Merge pull request #790 from luxonis/develop

Release v2.21.0

.github/workflows/main.workflow.yml

@@ -62,7 +62,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [macos-11, windows-latest, ubuntu-latest]
+        os: [macos-latest, windows-latest, ubuntu-latest]
         cmake: ['3.10.x', ''] # Older version (Ubuntu 18.04) and newest
         exclude:
           - os: windows-latest
@@ -92,7 +92,7 @@ jobs:
         cmake-version: ${{ matrix.cmake }}
 
     - name: Install dependencies
-      if: matrix.os == 'macos-11'
+      if: matrix.os == 'macos-latest'
       run: |
         brew install opencv
 
@@ -131,7 +131,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [macos-11, windows-latest, ubuntu-latest]
+        os: [macos-latest, windows-latest, ubuntu-latest]
         build-type: [Debug, Release]
         shared: [true, false]
         platform: [x64]
@@ -163,7 +163,7 @@ jobs:
         submodules: 'recursive'
 
     - name: Install dependencies
-      if: matrix.os == 'macos-11'
+      if: matrix.os == 'macos-latest'
       run: |
         brew install opencv
 

CMakeLists.txt

@@ -43,7 +43,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.20.2" LANGUAGES CXX C)
+project(depthai VERSION "2.21.0" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)

README.md

@@ -47,6 +47,29 @@ cmake -S. -Bbuild -D'BUILD_SHARED_LIBS=ON'
 cmake --build build
 ```
 
+
+### Android
+
+Android is supported to some extent but not actively pursued nor tested. PRs with any improvements are welcome.
+
+Steps:
+
+ - Install Android NDK (for example via Android Studio).
+ - Set the NDK path:
+```
+export ANDROID_HOME=$HOME/.local/lib/Android
+export PATH=$PATH:$ANDROID_HOME/emulator:$ANDROID_HOME/platform-tools
+export NDK=$ANDROID_HOME/ndk/23.1.7779620/ # Check version
+```
+ - Ensure a recent version of cmake (apt version is outdated, install snap install cmake --classic)
+ - Run cmake, set your ABI and Platform as needed:
+
+```
+cmake -S. -Bbuild -DCMAKE_TOOLCHAIN_FILE=$NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DANDROID_PLATFORM=android-25
+cmake --build build
+```
+
+
 ## Running examples
 
 To build the examples configure with following option added

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 "8c3d6ac1c77b0bf7f9ea6fd4d962af37663d2fbd")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "57ca2c171f6ef53cb83fbbc3aabfe512c67796ce")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

cmake/Hunter/config.cmake

@@ -8,8 +8,8 @@ hunter_config(
 hunter_config(
     XLink
     VERSION "luxonis-2021.4.2-develop"
-    URL "https://github.com/luxonis/XLink/archive/1ef2f960eec66540891434c9a3341c11e66e4360.tar.gz"
-    SHA1 "23641bb9ae698d0e016abcce349094a38577838b"
+    URL "https://github.com/luxonis/XLink/archive/b7c3aca2ba8b9d598be886a8076a875b50f5184f.tar.gz"
+    SHA1 "6c19757c6fe6871a9f40688871edbfc6f1e939ee"
 )
 
 hunter_config(
@@ -100,8 +100,8 @@ hunter_config(
 hunter_config(
     Catch2
     VERSION "2.13.7"
-    URL "https://github.com/catchorg/Catch2/archive/refs/tags/v2.13.7.tar.gz"
-    SHA1 "fa8f14ccf852413d3c6d3999145ada934d37d773"
+    URL "https://github.com/catchorg/Catch2/archive/refs/tags/v3.2.1.tar.gz"
+    SHA1 "acfba7f71cbbbbf60bc1bc4c0e3efca4a9c70df7"
 )
 
 # ZLib - Luxonis fix for alias on imported target for old CMake versions

examples/CMakeLists.txt

@@ -32,6 +32,10 @@ function(dai_add_example example_name example_src enable_test)
     add_executable(${example_name} ${example_src})
     add_default_flags(${example_name} LEAN)
     target_link_libraries(${example_name} PRIVATE utility depthai::opencv ${OpenCV_LIBS} Threads::Threads)
+    # Set compiler features (c++14), and disables extensions (g++14)
+    set_property(TARGET ${example_name} PROPERTY CXX_STANDARD 14)
+    set_property(TARGET ${example_name} PROPERTY CXX_STANDARD_REQUIRED ON)
+    set_property(TARGET ${example_name} PROPERTY CXX_EXTENSIONS OFF)
 
     # Add sanitizers for example
     if(COMMAND add_sanitizers)
@@ -359,3 +363,6 @@ dai_add_example(apriltag_rgb AprilTag/apriltag_rgb.cpp ON)
 # DetectionParser
 dai_add_example(detection_parser NeuralNetwork/detection_parser.cpp ON)
 target_compile_definitions(detection_parser PRIVATE BLOB_PATH="${mobilenet_blob}")
+
+# DetectionParser
+dai_add_example(crash_report CrashReport/crash_report.cpp OFF)

examples/CrashReport/crash_report.cpp

@@ -0,0 +1,41 @@
+#include <fstream>
+#include <iostream>
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+static bool fileExists(dai::Path path) {
+    std::ifstream file(path);
+    return file.is_open();
+}
+
+int main() {
+    using namespace std;
+
+    // Connect to device and start pipeline
+    dai::Device device;
+    if(device.hasCrashDump()) {
+        auto crashDump = device.getCrashDump();
+        std::string commitHash = crashDump.depthaiCommitHash;
+        std::string deviceId = crashDump.deviceId;
+
+        auto json = crashDump.serializeToJson();
+
+        for(int i = 0;; i++) {
+            dai::Path destPath = "crashDump_" + to_string(i) + "_" + deviceId + "_" + commitHash + ".json";
+            if(fileExists(destPath)) continue;
+
+            std::ofstream ob(destPath);
+            ob << std::setw(4) << json << std::endl;
+
+            std::cout << "Crash dump found on your device!" << std::endl;
+            std::cout << "Saved to " << destPath.string() << std::endl;
+            std::cout << "Please report to developers!" << std::endl;
+            break;
+        }
+    } else {
+        std::cout << "There was no crash dump found on your device!" << std::endl;
+    }
+
+    return 0;
+}

examples/FeatureTracker/feature_tracker.cpp

@@ -72,9 +72,7 @@ class FeatureTrackerDrawer {
         }
     }
 
-    FeatureTrackerDrawer(std::string trackbarName, std::string windowName) {
-        this->trackbarName = trackbarName;
-        this->windowName = windowName;
+    FeatureTrackerDrawer(std::string trackbarName, std::string windowName) : trackbarName(trackbarName), windowName(windowName) {
         cv::namedWindow(windowName.c_str());
         cv::createTrackbar(trackbarName.c_str(), windowName.c_str(), &trackedFeaturesPathLength, maxTrackedFeaturesPathLength, nullptr);
     }

examples/IMU/imu_firmware_update.cpp

@@ -11,6 +11,14 @@ int main() {
     using namespace std;
     using namespace std::chrono;
 
+    dai::Device device;
+
+    auto imuType = device.getConnectedIMU();
+    auto imuFirmwareVersion = device.getIMUFirmwareVersion();
+    auto embeddedIMUFirmwareVersion = device.getEmbeddedIMUFirmwareVersion();
+    std::cout << "IMU type: " << imuType << " firmware version: " << imuFirmwareVersion
+              << " embedded firmware version: " << embeddedIMUFirmwareVersion << std::endl;
+
     std::cout << "Warning! Flashing IMU firmware can potentially soft brick your device and should be done with caution." << std::endl;
     std::cout << "Do not unplug your device while the IMU firmware is flashing." << std::endl;
     std::cout << "Type 'y' and press enter to proceed, otherwise exits: ";
@@ -20,68 +28,26 @@ int main() {
         return -1;
     }
 
-    // Create pipeline
-    dai::Pipeline pipeline;
-
-    // Define sources and outputs
-    auto imu = pipeline.create<dai::node::IMU>();
-    auto xlinkOut = pipeline.create<dai::node::XLinkOut>();
-
-    xlinkOut->setStreamName("imu");
-
-    // enable ACCELEROMETER_RAW at 500 hz rate
-    imu->enableIMUSensor(dai::IMUSensor::ACCELEROMETER_RAW, 500);
-    // enable GYROSCOPE_RAW at 400 hz rate
-    imu->enableIMUSensor(dai::IMUSensor::GYROSCOPE_RAW, 400);
-    // it's recommended to set both setBatchReportThreshold and setMaxBatchReports to 20 when integrating in a pipeline with a lot of input/output connections
-    // above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available
-    imu->setBatchReportThreshold(1);
-    // maximum number of IMU packets in a batch, if it's reached device will block sending until host can receive it
-    // if lower or equal to batchReportThreshold then the sending is always blocking on device
-    // useful to reduce device's CPU load  and number of lost packets, if CPU load is high on device side due to multiple nodes
-    imu->setMaxBatchReports(10);
-
-    // Link plugins IMU -> XLINK
-    imu->out.link(xlinkOut->input);
-
-    imu->enableFirmwareUpdate(true);
-
-    // Pipeline is defined, now we can connect to the device
-    dai::Device d(pipeline);
-
-    bool firstTs = false;
-
-    auto imuQueue = d.getOutputQueue("imu", 50, false);
-    auto baseTs = std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration>();
+    auto started = device.startIMUFirmwareUpdate();
+    if(!started) {
+        std::cout << "Couldn't start IMU firmware update" << std::endl;
+        return 1;
+    }
 
     while(true) {
-        auto imuData = imuQueue->get<dai::IMUData>();
-
-        auto imuPackets = imuData->packets;
-        for(auto& imuPacket : imuPackets) {
-            auto& acceleroValues = imuPacket.acceleroMeter;
-            auto& gyroValues = imuPacket.gyroscope;
-
-            auto acceleroTs1 = acceleroValues.getTimestampDevice();
-            auto gyroTs1 = gyroValues.getTimestampDevice();
-            if(!firstTs) {
-                baseTs = std::min(acceleroTs1, gyroTs1);
-                firstTs = true;
+        bool fwUpdateFinished;
+        float percentage;
+        std::tie(fwUpdateFinished, percentage) = device.getIMUFirmwareUpdateStatus();
+        std::cout << "IMU FW update status: " << std::setprecision(1) << percentage << std::endl;
+        if(fwUpdateFinished) {
+            if(percentage == 100) {
+                std::cout << "Firmware update successful!" << std::endl;
+            } else {
+                std::cout << "Firmware update failed!" << std::endl;
             }
-
-            auto acceleroTs = acceleroTs1 - baseTs;
-            auto gyroTs = gyroTs1 - baseTs;
-
-            printf("Accelerometer timestamp: %ld ms\n", static_cast<long>(duration_cast<milliseconds>(acceleroTs).count()));
-            printf("Accelerometer [m/s^2]: x: %.3f y: %.3f z: %.3f \n", acceleroValues.x, acceleroValues.y, acceleroValues.z);
-            printf("Gyroscope timestamp: %ld ms\n", static_cast<long>(duration_cast<milliseconds>(gyroTs).count()));
-            printf("Gyroscope [rad/s]: x: %.3f y: %.3f z: %.3f \n", gyroValues.x, gyroValues.y, gyroValues.z);
-        }
-
-        int key = cv::waitKey(1);
-        if(key == 'q') {
-            return 0;
+            break;
         }
+        std::this_thread::sleep_for(1s);
     }
 
     return 0;

examples/SpatialDetection/spatial_location_calculator.cpp

@@ -49,6 +49,8 @@ int main() {
     dai::SpatialLocationCalculatorConfigData config;
     config.depthThresholds.lowerThreshold = 100;
     config.depthThresholds.upperThreshold = 10000;
+    auto calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MEDIAN;
+    config.calculationAlgorithm = calculationAlgorithm;
     config.roi = dai::Rect(topLeft, bottomRight);
 
     spatialDataCalculator->inputConfig.setWaitForMessage(false);
@@ -144,12 +146,38 @@ int main() {
                     newConfig = true;
                 }
                 break;
+            case '1':
+                calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MEAN;
+                newConfig = true;
+                std::cout << "Switching calculation algorithm to MEAN!" << std::endl;
+                break;
+            case '2':
+                calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MIN;
+                newConfig = true;
+                std::cout << "Switching calculation algorithm to MIN!" << std::endl;
+                break;
+            case '3':
+                calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MAX;
+                newConfig = true;
+                std::cout << "Switching calculation algorithm to MAX!" << std::endl;
+                break;
+            case '4':
+                calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MODE;
+                newConfig = true;
+                std::cout << "Switching calculation algorithm to MODE!" << std::endl;
+                break;
+            case '5':
+                calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MEDIAN;
+                newConfig = true;
+                std::cout << "Switching calculation algorithm to MEDIAN!" << std::endl;
+                break;
             default:
                 break;
         }
 
         if(newConfig) {
             config.roi = dai::Rect(topLeft, bottomRight);
+            config.calculationAlgorithm = calculationAlgorithm;
             dai::SpatialLocationCalculatorConfig cfg;
             cfg.addROI(config);
             spatialCalcConfigInQueue->send(cfg);

examples/StereoDepth/stereo_depth_video.cpp

@@ -98,7 +98,6 @@ int main() {
         cv::imshow("right", right->getFrame());
 
         if(withDepth) {
-            // Note: in some configurations (if depth is enabled), disparity may output garbage data
             auto disparity = dispQueue->get<dai::ImgFrame>();
             cv::Mat disp(disparity->getCvFrame());
             disp.convertTo(disp, CV_8UC1, disparityMultiplier);  // Extend disparity range

include/depthai/device/DataQueue.hpp

@@ -43,6 +43,10 @@ class DataOutputQueue {
 
     /**
      * Check whether queue is closed
+     *
+     * @warning This function is thread-unsafe and may return outdated incorrect values. It is
+     * only meant for use in simple single-threaded code. Well written code should handle
+     * exceptions when calling any DepthAI apis to handle hardware events and multithreaded use.
      */
     bool isClosed() const;
 
@@ -343,7 +347,7 @@ class DataInputQueue {
     std::atomic<bool> running{true};
     std::string exceptionMessage;
     const std::string name;
-    std::size_t maxDataSize = device::XLINK_USB_BUFFER_MAX_SIZE;
+    std::atomic<std::size_t> maxDataSize{device::XLINK_USB_BUFFER_MAX_SIZE};
 
    public:
     DataInputQueue(const std::shared_ptr<XLinkConnection> conn,
@@ -355,6 +359,10 @@ class DataInputQueue {
 
     /**
      * Check whether queue is closed
+     *
+     * @warning This function is thread-unsafe and may return outdated incorrect values. It is
+     * only meant for use in simple single-threaded code. Well written code should handle
+     * exceptions when calling any DepthAI apis to handle hardware events and multithreaded use.
      */
     bool isClosed() const;