luxonis · moratom · Nov 22, 2024 · May 5, 2023 · May 12, 2023 · May 12, 2023
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -188,7 +188,7 @@ jobs:
     runs-on: windows-latest
     strategy:
       matrix:
-        python-version: [3.7, 3.8, 3.9, '3.10', '3.11', '3.12']
+        python-version: [3.7, 3.8, 3.9, '3.10', '3.11', '3.12', '3.13']
         python-architecture: [x64, x86]
       fail-fast: false
     steps:
@@ -244,7 +244,7 @@ jobs:
     needs: build-docstrings
     strategy:
       matrix:
-        python-version: [3.8, 3.9, '3.10', '3.11', '3.12']
+        python-version: [3.8, 3.9, '3.10', '3.11', '3.12', '3.13']
         os: [macos-13, macos-14] # macos-13 is x64, macos-14 is arm64
     runs-on: ${{ matrix.os }}
     steps:
@@ -352,7 +352,7 @@ jobs:
           /opt/python/cp38-cp38/bin/python3.8 setup.py sdist --formats=gztar
           mv dist/* wheelhouse/audited/
       - name: Build wheels
-        run: for PYBIN in /opt/python/cp3{7..12}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
+        run: for PYBIN in /opt/python/cp3{7..13}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
       - name: Audit wheels
         run: for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
       - name: Archive wheel artifacts
@@ -413,7 +413,7 @@ jobs:
         if: startsWith(github.ref, 'refs/tags/v') != true
         run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
       - name: Building wheels
-        run: for PYBIN in /opt/python/cp3{7..12}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
+        run: for PYBIN in /opt/python/cp3{7..13}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
       - name: Auditing wheels
         run: for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
       - name: Archive wheel artifacts

diff --git a/.github/workflows/test-install-dependencies.yml b/.github/workflows/test-install-dependencies.yml
@@ -16,7 +16,7 @@
      runs-on: ubuntu-latest
      strategy:
        matrix:
-          container_image: ["fedora:34", "fedora:35", "fedora:36", "ubuntu:18.04", "ubuntu:20.04", "ubuntu:22.04", "ubuntu:rolling"]
+          container_image: ["fedora:34", "fedora:35", "fedora:36", "ubuntu:20.04", "ubuntu:22.04", "ubuntu:24.04", "ubuntu:rolling"]
      container:
        image: ${{ matrix.container_image }}
      steps:

diff --git a/depthai-core b/depthai-core
diff --git a/examples/Camera/camera_undistort.py b/examples/Camera/camera_undistort.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import cv2
 

diff --git a/examples/Camera/thermal_cam.py b/examples/Camera/thermal_cam.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import cv2
 import numpy as np

diff --git a/examples/Cast/cast_blur.py b/examples/Cast/cast_blur.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import cv2
 from pathlib import Path

diff --git a/examples/Cast/cast_concat.py b/examples/Cast/cast_concat.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import numpy as np
 import cv2
 import depthai as dai

diff --git a/examples/Cast/cast_diff.py b/examples/Cast/cast_diff.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import cv2
 import depthai as dai
 from pathlib import Path

diff --git a/examples/ColorCamera/rgb_scene.py b/examples/ColorCamera/rgb_scene.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import cv2
 import depthai as dai
 from itertools import cycle

diff --git a/examples/ColorCamera/rgb_undistort.py b/examples/ColorCamera/rgb_undistort.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import cv2
 import depthai as dai
 import numpy as np

diff --git a/examples/CrashReport/capture_diagnostic.py b/examples/CrashReport/capture_diagnostic.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import zipfile
 from json import dump, JSONEncoder

diff --git a/examples/FeatureTracker/feature_motion_estimation.py b/examples/FeatureTracker/feature_motion_estimation.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import numpy as np
 import cv2
 from collections import deque

diff --git a/examples/ImageAlign/depth_align.py b/examples/ImageAlign/depth_align.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import numpy as np
 import cv2
 import depthai as dai
@@ -32,7 +34,6 @@ def getFps(self):
 device = dai.Device()
 
 calibrationHandler = device.readCalibration()
-rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(1920 / ISP_SCALE), int(1080 / ISP_SCALE))
 rgbDistortion = calibrationHandler.getDistortionCoefficients(RGB_SOCKET)
 distortionModel = calibrationHandler.getDistortionModel(RGB_SOCKET)
 if distortionModel != dai.CameraModel.Perspective:
@@ -158,6 +159,8 @@ def updateBlendWeights(percentRgb):
         if frameDepth is not None:
             cvFrame = frameRgb.getCvFrame()
 
+            rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(cvFrame.shape[1]), int(cvFrame.shape[0]))
+
             # Undistort the rgb frame
             cvFrameUndistorted = cv2.undistort(
                 cvFrame,
@@ -170,7 +173,7 @@ def updateBlendWeights(percentRgb):
             cv2.imshow("Depth aligned", alignedDepthColorized)
 
             blended = cv2.addWeighted(
-                cvFrame, rgbWeight, alignedDepthColorized, depthWeight, 0
+                cvFrameUndistorted, rgbWeight, alignedDepthColorized, depthWeight, 0
             )
             cv2.putText(
                 blended,

diff --git a/examples/ImageAlign/image_align.py b/examples/ImageAlign/image_align.py
@@ -1,6 +1,9 @@
+#!/usr/bin/env python3
+
 import cv2
 import depthai as dai
 from datetime import timedelta
+import numpy as np
 
 # This is an interactive example that shows how two frame sources without depth information.
 FPS = 30.0
@@ -12,7 +15,16 @@
 COLOR_RESOLUTION = dai.ColorCameraProperties.SensorResolution.THE_1080_P
 LEFT_RIGHT_RESOLUTION = dai.MonoCameraProperties.SensorResolution.THE_720_P
 
+ISP_SCALE = 3
+
 device = dai.Device()
+
+calibrationHandler = device.readCalibration()
+rgbDistortion = calibrationHandler.getDistortionCoefficients(RGB_SOCKET)
+distortionModel = calibrationHandler.getDistortionModel(RGB_SOCKET)
+if distortionModel != dai.CameraModel.Perspective:
+    raise RuntimeError("Unsupported distortion model for RGB camera. This example supports only Perspective model.")
+
 pipeline = dai.Pipeline()
 
 # Define sources and outputs
@@ -30,7 +42,7 @@
 camRgb.setBoardSocket(RGB_SOCKET)
 camRgb.setResolution(COLOR_RESOLUTION)
 camRgb.setFps(FPS)
-camRgb.setIspScale(1, 3)
+camRgb.setIspScale(1, ISP_SCALE)
 
 out.setStreamName("out")
 
@@ -107,12 +119,20 @@ def updateDepthPlane(depth):
         # Colorize the aligned depth
         leftCv = leftAligned.getCvFrame()
 
+        rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(frameRgbCv.shape[1]), int(frameRgbCv.shape[0]))
+
+        cvFrameUndistorted = cv2.undistort(
+            frameRgbCv,
+            np.array(rgbIntrinsics),
+            np.array(rgbDistortion),
+        )
+
         if len(leftCv.shape) == 2:
             leftCv = cv2.cvtColor(leftCv, cv2.COLOR_GRAY2BGR)
-        if leftCv.shape != frameRgbCv.shape:
-            leftCv = cv2.resize(leftCv, (frameRgbCv.shape[1], frameRgbCv.shape[0]))
+        if leftCv.shape != cvFrameUndistorted.shape:
+            leftCv = cv2.resize(leftCv, (cvFrameUndistorted.shape[1], cvFrameUndistorted.shape[0]))
 
-        blended = cv2.addWeighted(frameRgbCv, rgbWeight, leftCv, leftWeight, 0)
+        blended = cv2.addWeighted(cvFrameUndistorted, rgbWeight, leftCv, leftWeight, 0)
         cv2.imshow(windowName, blended)
 
         key = cv2.waitKey(1)

diff --git a/examples/ImageAlign/thermal_align.py b/examples/ImageAlign/thermal_align.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import cv2
 import depthai as dai
 import numpy as np
@@ -38,6 +40,14 @@ def getFps(self):
     raise RuntimeError("No thermal camera found!")
 
 
+ISP_SCALE = 3
+
+calibrationHandler = device.readCalibration()
+rgbDistortion = calibrationHandler.getDistortionCoefficients(RGB_SOCKET)
+distortionModel = calibrationHandler.getDistortionModel(RGB_SOCKET)
+if distortionModel != dai.CameraModel.Perspective:
+    raise RuntimeError("Unsupported distortion model for RGB camera. This example supports only Perspective model.")
+
 pipeline = dai.Pipeline()
 
 # Define sources and outputs
@@ -55,7 +65,7 @@ def getFps(self):
 camRgb.setBoardSocket(RGB_SOCKET)
 camRgb.setResolution(COLOR_RESOLUTION)
 camRgb.setFps(FPS)
-camRgb.setIspScale(1,3)
+camRgb.setIspScale(1,ISP_SCALE)
 
 out.setStreamName("out")
 
@@ -130,6 +140,14 @@ def updateDepthPlane(depth):
         frameRgbCv = frameRgb.getCvFrame()
         fpsCounter.tick()
 
+        rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(frameRgbCv.shape[1]), int(frameRgbCv.shape[0]))
+
+        cvFrameUndistorted = cv2.undistort(
+            frameRgbCv,
+            np.array(rgbIntrinsics),
+            np.array(rgbDistortion),
+        )
+
         # Colorize the aligned depth
         thermalFrame = thermalAligned.getCvFrame().astype(np.float32)
         # Create a mask for nan values
@@ -141,7 +159,7 @@ def updateDepthPlane(depth):
         # Apply the mask back with black pixels (0)
         colormappedFrame[mask] = 0
 
-        blended = cv2.addWeighted(frameRgbCv, rgbWeight, colormappedFrame, thermalWeight, 0)
+        blended = cv2.addWeighted(cvFrameUndistorted, rgbWeight, colormappedFrame, thermalWeight, 0)
 
         cv2.putText(
             blended,

diff --git a/examples/ImageAlign/tof_align.py b/examples/ImageAlign/tof_align.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import numpy as np
 import cv2
 import depthai as dai
@@ -27,8 +29,18 @@ def getFps(self):
         return (len(self.frameTimes) - 1) / (self.frameTimes[-1] - self.frameTimes[0])
 
 
+ISP_SCALE = 2
+
+device = dai.Device()
+
+calibrationHandler = device.readCalibration()
+rgbDistortion = calibrationHandler.getDistortionCoefficients(RGB_SOCKET)
+distortionModel = calibrationHandler.getDistortionModel(RGB_SOCKET)
+if distortionModel != dai.CameraModel.Perspective:
+    raise RuntimeError("Unsupported distortion model for RGB camera. This example supports only Perspective model.")
 
 pipeline = dai.Pipeline()
+
 # Define sources and outputs
 camRgb = pipeline.create(dai.node.ColorCamera)
 tof = pipeline.create(dai.node.ToF)
@@ -46,7 +58,7 @@ def getFps(self):
 camRgb.setBoardSocket(RGB_SOCKET)
 camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_800_P)
 camRgb.setFps(FPS)
-camRgb.setIspScale(1, 2)
+camRgb.setIspScale(1, ISP_SCALE)
 
 out.setStreamName("out")
 
@@ -107,7 +119,8 @@ def updateBlendWeights(percentRgb):
 
 
 # Connect to device and start pipeline
-with dai.Device(pipeline) as device:
+with device:
+    device.startPipeline(pipeline)
     queue = device.getOutputQueue("out", 8, False)
 
     # Configure windows; trackbar adjusts blending ratio of rgb/depth
@@ -136,6 +149,12 @@ def updateBlendWeights(percentRgb):
         # Blend when both received
         if frameDepth is not None:
             cvFrame = frameRgb.getCvFrame()
+            rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(cvFrame.shape[1]), int(cvFrame.shape[0]))
+            cvFrameUndistorted = cv2.undistort(
+                cvFrame,
+                np.array(rgbIntrinsics),
+                np.array(rgbDistortion),
+            )
             # Colorize the aligned depth
             alignedDepthColorized = colorizeDepth(frameDepth.getFrame())
             # Resize depth to match the rgb frame
@@ -151,7 +170,7 @@ def updateBlendWeights(percentRgb):
             cv2.imshow("depth", alignedDepthColorized)
 
             blended = cv2.addWeighted(
-                cvFrame, rgbWeight, alignedDepthColorized, depthWeight, 0
+                cvFrameUndistorted, rgbWeight, alignedDepthColorized, depthWeight, 0
             )
             cv2.imshow(rgbDepthWindowName, blended)
 

diff --git a/examples/NeuralNetwork/thermal_nnet.py b/examples/NeuralNetwork/thermal_nnet.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import cv2
 from pathlib import Path

diff --git a/examples/PointCloud/pointcloud_control.py b/examples/PointCloud/pointcloud_control.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import numpy as np
 import cv2

diff --git a/examples/PointCloud/visualize_pointcloud.py b/examples/PointCloud/visualize_pointcloud.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 from time import sleep
 import numpy as np

diff --git a/examples/Script/script_emmc_access.py b/examples/Script/script_emmc_access.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import cv2
 

diff --git a/examples/Script/script_read_calibration.py b/examples/Script/script_read_calibration.py
diff --git a/examples/Script/script_uart.py b/examples/Script/script_uart.py
diff --git a/examples/StereoDepth/stereo_depth_custom_mesh.py b/examples/StereoDepth/stereo_depth_custom_mesh.py
+1 −1		CMakeLists.txt
+1 −1		cmake/Depthai/DepthaiDeviceSideConfig.cmake
+11 −0		examples/CMakeLists.txt
+157 −0		examples/Yolo/yolov8_nano.cpp
+17 −0		include/depthai/device/DeviceBase.hpp
+35 −0		include/depthai/pipeline/datatype/CameraControl.hpp
+23 −0		include/depthai/pipeline/datatype/EncodedFrame.hpp
+7 −2		include/depthai/pipeline/node/StereoDepth.hpp
+1 −1		shared/depthai-shared
+20 −0		src/device/DeviceBase.cpp
+17 −0		src/pipeline/datatype/CameraControl.cpp
+14 −0		src/pipeline/datatype/EncodedFrame.cpp
+42 −0		src/pipeline/datatype/StereoDepthConfig.cpp
+156 −0		src/pipeline/node/StereoDepth.cpp
+1 −3		tests/src/stability_stress_test.cpp