Release v2.17.0

.github/workflows/main.workflow.yml

@@ -17,9 +17,6 @@ on:
       - gen2
       - gen2_develop
 
-env:
-  CMAKE_WINDOWS_SDK_VERSION: '10.0.18362.0'
-
 jobs:
 
   style:
@@ -33,7 +30,6 @@ jobs:
     - name: Install format dependencies
       run: |
         sudo apt-get install clang-format-10
-        sudo apt-get install libusb-1.0-0-dev
 
     - name: configure
       run: cmake . -Bbuild -DDEPTHAI_CLANG_FORMAT=ON -DCLANG_FORMAT_BIN=clang-format-10
@@ -53,7 +49,7 @@ jobs:
     - name: Install dependencies
       run: |
         sudo apt-get update
-        sudo apt-get install libusb-1.0-0-dev clang-tidy-10
+        sudo apt-get install clang-tidy-10
 
     - name: configure
       run: cmake . -Bbuild -DDEPTHAI_CLANG_TIDY=ON -DCLANG_TIDY_BIN=clang-tidy-10
@@ -71,6 +67,7 @@ jobs:
         exclude:
           - os: windows-latest
             cmake: '3.10.x'
+
     steps:
     - name: Cache .hunter folder
       if: matrix.os != 'windows-latest'
@@ -97,21 +94,19 @@ jobs:
     - name: Install dependencies
       if: matrix.os == 'macos-latest'
       run: |
-        brew install libusb opencv
+        brew install opencv
 
     - name: Install dependencies
       if: matrix.os == 'ubuntu-latest'
       run: |
         sudo apt-get update
-        sudo apt-get install libusb-1.0-0-dev libopencv-dev
+        sudo apt-get install libopencv-dev
 
     - name: Install dependencies
       if: matrix.os == 'windows-latest'
       run: |
         choco install opencv
         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 $env:GITHUB_PATH -Encoding utf8 -Append
-        echo "CMAKE_ARGS=-D'CMAKE_SYSTEM_VERSION=${{ env.CMAKE_WINDOWS_SDK_VERSION }}'" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
 
     - name: Build (old CMake, gcc/Clang)
       if: matrix.cmake == '3.10.x' && matrix.os != 'windows-latest'
@@ -138,30 +133,30 @@ jobs:
       matrix:
         os: [macos-latest, windows-latest, ubuntu-latest]
         build-type: [Debug, Release]
-        shared: [Shared, Static]
+        shared: [true, false]
         platform: [x64]
         include:
           - platform: Win32
             os: windows-latest
-            shared: Shared
+            shared: true
             build-type: Debug
           - platform: Win32
             os: windows-latest
-            shared: Shared
+            shared: true
             build-type: Release
     steps:
     - name: Cache .hunter folder
       if: matrix.os != 'windows-latest'
       uses: actions/cache@v2
       with:
         path: ~/.hunter/
-        key: hunter-${{ matrix.os }}-${{ matrix.shared }}
+        key: hunter-${{ matrix.os }}-shared_${{ matrix.shared }}
     - name: Cache .hunter folder
       if: matrix.os == 'windows-latest'
       uses: actions/cache@v2
       with:
         path: C:/.hunter/
-        key: hunter-${{ matrix.os }}-${{ matrix.shared }}
+        key: hunter-${{ matrix.os }}-shared_${{ matrix.shared }}
 
     - uses: actions/checkout@v2
       with:
@@ -170,33 +165,24 @@ jobs:
     - name: Install dependencies
       if: matrix.os == 'macos-latest'
       run: |
-        brew install libusb opencv
+        brew install opencv
 
     - name: Install dependencies
       if: matrix.os == 'ubuntu-latest'
       run: |
         sudo apt-get update
-        sudo apt-get install libusb-1.0-0-dev libopencv-dev
+        sudo apt-get install libopencv-dev
 
     - name: Install dependencies
       if: matrix.os == 'windows-latest'
       run: |
         choco install opencv
         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 $env:GITHUB_PATH -Encoding utf8 -Append
-        echo "CMAKE_ARGS=-D'CMAKE_SYSTEM_VERSION=${{ env.CMAKE_WINDOWS_SDK_VERSION }}'" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
-
-    - name: Configure ${{ matrix.build-type }}, ${{ matrix.shared }}, ${{ matrix.platform }}
-      if: matrix.shared == 'Shared' && matrix.os == 'windows-latest'
-      run: cmake -A ${{ matrix.platform }} -S . -B build -D BUILD_SHARED_LIBS=ON -D CMAKE_BUILD_TYPE=${{ matrix.build-type }} -D CMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/depthai_install ${{ env.CMAKE_ARGS }}
-
-    - name: Configure ${{ matrix.build-type }}, ${{ matrix.shared }}
-      if: matrix.shared == 'Shared' && matrix.os != 'windows-latest'
-      run: cmake -S . -B build -D BUILD_SHARED_LIBS=ON -D CMAKE_BUILD_TYPE=${{ matrix.build-type }} -D CMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/depthai_install ${{ env.CMAKE_ARGS }}
+        echo "CMAKE_GENERATOR=Visual Studio 17 2022" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+        echo "CMAKE_GENERATOR_PLATFORM=${{ matrix.platform }}" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
 
-    - name: Configure ${{ matrix.build-type }}, ${{ matrix.shared }}
-      if: matrix.shared == 'Static'
-      run: cmake -S . -B build -D BUILD_SHARED_LIBS=OFF -D CMAKE_BUILD_TYPE=${{ matrix.build-type }} -D CMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/depthai_install ${{ env.CMAKE_ARGS }}
+    - name: Configure ${{ matrix.build-type }}, shared ${{ matrix.shared }}, ${{ matrix.platform }}
+      run: cmake -S . -B build -D BUILD_SHARED_LIBS=${{ matrix.shared}} -D CMAKE_BUILD_TYPE=${{ matrix.build-type }} -D CMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/depthai_install ${{ env.CMAKE_ARGS }}
 
     - name: Set path to shared library dll (Windows)
       if: matrix.os == 'windows-latest'
@@ -224,21 +210,21 @@ jobs:
         cmake -S tests/integration/ -B tests/integration/build_add_subdirectory -D TEST_FIND_PACKAGE=OFF ${{ env.CMAKE_ARGS }}
         cmake --build tests/integration/build_add_subdirectory --config ${{ matrix.build-type }} --parallel 4
         cd tests/integration/build_add_subdirectory
-        ctest -C ${{ matrix.build-type }} --output-on-failure
+        ctest -C ${{ matrix.build-type }} --output-on-failure --no-tests=error
 
     - name: Build and test find_package (installed)
       run: |
         cmake -S tests/integration/ -B tests/integration/build_find_package -D TEST_FIND_PACKAGE=ON -D depthai_DIR=$GITHUB_WORKSPACE/depthai_install/lib/cmake/depthai ${{ env.CMAKE_ARGS }}
         cmake --build tests/integration/build_find_package --config ${{ matrix.build-type }} --parallel 4
         cd tests/integration/build_find_package
-        ctest -C ${{ matrix.build-type }} --output-on-failure
+        ctest -C ${{ matrix.build-type }} --output-on-failure --no-tests=error
 
     - name: Build and test find_package (build directory)
       run: |
         cmake -S tests/integration/ -B tests/integration/build_find_package_2 -D TEST_FIND_PACKAGE=ON -D depthai_DIR=$GITHUB_WORKSPACE/build ${{ env.CMAKE_ARGS }}
         cmake --build tests/integration/build_find_package_2 --config ${{ matrix.build-type }} --parallel 4
         cd tests/integration/build_find_package_2
-        ctest -C ${{ matrix.build-type }} --output-on-failure
+        ctest -C ${{ matrix.build-type }} --output-on-failure --no-tests=error
 
 
   release:

.github/workflows/test.workflow.yml

@@ -32,7 +32,7 @@ jobs:
             arch: 'x64'
             flavor: 'tsan'
       fail-fast: false
-    runs-on: ['self-hosted', '${{ matrix.os }}', '${{ matrix.arch }}']
+    runs-on: ['self-hosted', 'hil-test', '${{ matrix.os }}', '${{ matrix.arch }}']
 
     steps:
     - name: Cache .hunter folder
@@ -55,16 +55,16 @@ jobs:
       if: matrix.os != 'linux'
       run: |
         cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun2_${{ matrix.flavor }} -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_TEST_EXAMPLES=ON
-        cmake --build build --parallel 8 --config Release
+        cmake --build build --parallel 4 --config Release
         cd build
-        ctest -C Release --output-on-failure -L usb
+        ctest -C Release --output-on-failure -L usb --no-tests=error
 
     - name: Configure, Build and Test
       if: matrix.os == 'linux'
       run: |
         export DISPLAY=:99
         xdpyinfo -display $DISPLAY >/dev/null 2>&1 || (Xvfb $DISPLAY &)
         cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun2_${{ matrix.flavor }} -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_TEST_EXAMPLES=ON
-        cmake --build build --parallel 8 --config Release
+        cmake --build build --parallel 4 --config Release
         cd build
-        ctest -C Release --output-on-failure -L usb
+        ctest -C Release --output-on-failure -L usb --no-tests=error

CMakeLists.txt

@@ -40,7 +40,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.16.0" LANGUAGES CXX C)
+project(depthai VERSION "2.17.0" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)
@@ -128,11 +128,19 @@ set(PROJECT_EXPORT_GROUP "${PROJECT_NAME}Targets")
 find_package(Git)
 if(GIT_FOUND)
     execute_process(
-        COMMAND ${GIT_EXECUTABLE} rev-parse --is-inside-work-tree
+        COMMAND ${GIT_EXECUTABLE} rev-parse --show-toplevel
         WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
-        RESULT_VARIABLE DEPTHAI_DOWNLOADED_SOURCES
-        OUTPUT_QUIET ERROR_QUIET
+        RESULT_VARIABLE _git_root_dir_error
+        OUTPUT_VARIABLE _git_root_dir
+        ERROR_QUIET
+        OUTPUT_STRIP_TRAILING_WHITESPACE
     )
+    set(DEPTHAI_DOWNLOADED_SOURCES ON)
+    if(_git_root_dir_error EQUAL 0 AND "${_git_root_dir}" STREQUAL "${CMAKE_CURRENT_LIST_DIR}")
+        set(DEPTHAI_DOWNLOADED_SOURCES OFF)
+    endif()
+    message(DEBUG "Git root dir (${_git_root_dir_error}): ${_git_root_dir}")
+    message(DEBUG "DepthAI as downloaded sources: ${DEPTHAI_DOWNLOADED_SOURCES}")
     execute_process(
         COMMAND ${GIT_EXECUTABLE} rev-parse HEAD
         WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
@@ -585,6 +593,14 @@ configure_file(cmake/${PROJECT_NAME}Config.cmake.in ${PROJECT_NAME}Config.cmake
 set(DEPTHAI_DEPENDENCIES_INSTALLATION_PATH_REL "./dependencies")
 configure_file(cmake/${PROJECT_NAME}Config.cmake.in _install/${PROJECT_NAME}Config.cmake @ONLY)
 
+# Modify RPath to point to the cmake/depthai/dependencies/lib
+# note: macOS is APPLE and also UNIX!
+if(APPLE)
+  set_target_properties(${TARGET_CORE_NAME} PROPERTIES INSTALL_RPATH "@loader_path;@loader_path/cmake/${PROJECT_NAME}/dependencies/lib")
+elseif(UNIX)
+  set_target_properties(${TARGET_CORE_NAME} PROPERTIES INSTALL_RPATH "$ORIGIN:$ORIGIN/cmake/${PROJECT_NAME}/dependencies/lib")
+endif()
+
 # Export to CMake registry if specified
 if(CMAKE_EXPORT_PACKAGE_REGISTRY)
     export(PACKAGE depthai)

cmake/Depthai/DepthaiBootloaderConfig.cmake

@@ -1,7 +1,7 @@
 # Maturity level "snapshot" / "release"
-# set(DEPTHAI_BOOTLOADER_MATURITY "release")
-set(DEPTHAI_BOOTLOADER_MATURITY "snapshot")
+set(DEPTHAI_BOOTLOADER_MATURITY "release")
+# set(DEPTHAI_BOOTLOADER_MATURITY "snapshot")
 
 # "version if applicable"
-# set(DEPTHAI_BOOTLOADER_VERSION "0.0.17")
-set(DEPTHAI_BOOTLOADER_VERSION "0.0.18+c555ac2fb184b801291c95f7f73d23bf4dd42cf1")
+set(DEPTHAI_BOOTLOADER_VERSION "0.0.19")
+# set(DEPTHAI_BOOTLOADER_VERSION "0.0.19+4af3b8fe5c0dc6f9a31dedac17affe2e490f81a0")

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 "077fa75ba35a83d8c42156c40718d412a5825b77")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "6df2ae14def3d70c1b92ef8ce5a471b10ae30bd5")
 
 # "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/a5bd7e7dda40e08dc2d6570f6a8c766ba3332703.tar.gz"
-    SHA1 "dd821a5c08a81b629dae53124cb61512d8de49f1"
+    URL "https://github.com/luxonis/XLink/archive/117fdee6990dfbf7ad7e056775df75f91ac902aa.tar.gz"
+    SHA1 "edc1fd791e2e3f02df8d22adf9e297111adc734a"
 )
 
 hunter_config(

examples/CMakeLists.txt

@@ -11,24 +11,14 @@ target_include_directories(utility PUBLIC "utility")
 add_default_flags(utility LEAN)
 target_link_libraries(utility FP16::fp16 ${OpenCV_LIBS})
 
-# Specify path separator
-set(SYS_PATH_SEPARATOR ";")
-if(UNIX)
-    set(SYS_PATH_SEPARATOR ":")
-endif()
-
 # Create environments for usb & poe labels
 set(test_usb_env
-    # PATH (dlls)
-    "PATH=${HUNTER_INSTALL_PREFIX}/bin${SYS_PATH_SEPARATOR}$ENV{PATH}"
     # Misc
     "UBSAN_OPTIONS=halt_on_error=1"
     # DepthAI
     "DEPTHAI_PROTOCOL=usb"
 )
 set(test_poe_env
-    # PATH (dlls)
-    "PATH=${HUNTER_INSTALL_PREFIX}/bin${SYS_PATH_SEPARATOR}$ENV{PATH}"
     # Misc
     "UBSAN_OPTIONS=halt_on_error=1"
     # DepthAI
@@ -41,7 +31,7 @@ function(dai_add_example example_name example_src enable_test)
     # Add example
     add_executable(${example_name} ${example_src})
     add_default_flags(${example_name} LEAN)
-    target_link_libraries(${example_name} PRIVATE utility depthai::opencv ${OpenCV_LIBS})
+    target_link_libraries(${example_name} PRIVATE utility depthai::opencv ${OpenCV_LIBS} Threads::Threads)
 
     # Add sanitizers for example
     if(COMMAND add_sanitizers)
@@ -78,6 +68,21 @@ function(dai_add_example example_name example_src enable_test)
         set_tests_properties(${example_name}_poe PROPERTIES ENVIRONMENT "${test_poe_env}" LABELS poe)
 
     endif()
+
+    # Copy over required DLLs (Windows)
+    if(WIN32)
+        # Copy dlls to target directory - Windows only
+        # TARGET_RUNTIME_DLLS generator expression available since CMake 3.21
+        if(CMAKE_VERSION VERSION_LESS "3.21")
+            file(GLOB depthai_dll_libraries "${HUNTER_INSTALL_PREFIX}/bin/*.dll")
+        else()
+            set(depthai_dll_libraries "$<TARGET_RUNTIME_DLLS:${example_name}>")
+        endif()
+        add_custom_command(TARGET ${example_name} POST_BUILD COMMAND
+            ${CMAKE_COMMAND} -E copy_if_different ${depthai_dll_libraries} $<TARGET_FILE_DIR:${example_name}>
+            COMMAND_EXPAND_LISTS
+        )
+    endif()
 endfunction()
 
 # Create a custom target which runs all examples for 10 seconds max, and check if they executed without errors
@@ -197,6 +202,9 @@ dai_add_example(bootloader_version bootloader/bootloader_version.cpp ON)
 dai_add_example(flash_bootloader bootloader/flash_bootloader.cpp OFF)
 dai_add_example(bootloader_config bootloader/bootloader_config.cpp ON read)
 dai_add_example(poe_set_ip bootloader/poe_set_ip.cpp OFF)
+dai_add_example(read_flash_memory bootloader/read_flash_memory.cpp OFF)
+dai_add_example(write_flash_memory bootloader/write_flash_memory.cpp OFF)
+dai_add_example(flash_boot_header bootloader/flash_boot_header.cpp OFF)
 
 # calibration
 dai_add_example(calibration_flash calibration/calibration_flash.cpp OFF)
@@ -231,6 +239,7 @@ dai_add_example(image_manip ImageManip/image_manip_example.cpp ON)
 dai_add_example(image_manip_rotate ImageManip/image_manip_rotate.cpp ON)
 dai_add_example(image_manip_tiling ImageManip/image_manip_tiling.cpp ON)
 dai_add_example(rgb_rotate_warp ImageManip/rgb_rotate_warp.cpp ON)
+dai_add_example(image_manip_warp_mesh ImageManip/image_manip_warp_mesh.cpp ON)
 
 # IMU
 dai_add_example(imu_gyroscope_accelerometer IMU/imu_gyroscope_accelerometer.cpp ON)

examples/ImageManip/image_manip_tiling.cpp

@@ -18,11 +18,15 @@ int main() {
     // preview frame into 2 500x500 frames
     auto manip1 = pipeline.create<dai::node::ImageManip>();
     manip1->initialConfig.setCropRect(0, 0, 0.5, 1);
+    // Flip functionality
+    manip1->initialConfig.setHorizontalFlip(true);
     manip1->setMaxOutputFrameSize(maxFrameSize);
     camRgb->preview.link(manip1->inputImage);
 
     auto manip2 = pipeline.create<dai::node::ImageManip>();
     manip2->initialConfig.setCropRect(0.5, 0, 1, 1);
+    // Flip functionality
+    manip1->initialConfig.setVerticalFlip(true);
     manip2->setMaxOutputFrameSize(maxFrameSize);
     camRgb->preview.link(manip2->inputImage);