #261 from luxonis/develop

Release v2.12.0

.github/workflows/main.workflow.yml

@@ -65,24 +65,31 @@ jobs:
     strategy:
       matrix:
         os: [macos-latest, windows-latest, ubuntu-latest]
+        cmake: ['3.10.x', ''] # Older version (Ubuntu 18.04) and newest
 
     steps:
     - name: Cache .hunter folder
       if: matrix.os != 'windows-latest'
       uses: actions/cache@v2
       with:
         path: ~/.hunter/
-        key: hunter-${{ matrix.os }}
+        key: hunter-${{ matrix.os }}-${{ matrix.cmake }}
     - name: Cache .hunter folder
       if: matrix.os == 'windows-latest'
       uses: actions/cache@v2
       with:
         path: C:/.hunter/
-        key: hunter-${{ matrix.os }}
+        key: hunter-${{ matrix.os }}-${{ matrix.cmake }}
+
     - uses: actions/checkout@v2
       with:
         submodules: 'recursive'
 
+    - name: Setup cmake
+      uses: jwlawson/actions-setup-cmake@v1.9
+      with:
+        cmake-version: ${{ matrix.cmake }}
+
     - name: Install dependencies
       if: matrix.os == 'macos-latest'
       run: |
@@ -102,11 +109,17 @@ jobs:
         echo "OpenCV_DIR=C:\tools\opencv\build" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
         echo "C:\tools\opencv\build\x64\vc15\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
 
-    - name: configure
-      run: cmake -S . -B build -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON
+    - name: Build (old CMake, gcc/Clang)
+      if: matrix.cmake == '3.10.x' && matrix.os != 'windows-latest'
+      run: |
+        cmake -H. -Bbuild -D'DEPTHAI_BUILD_EXAMPLES=ON' -D'DEPTHAI_BUILD_TESTS=ON'
+        cmake --build build -- -j8
 
-    - name: build
-      run: cmake --build build --parallel 8
+    - name: Build (newest CMake)
+      if: matrix.cmake != '3.10.x'
+      run: |
+        cmake -S . -B build -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON
+        cmake --build build --parallel 8
 
   integration:
     runs-on: ${{ matrix.os }}

CMakeLists.txt

@@ -26,7 +26,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.11.1" LANGUAGES CXX C)
+project(depthai VERSION "2.12.0" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)

README.md

@@ -12,7 +12,7 @@ Documentation is available over at [Luxonis DepthAI API](https://docs.luxonis.co
 DepthAI library doesn't yet provide API stability guarantees. While we take care to properly deprecate old functions, some changes might still be breaking. We expect to provide API stability from version 3.0.0 onwards.
 
 ## Dependencies
-- cmake >= 3.4
+- CMake >= 3.10
 - libusb1 development package (MacOS & Linux only)
 - C/C++14 compiler
 - [optional] OpenCV 4 (required if building examples)
@@ -44,15 +44,15 @@ For older versions use: Linux/macOS: `cmake --build build -- -j[num CPU cores]`,
 
 To build dynamic version of library configure with following option added
 ```
-cmake -S. -Bbuild -D BUILD_SHARED_LIBS=ON
+cmake -S. -Bbuild -D'BUILD_SHARED_LIBS=ON'
 cmake --build build
 ```
 
 ## Running examples
 
 To build the examples configure with following option added
 ```
-cmake -S. -Bbuild -D DEPTHAI_BUILD_EXAMPLES=ON
+cmake -S. -Bbuild -D'DEPTHAI_BUILD_EXAMPLES=ON'
 cmake --build build
 ```
 
@@ -87,11 +87,11 @@ target_link_libraries([my-app] PRIVATE depthai::opencv)
 
 And point CMake to either build directory or install directory:
 ```
--D depthai_DIR=depthai-core/build
+-D'depthai_DIR=depthai-core/build'
 ```
 or
 ```
--D depthai_DIR=depthai-core/build/install/lib/cmake/depthai
+-D'depthai_DIR=depthai-core/build/install/lib/cmake/depthai'
 ```
 
 If library was installed to default search path like `/usr/local` on Linux, specifying `depthai_DIR` isn't necessary as CMake will find it automatically.
@@ -136,7 +136,7 @@ The generated integration file also specifies include paths without requiring in
 
 To install specify optional prefix and build target install
 ```
-cmake -S. -Bbuild -D CMAKE_INSTALL_PREFIX=[path/to/install/dir]
+cmake -S. -Bbuild -D'CMAKE_INSTALL_PREFIX=[path/to/install/dir]'
 cmake --build build --target install
 ```
 
@@ -147,7 +147,7 @@ If `CMAKE_INSTALL_PREFIX` isn't specified, the library is installed under build
 
 To run the tests build the library with the following options
 ```
-cmake -S. -Bbuild -D DEPTHAI_TEST_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_BUILD_EXAMPLES=ON
+cmake -S. -Bbuild -D'DEPTHAI_TEST_EXAMPLES=ON' -D'DEPTHAI_BUILD_TESTS=ON' -D'DEPTHAI_BUILD_EXAMPLES=ON'
 cmake --build build
 ```
 
@@ -176,7 +176,7 @@ cmake --build build --target clangformat
 
 Doxygen is used to generate documentation. Follow [doxygen download](https://www.doxygen.nl/download.html#srcbin) and install the required binaries for your platform.
 
-After that specify CMake define `-D DEPTHAI_BUILD_DOCS=ON` and build the target `doxygen`
+After that specify CMake define `-D'DEPTHAI_BUILD_DOCS=ON`' and build the target `doxygen`
 
 ## Debugging tips
 
@@ -191,7 +191,7 @@ rm -r ~/.hunter
 
 And configuring the project with the following CMake option set to `ON`
 ```
-cmake . -D HUNTER_KEEP_PACKAGE_SOURCES=ON
+cmake . -D'HUNTER_KEEP_PACKAGE_SOURCES=ON'
 ```
 
 This retains the libraries source code, so that debugger can step through it (the paths are already set up correctly)
@@ -202,10 +202,10 @@ This retains the libraries source code, so that debugger can step through it (th
 ### Build fails with missing OpenCV dependency
 
 If your build process happen to fail due to OpenCV library not being found, but you have the OpenCV installed, please
-run build with additional `-D OpenCV_DIR` flag (replacing default Ubuntu path `/usr/lib/x86_64-linux-gnu/cmake/opencv4` with yours)
+run build with additional `-D'OpenCV_DIR=...`' flag (replacing default Ubuntu path `/usr/lib/x86_64-linux-gnu/cmake/opencv4` with yours)
 
 ```
-cmake -S. -Bbuild -D OpenCV_DIR=/usr/lib/x86_64-linux-gnu/cmake/opencv4
+cmake -S. -Bbuild -D'OpenCV_DIR=/usr/lib/x86_64-linux-gnu/cmake/opencv4'
 ```
 
 Now the build process should correctly discover your OpenCV installation

cmake/Depthai/DepthaiDeviceSideConfig.cmake

@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "2021725697c9b570383b0597951a9d7b162e6182")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "3bb469fa08b7b0abc4353cd27219521dfd763a9d")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

cmake/Hunter/config.cmake

@@ -25,6 +25,8 @@ hunter_config(
     CMAKE_ARGS
         SPDLOG_BUILD_EXAMPLE=OFF
         SPDLOG_FMT_EXTERNAL=OFF
+        CMAKE_CXX_VISIBILITY_PRESET=hidden
+        CMAKE_C_VISIBILITY_PRESET=hidden
 )
 
 # libarchive, luxonis fork
@@ -84,4 +86,19 @@ hunter_config(
     SHA1 "4ecb711eabfd15bc88ff9dd9342907fc5da46b62"
     CMAKE_ARGS
         BACKWARD_TESTS=OFF
+)
+
+hunter_config(
+    Catch2
+    VERSION "2.13.7"
+    URL "https://github.com/catchorg/Catch2/archive/refs/tags/v2.13.7.tar.gz"
+    SHA1 "fa8f14ccf852413d3c6d3999145ada934d37d773"
+)
+
+# ZLib - Luxonis fix for alias on imported target for old CMake versions
+hunter_config(
+    ZLIB
+    VERSION "1.2.11-p2"
+    URL "https://github.com/luxonis/zlib/archive/refs/tags/v1.2.11-p2.tar.gz"
+    SHA1 "fb8b6486183b13a86040f793a939b128f6d27095"
 )

include/depthai/pipeline/datatype/StereoDepthConfig.hpp

@@ -69,6 +69,12 @@ class StereoDepthConfig : public Buffer {
      */
     void setLeftRightCheck(bool enable);
 
+    /**
+     * Disparity range increased from 95 to 190, combined from full resolution and downscaled images.
+     * Suitable for short range objects
+     */
+    void setExtendedDisparity(bool enable);
+
     /**
      * Computes disparity with sub-pixel interpolation (5 fractional bits).
      *

include/depthai/pipeline/node/StereoDepth.hpp

@@ -105,6 +105,18 @@ class StereoDepth : public Node {
      */
     Output debugDispLrCheckIt2{*this, "debugDispLrCheckIt2", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
+    /**
+     * Outputs ImgFrame message that carries extended left-right check first iteration (downscaled frame, before combining with second iteration) disparity map.
+     * Useful for debugging/fine tuning.
+     */
+    Output debugExtDispLrCheckIt1{*this, "debugExtDispLrCheckIt1", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+
+    /**
+     * Outputs ImgFrame message that carries extended left-right check second iteration (downscaled frame, before combining with first iteration) disparity map.
+     * Useful for debugging/fine tuning.
+     */
+    Output debugExtDispLrCheckIt2{*this, "debugExtDispLrCheckIt2", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+
     /**
      * Outputs ImgFrame message that carries cost dump of disparity map.
      * Useful for debugging/fine tuning.

src/pipeline/datatype/StereoDepthConfig.cpp

@@ -46,6 +46,10 @@ void StereoDepthConfig::setLeftRightCheck(bool enable) {
     cfg.algorithmControl.enableLeftRightCheck = enable;
 }
 
+void StereoDepthConfig::setExtendedDisparity(bool enable) {
+    cfg.algorithmControl.enableExtended = enable;
+}
+
 void StereoDepthConfig::setSubpixel(bool enable) {
     cfg.algorithmControl.enableSubpixel = enable;
 }
@@ -56,7 +60,7 @@ float StereoDepthConfig::getMaxDisparity() const {
         maxDisp = 63;
     }
     if(cfg.costMatching.enableCompanding) maxDisp = 175;
-    if(false) maxDisp *= 2;  // TODO re-enable with extended
+    if(cfg.algorithmControl.enableExtended) maxDisp *= 2;
     if(cfg.algorithmControl.enableSubpixel) maxDisp *= (1 << cfg.algorithmControl.subpixelFractionalBits);
     return maxDisp;
 }

src/pipeline/node/StereoDepth.cpp

@@ -12,7 +12,19 @@ StereoDepth::StereoDepth(const std::shared_ptr<PipelineImpl>& par, int64_t nodeI
     : Node(par, nodeId), rawConfig(std::make_shared<RawStereoDepthConfig>()), initialConfig(rawConfig) {
     // 'properties' defaults already set
     inputs = {&inputConfig, &left, &right};
-    outputs = {&depth, &disparity, &syncedLeft, &syncedRight, &rectifiedLeft, &rectifiedRight};
+    outputs = {&depth,
+               &disparity,
+               &syncedLeft,
+               &syncedRight,
+               &rectifiedLeft,
+               &rectifiedRight,
+               &outConfig,
+               &debugDispLrCheckIt1,
+               &debugDispLrCheckIt2,
+               &debugExtDispLrCheckIt1,
+               &debugExtDispLrCheckIt2,
+               &debugDispCostDump,
+               &confidenceMap};
 }
 
 std::string StereoDepth::getName() const {
@@ -128,7 +140,8 @@ void StereoDepth::setSubpixel(bool enable) {
     properties.initialConfig = *rawConfig;
 }
 void StereoDepth::setExtendedDisparity(bool enable) {
-    properties.enableExtendedDisparity = enable;
+    initialConfig.setExtendedDisparity(enable);
+    properties.initialConfig = *rawConfig;
 }
 void StereoDepth::setRectifyEdgeFillColor(int color) {
     properties.rectifyEdgeFillColor = color;

tests/CMakeLists.txt

@@ -3,7 +3,7 @@ include(CTest)
 enable_testing()
 
 # Add catch2 for writing tests
-hunter_add_package(Catch)
+hunter_add_package(Catch2)
 find_package(Catch2 CONFIG REQUIRED)
 
 # Macro for adding new tests