From 8af5641c0e0d91d89d84bd4de8daa5aceaebc658 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Thu, 23 Sep 2021 20:42:09 +0300 Subject: [PATCH 01/19] Set fine tuned stereo settings --- src/pipeline/node/StereoDepth.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/pipeline/node/StereoDepth.cpp b/src/pipeline/node/StereoDepth.cpp index 9d7e95f47..7c145493b 100644 --- a/src/pipeline/node/StereoDepth.cpp +++ b/src/pipeline/node/StereoDepth.cpp @@ -13,6 +13,9 @@ StereoDepth::StereoDepth(const std::shared_ptr& par, int64_t nodeI // 'properties' defaults already set inputs = {&inputConfig, &left, &right}; outputs = {&depth, &disparity, &syncedLeft, &syncedRight, &rectifiedLeft, &rectifiedRight}; + rawConfig->censusTransform.enableMeanMode = true; + rawConfig->costMatching.linearEquationParameters.alpha = 0; + rawConfig->costMatching.linearEquationParameters.beta = 2; } std::string StereoDepth::getName() const { From d5fa9580a347ee285b6faeaa426bd68ad02f5c83 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Sun, 24 Oct 2021 20:42:03 +0300 Subject: [PATCH 02/19] Update catch2 package to 2.13.7 --- cmake/Hunter/config.cmake | 9 ++++++++- tests/CMakeLists.txt | 2 +- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/cmake/Hunter/config.cmake b/cmake/Hunter/config.cmake index a2cf20dd2..9540bb486 100644 --- a/cmake/Hunter/config.cmake +++ b/cmake/Hunter/config.cmake @@ -84,4 +84,11 @@ hunter_config( SHA1 "4ecb711eabfd15bc88ff9dd9342907fc5da46b62" CMAKE_ARGS BACKWARD_TESTS=OFF -) \ No newline at end of file +) + +hunter_config( + Catch2 + VERSION "2.13.7" + URL "https://github.com/catchorg/Catch2/archive/refs/tags/v2.13.7.tar.gz" + SHA1 "fa8f14ccf852413d3c6d3999145ada934d37d773" +) diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 76fa511ca..2ee8fa7a6 100644 --- a/tests/CMakeLists.txt +++ b/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 From 22da78b0528107281b88e5be02519c37a9abc3b2 Mon Sep 17 00:00:00 2001 From: TheMarpe Date: Mon, 25 Oct 2021 13:56:12 +0200 Subject: [PATCH 03/19] Added CMake version into CI and Ubuntu 18.04 fix (#237) * Added CMake version into CI * Updated ZLIB with fixed ALIAS on imported target * CI - Concatenated -D arguments for old CMake version * Updated README instructions for CMake version 3.10 * Fixed Windows build and ZLIB target * Removed old CMake build for MSVC * Updated -D CMake usage --- .github/workflows/main.workflow.yml | 25 +++++++++++++++++++------ README.md | 22 +++++++++++----------- cmake/Hunter/config.cmake | 8 ++++++++ 3 files changed, 38 insertions(+), 17 deletions(-) diff --git a/.github/workflows/main.workflow.yml b/.github/workflows/main.workflow.yml index b2b6bc74e..6aca7b081 100644 --- a/.github/workflows/main.workflow.yml +++ b/.github/workflows/main.workflow.yml @@ -65,6 +65,7 @@ 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 @@ -72,17 +73,23 @@ jobs: 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 }} diff --git a/README.md b/README.md index de005c9f2..cea94ac44 100644 --- a/README.md +++ b/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) @@ -44,7 +44,7 @@ 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 ``` @@ -52,7 +52,7 @@ cmake --build build 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 diff --git a/cmake/Hunter/config.cmake b/cmake/Hunter/config.cmake index 9540bb486..db6049747 100644 --- a/cmake/Hunter/config.cmake +++ b/cmake/Hunter/config.cmake @@ -92,3 +92,11 @@ hunter_config( 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" +) \ No newline at end of file From 7622cef23773526711359ff8458529f1645331e9 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Fri, 29 Oct 2021 23:23:36 +0300 Subject: [PATCH 04/19] StereoDepth: Add extended disparity mode --- cmake/Depthai/DepthaiDeviceSideConfig.cmake | 2 +- include/depthai/pipeline/datatype/StereoDepthConfig.hpp | 6 ++++++ shared/depthai-shared | 2 +- src/pipeline/datatype/StereoDepthConfig.cpp | 6 +++++- src/pipeline/node/StereoDepth.cpp | 3 ++- 5 files changed, 15 insertions(+), 4 deletions(-) diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake index 40f43d4bc..d5cad6b99 100644 --- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake +++ b/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 "8f8f08bff6e5dc9069611a887992c741a63a63ab") # "version if applicable" set(DEPTHAI_DEVICE_SIDE_VERSION "") diff --git a/include/depthai/pipeline/datatype/StereoDepthConfig.hpp b/include/depthai/pipeline/datatype/StereoDepthConfig.hpp index dabc87f3a..632f1c5d8 100644 --- a/include/depthai/pipeline/datatype/StereoDepthConfig.hpp +++ b/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). * diff --git a/shared/depthai-shared b/shared/depthai-shared index 99f9c5885..8f01b1804 160000 --- a/shared/depthai-shared +++ b/shared/depthai-shared @@ -1 +1 @@ -Subproject commit 99f9c588547e828663bb42e89f816d184d8dcff5 +Subproject commit 8f01b1804963186e401fb84438ad7b9519eacf06 diff --git a/src/pipeline/datatype/StereoDepthConfig.cpp b/src/pipeline/datatype/StereoDepthConfig.cpp index 5ac088aeb..851924f49 100644 --- a/src/pipeline/datatype/StereoDepthConfig.cpp +++ b/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; } diff --git a/src/pipeline/node/StereoDepth.cpp b/src/pipeline/node/StereoDepth.cpp index 9d7e95f47..19943bdaa 100644 --- a/src/pipeline/node/StereoDepth.cpp +++ b/src/pipeline/node/StereoDepth.cpp @@ -128,7 +128,8 @@ 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; From c021c8f9e1e88bfb30ee2a3ee00ddc445597a46a Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Sat, 30 Oct 2021 03:08:07 +0300 Subject: [PATCH 05/19] Add extended mode debug outputs --- cmake/Depthai/DepthaiDeviceSideConfig.cmake | 2 +- include/depthai/pipeline/node/StereoDepth.hpp | 12 ++++++++++++ 2 files changed, 13 insertions(+), 1 deletion(-) diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake index d5cad6b99..e90f03510 100644 --- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake +++ b/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 "8f8f08bff6e5dc9069611a887992c741a63a63ab") +set(DEPTHAI_DEVICE_SIDE_COMMIT "cec0a6761517dca55639830a2c649bba206e27e5") # "version if applicable" set(DEPTHAI_DEVICE_SIDE_VERSION "") diff --git a/include/depthai/pipeline/node/StereoDepth.hpp b/include/depthai/pipeline/node/StereoDepth.hpp index 83b48da56..b71cee936 100644 --- a/include/depthai/pipeline/node/StereoDepth.hpp +++ b/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. From f469f7341308078e313f0c787e9fd824a569f5ab Mon Sep 17 00:00:00 2001 From: Sachin Guruswamy <43363595+saching13@users.noreply.github.com> Date: Fri, 29 Oct 2021 21:59:55 -0700 Subject: [PATCH 06/19] Spdlog version change (#239) * added spdlog fix --- cmake/Hunter/config.cmake | 2 ++ 1 file changed, 2 insertions(+) diff --git a/cmake/Hunter/config.cmake b/cmake/Hunter/config.cmake index db6049747..326caba96 100644 --- a/cmake/Hunter/config.cmake +++ b/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 From 98e13c7377b051317f774898de31051bdea61f3c Mon Sep 17 00:00:00 2001 From: TheMarpe Date: Tue, 2 Nov 2021 18:36:51 +0100 Subject: [PATCH 07/19] FW - fixed OpenVINO layer issue --- cmake/Depthai/DepthaiDeviceSideConfig.cmake | 2 +- shared/depthai-shared | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake index 40f43d4bc..a243ae4ae 100644 --- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake +++ b/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 "616a4d271e8eb4da57197e35155c36bb764847f6") # "version if applicable" set(DEPTHAI_DEVICE_SIDE_VERSION "") diff --git a/shared/depthai-shared b/shared/depthai-shared index 99f9c5885..fca1937f5 160000 --- a/shared/depthai-shared +++ b/shared/depthai-shared @@ -1 +1 @@ -Subproject commit 99f9c588547e828663bb42e89f816d184d8dcff5 +Subproject commit fca1937f5f58dce446931d18b193bfbcf9968249 From e0565e75298a8db5160163025ffb5b11b818ca97 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Wed, 3 Nov 2021 04:35:52 +0200 Subject: [PATCH 08/19] Add addtional outputs to output list --- cmake/Depthai/DepthaiDeviceSideConfig.cmake | 2 +- src/pipeline/node/StereoDepth.cpp | 14 +++++++++++++- 2 files changed, 14 insertions(+), 2 deletions(-) diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake index e90f03510..50dd7a3be 100644 --- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake +++ b/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 "cec0a6761517dca55639830a2c649bba206e27e5") +set(DEPTHAI_DEVICE_SIDE_COMMIT "58aa9f11691dae9a35395cbd359135e24a3582c6") # "version if applicable" set(DEPTHAI_DEVICE_SIDE_VERSION "") diff --git a/src/pipeline/node/StereoDepth.cpp b/src/pipeline/node/StereoDepth.cpp index 19943bdaa..cdb2227a1 100644 --- a/src/pipeline/node/StereoDepth.cpp +++ b/src/pipeline/node/StereoDepth.cpp @@ -12,7 +12,19 @@ StereoDepth::StereoDepth(const std::shared_ptr& par, int64_t nodeI : Node(par, nodeId), rawConfig(std::make_shared()), 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 { From d680721355a1787400b0b6a01048861248ad0e37 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Thu, 4 Nov 2021 04:57:00 +0200 Subject: [PATCH 09/19] Update FW before merge --- cmake/Depthai/DepthaiDeviceSideConfig.cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake index 50dd7a3be..83733ca50 100644 --- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake +++ b/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 "58aa9f11691dae9a35395cbd359135e24a3582c6") +set(DEPTHAI_DEVICE_SIDE_COMMIT "58371c8407f617c12958b4bd84b7905b725135da") # "version if applicable" set(DEPTHAI_DEVICE_SIDE_VERSION "") From 52783c294e64b10ceec9b1bb1f9847078f6b89fc Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Fri, 5 Nov 2021 19:26:31 +0200 Subject: [PATCH 10/19] Revert "Set fine tuned stereo settings" This reverts commit 8af5641c0e0d91d89d84bd4de8daa5aceaebc658. --- src/pipeline/node/StereoDepth.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/pipeline/node/StereoDepth.cpp b/src/pipeline/node/StereoDepth.cpp index 7c145493b..9d7e95f47 100644 --- a/src/pipeline/node/StereoDepth.cpp +++ b/src/pipeline/node/StereoDepth.cpp @@ -13,9 +13,6 @@ StereoDepth::StereoDepth(const std::shared_ptr& par, int64_t nodeI // 'properties' defaults already set inputs = {&inputConfig, &left, &right}; outputs = {&depth, &disparity, &syncedLeft, &syncedRight, &rectifiedLeft, &rectifiedRight}; - rawConfig->censusTransform.enableMeanMode = true; - rawConfig->costMatching.linearEquationParameters.alpha = 0; - rawConfig->costMatching.linearEquationParameters.beta = 2; } std::string StereoDepth::getName() const { From 1b427f21bf26504426efa0437aabb2b5103bdd06 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Fri, 5 Nov 2021 19:40:43 +0200 Subject: [PATCH 11/19] Add fine tuned stereo settings, configurable P1/P2 cost aggregation parameters --- cmake/Depthai/DepthaiDeviceSideConfig.cmake | 2 +- shared/depthai-shared | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake index 83733ca50..576d0beb2 100644 --- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake +++ b/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 "58371c8407f617c12958b4bd84b7905b725135da") +set(DEPTHAI_DEVICE_SIDE_COMMIT "74d46aedb0c09356b4a8ff7fced6f0c1cd4763a7") # "version if applicable" set(DEPTHAI_DEVICE_SIDE_VERSION "") diff --git a/shared/depthai-shared b/shared/depthai-shared index 8f01b1804..dcccdb266 160000 --- a/shared/depthai-shared +++ b/shared/depthai-shared @@ -1 +1 @@ -Subproject commit 8f01b1804963186e401fb84438ad7b9519eacf06 +Subproject commit dcccdb26652ca20500e6628ce98f6e9e90da1b35 From abc5ddb21d495d3dbd50e29e14dcaf029c91a874 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Fri, 5 Nov 2021 23:13:07 +0200 Subject: [PATCH 12/19] Increase LR-check threshold to 10; disparity confidence threshold to 245 by default --- cmake/Depthai/DepthaiDeviceSideConfig.cmake | 2 +- shared/depthai-shared | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake index 576d0beb2..c3223fe7f 100644 --- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake +++ b/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 "74d46aedb0c09356b4a8ff7fced6f0c1cd4763a7") +set(DEPTHAI_DEVICE_SIDE_COMMIT "921d45693a28dc472548e12df037d088111e66a5") # "version if applicable" set(DEPTHAI_DEVICE_SIDE_VERSION "") diff --git a/shared/depthai-shared b/shared/depthai-shared index dcccdb266..31cfb1dd7 160000 --- a/shared/depthai-shared +++ b/shared/depthai-shared @@ -1 +1 @@ -Subproject commit dcccdb26652ca20500e6628ce98f6e9e90da1b35 +Subproject commit 31cfb1dd7b346c49e359561a42ee38e5f083a604 From 6754cbb282144302ee05dfd27091814846e7b9f1 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Sun, 7 Nov 2021 18:52:43 +0200 Subject: [PATCH 13/19] Update FW with Script node (DynamicPool) related fixes --- cmake/Depthai/DepthaiDeviceSideConfig.cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake index c3223fe7f..8dbc80687 100644 --- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake +++ b/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 "921d45693a28dc472548e12df037d088111e66a5") +set(DEPTHAI_DEVICE_SIDE_COMMIT "cdef6e16a44f4655f9bce4d852e1c324b0e40f4b") # "version if applicable" set(DEPTHAI_DEVICE_SIDE_VERSION "") From 3837fee4b2ec2253ec8429b4362d31fb430e6607 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Sun, 7 Nov 2021 23:38:27 +0200 Subject: [PATCH 14/19] Add support for non-square YOLO output --- cmake/Depthai/DepthaiDeviceSideConfig.cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake index 8dbc80687..d41565e8f 100644 --- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake +++ b/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 "cdef6e16a44f4655f9bce4d852e1c324b0e40f4b") +set(DEPTHAI_DEVICE_SIDE_COMMIT "73f5dfe7a318e713481dd00d134c2c597112afff") # "version if applicable" set(DEPTHAI_DEVICE_SIDE_VERSION "") From 630b461b5c14085862c020020e352ce49c98e56a Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Sun, 7 Nov 2021 23:46:19 +0200 Subject: [PATCH 15/19] Update FW with error reporting for DetectionNetwork --- cmake/Depthai/DepthaiDeviceSideConfig.cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake index d41565e8f..47c758fbf 100644 --- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake +++ b/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 "73f5dfe7a318e713481dd00d134c2c597112afff") +set(DEPTHAI_DEVICE_SIDE_COMMIT "bfb509700962dc4d8d78de9be30a49efa98e25f8") # "version if applicable" set(DEPTHAI_DEVICE_SIDE_VERSION "") From 26dac71f86727335fc5aac1d0a28aad3fca84454 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Mon, 8 Nov 2021 01:20:09 +0200 Subject: [PATCH 16/19] Update FW before merge --- cmake/Depthai/DepthaiDeviceSideConfig.cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake index 47c758fbf..b76142917 100644 --- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake +++ b/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 "bfb509700962dc4d8d78de9be30a49efa98e25f8") +set(DEPTHAI_DEVICE_SIDE_COMMIT "b2f48737e039cc1179e1a51e51ca3c3a4d4b5c13") # "version if applicable" set(DEPTHAI_DEVICE_SIDE_VERSION "") From 4df2c68f6bd79a9a0a5e09096e272d1634cc1ec7 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Thu, 11 Nov 2021 08:38:45 +0200 Subject: [PATCH 17/19] Fixes for object tracker; support for KCF and imageless short term tracking algorithms --- cmake/Depthai/DepthaiDeviceSideConfig.cmake | 2 +- shared/depthai-shared | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake index b76142917..2955abccd 100644 --- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake +++ b/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 "b2f48737e039cc1179e1a51e51ca3c3a4d4b5c13") +set(DEPTHAI_DEVICE_SIDE_COMMIT "b95b1375ccdccdb233ed4463a74abe3ad62241a3") # "version if applicable" set(DEPTHAI_DEVICE_SIDE_VERSION "") diff --git a/shared/depthai-shared b/shared/depthai-shared index 31cfb1dd7..ec6ce2065 160000 --- a/shared/depthai-shared +++ b/shared/depthai-shared @@ -1 +1 @@ -Subproject commit 31cfb1dd7b346c49e359561a42ee38e5f083a604 +Subproject commit ec6ce2065cfc90e05daf151c2577ff6d450ba49c From f7c26ce766a1c49dc3262eab348399ea228f8605 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Fri, 12 Nov 2021 03:44:11 +0200 Subject: [PATCH 18/19] Update FW with latest improvements --- cmake/Depthai/DepthaiDeviceSideConfig.cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake index 2955abccd..f0c47a28c 100644 --- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake +++ b/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 "b95b1375ccdccdb233ed4463a74abe3ad62241a3") +set(DEPTHAI_DEVICE_SIDE_COMMIT "3bb469fa08b7b0abc4353cd27219521dfd763a9d") # "version if applicable" set(DEPTHAI_DEVICE_SIDE_VERSION "") From 5a5b2f0ae279dc82cdd93da371751c1c5a208afe Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Sat, 13 Nov 2021 03:05:23 +0200 Subject: [PATCH 19/19] Release v2.12.0 --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 733e17bec..c74104477 100644 --- a/CMakeLists.txt +++ b/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)