luxonis · SzabolcsGergely · Apr 12, 2021 · Mar 21, 2021 · Mar 21, 2021 · Mar 21, 2021
diff --git a/.gitignore b/.gitignore
@@ -25,9 +25,10 @@ _builds/
 
 #git
 *.orig
+*_REMOTE_*
+*_LOCAL_*
+*_BACKUP_*
+*_BASE_*
 
 #ci
 wheelhouse/
-
-# Example blobs/files
-examples/models/
diff --git a/README.md b/README.md
@@ -33,6 +33,7 @@ See: [depthai-core dependencies](https://github.com/luxonis/depthai-core#depende
 
 To build a shared library from source perform the following:
 ```
+git submodule update --init --recursive
 mkdir build && cd build
 cmake .. [-D PYTHON_EXECUTABLE=/full/path/to/python]
 cmake --build . --parallel
@@ -54,6 +55,7 @@ python3 -m pip install .
 
 To run the tests build the library with the following options
 ```
+git submodule update --init --recursive
 mkdir build_tests && cd build_tests
 cmake .. -D DEPTHAI_PYTHON_ENABLE_TESTS=ON -D DEPTHAI_PYTHON_ENABLE_EXAMPLES=ON -D DEPTHAI_PYTHON_TEST_EXAMPLES=ON
 cmake --build . --parallel
@@ -68,7 +70,6 @@ ctest
 - Raspbian 10;
 - macOS 10.14.6, 10.15.4;
 
-
 ### Building documentation
 
 - **Using [Docker](https://docs.docker.com/) (with [Docker Compose](https://docs.docker.com/compose/install/))**
@@ -78,36 +79,35 @@ ctest
      sudo docker-compose build
      sudo docker-compose up
      ```
-
-     > ℹ️ You can leave out the `sudo` if you have added your user to the `docker` group (or are using rootless docker).
 
+     > ℹ️ You can leave out the `sudo` if you have added your user to the `docker` group (or are using rootless docker).
      Then open [http://localhost:8000](http://localhost:8000).
-     
+
      This docker container will watch changes in the `docs/source` directory and rebuild the docs automatically
 
 - **Linux**
-     
+
      First, please install the required [dependencies](#Dependencies)
-  
+
      Then run the following commands to build the docs website
-  
+
      ```
      python3 -m pip install -U pip
      python3 -m pip install -r docs/requirements.txt
      cmake -S . -B build -D DEPTHAI_BUILD_DOCS=ON -D DEPTHAI_PYTHON_BUILD_DOCS=ON
      cmake --build build --parallel --target sphinx
      python3 -m http.server --bind 0.0.0.0 8000 --directory build/docs/sphinx
      ```
-  
+
      Then open [http://localhost:8000](http://localhost:8000).
 
      This will build documentation based on current sources, so if some new changes will be made, run this command
      in a new terminal window to update the website source
-  
+
      ```
      cmake --build build --parallel --target sphinx
      ```
-  
+
      Then refresh your page - it should load the updated website that was just built
 
 ## Troubleshooting
@@ -121,7 +121,7 @@ Build failure on Ubuntu 18.04 ("relocation ..." link error) with gcc 7.4.0 (defa
          sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 70
          sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-8 70
 ### Hunter
-Hunter is a CMake-only dependency manager for C/C++ projects. 
+Hunter is a CMake-only dependency manager for C/C++ projects.
 
 If you are stuck with error message which mentions external libraries (subdirectory of `.hunter`) like the following:
 ```
@@ -145,7 +145,7 @@ del C:/[user]/.hunter
 
 ### LTO - link time optimization
 
-If following message appears: 
+If following message appears:
 ```
 lto1: internal compiler error: in add_symbol_to_partition_1, at lto/lto-partition.c:152
 Please submit a full bug report,

diff --git a/depthai-core b/depthai-core
diff --git a/docs/source/index.rst b/docs/source/index.rst
@@ -85,7 +85,9 @@ Now, pick a tutorial or code sample and start utilizing Gen2 capabilities
    samples/11_rgb_encoding_mono_mobilenet.rst
    samples/12_rgb_encoding_mono_mobilenet_depth.rst
    samples/13_encoding_max_limit.rst
-   samples/14_color_camera_control.rst
+   samples/14_1_color_camera_control.rst
+   samples/14_2_mono_camera_control.rst
+   samples/14_3_depth_crop_control.rst
    samples/15_rgb_mobilenet_4k.rst
    samples/16_device_queue_event.rst
    samples/17_video_mobilenet.rst
@@ -102,6 +104,10 @@ Now, pick a tutorial or code sample and start utilizing Gen2 capabilities
    samples/26_3_spatial_tiny_yolo.rst
    samples/27_spatial_location_calculator.rst
    samples/28_camera_video_example.rst
+   samples/29_1_object_tracker.rst
+   samples/29_2_spatial_object_tracker.rst
+   samples/29_3_object_tracker_video.rst
+   samples/30_stereo_depth_from_host.rst
 
 .. toctree::
    :maxdepth: 1

diff --git a/docs/source/samples/09_mono_mobilenet.rst b/docs/source/samples/09_mono_mobilenet.rst
@@ -10,7 +10,7 @@ Demo
 .. raw:: html
 
     <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
-        <iframe src="https://www.youtube.com/embed/liTGGyJwZ_8" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+        <iframe src="https://www.youtube.com/embed/8Jih63NWFdI" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
     </div>
 
 Setup

diff --git a/docs/source/samples/10_mono_depth_mobilenetssd.rst b/docs/source/samples/10_mono_depth_mobilenetssd.rst
@@ -1,5 +1,5 @@
-10 - Mono & MobilenetSSD & Encoding
-===================================
+10 - Mono & MobilenetSSD & Depth
+================================
 
 This example shows how to run MobileNetv2SSD on the left grayscale camera in parallel with running
 the disparity depth results, displaying both the depth map and the right grayscale stream, with the
@@ -11,7 +11,7 @@ Demo
 .. raw:: html
 
     <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
-        <iframe src="https://www.youtube.com/embed/D_hefNl134M" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+        <iframe src="https://www.youtube.com/embed/aCT0CRXx1qI" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
     </div>
 
 Setup

diff --git a/docs/source/samples/11_rgb_encoding_mono_mobilenet.rst b/docs/source/samples/11_rgb_encoding_mono_mobilenet.rst
@@ -18,7 +18,7 @@ Demo
 .. raw:: html
 
     <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
-        <iframe src="https://www.youtube.com/embed/qzwt9XXNsow" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+        <iframe src="https://www.youtube.com/embed/3n549_6dANo" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
     </div>
 
 Setup

diff --git a/docs/source/samples/12_rgb_encoding_mono_mobilenet_depth.rst b/docs/source/samples/12_rgb_encoding_mono_mobilenet_depth.rst
@@ -20,7 +20,7 @@ Demo
 .. raw:: html
 
     <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
-        <iframe src="https://www.youtube.com/embed/Yeuzo1H24KQ" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+        <iframe src="https://www.youtube.com/embed/3sijxVDVFY8" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
     </div>
 
 Setup

diff --git a/...ource/samples/14_color_camera_control.rst → ...rce/samples/14_1_color_camera_control.rst b/...ource/samples/14_color_camera_control.rst → ...rce/samples/14_1_color_camera_control.rst
@@ -1,5 +1,5 @@
-14 - Color Camera Control
-=========================
+14.1 - Color Camera Control
+===========================
 
 This example shows how to controll the device-side crop and camera triggers.
 An output is a displayed RGB cropped frame, that can be manipulated using the following keys:
@@ -9,6 +9,12 @@ An output is a displayed RGB cropped frame, that can be manipulated using the fo
 #. `w` will move the crop up
 #. `s` will move the crop down
 #. `c` will trigger a `still` event, causing the current frame to be captured and sent over `still` output from camera node
+#. `t` will trigger autofocus
+#. `f` will trigger autofocus continuously
+#. `e` will trigger autoexposure
+#. `i` and `o` will decrease/increase the exposure time
+#. `k` and `l` will decrease/increase the sensitivity iso
+#. `,` and `.` will decrease/increase the focus range
 
 Demo
 ####
@@ -27,9 +33,9 @@ Setup
 Source code
 ###########
 
-Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/14_color_camera_control.py>`__
+Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/14_1_color_camera_control.py>`__
 
-.. literalinclude:: ../../../examples/14_color_camera_control.py
+.. literalinclude:: ../../../examples/14_1_color_camera_control.py
    :language: python
    :linenos:
 

diff --git a/docs/source/samples/14_2_mono_camera_control.rst b/docs/source/samples/14_2_mono_camera_control.rst
@@ -0,0 +1,34 @@
+14.2 - Mono Camera Control
+==========================
+
+This example shows how to controll the device-side crop and camera triggers.
+TWo output is a displayed mono cropped frame, that can be manipulated using the following keys:
+
+#. `a` will move the crop left
+#. `d` will move the crop right
+#. `w` will move the crop up
+#. `s` will move the crop down
+#. `e` will trigger autoexposure
+#. `i` and `o` will decrease/increase the exposure time
+#. `k` and `l` will decrease/increase the sensitivity iso
+
+
+Demo
+####
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/14_2_mono_camera_control.py>`__
+
+.. literalinclude:: ../../../examples/14_2_mono_camera_control.py
+   :language: python
+   :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/docs/source/samples/14_3_depth_crop_control.rst b/docs/source/samples/14_3_depth_crop_control.rst
@@ -0,0 +1,31 @@
+14.3 - Depth Crop Control
+=========================
+
+This example shows usage of depth camera in crop mode with the possibility to move the crop.
+You can manipulate the movement of the cropped frame by using the following keys:
+
+#. `a` will move the crop left
+#. `d` will move the crop right
+#. `w` will move the crop up
+#. `s` will move the crop down
+
+
+Demo
+####
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/14_3_depth_crop_control.py>`__
+
+.. literalinclude:: ../../../examples/14_3_depth_crop_control.py
+   :language: python
+   :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/docs/source/samples/15_rgb_mobilenet_4k.rst b/docs/source/samples/15_rgb_mobilenet_4k.rst
@@ -11,7 +11,7 @@ Demo
 .. raw:: html
 
     <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
-        <iframe src="https://www.youtube.com/embed/Ww-vLSxOdW8" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+        <iframe src="https://www.youtube.com/embed/4CWPVCeynw8" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
     </div>
 
 

diff --git a/docs/source/samples/17_video_mobilenet.rst b/docs/source/samples/17_video_mobilenet.rst
@@ -12,7 +12,7 @@ Demo
 .. raw:: html
 
     <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
-        <iframe src="https://www.youtube.com/embed/T8kipWWdq98" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+        <iframe src="https://www.youtube.com/embed/4DVzHw1f8p8" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
     </div>
 
 

diff --git a/docs/source/samples/18_rgb_encoding_mobilenet.rst b/docs/source/samples/18_rgb_encoding_mobilenet.rst
@@ -18,7 +18,7 @@ Demo
 .. raw:: html
 
     <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
-        <iframe src="https://www.youtube.com/embed/tE_glawKIho" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+        <iframe src="https://www.youtube.com/embed/ZFc_w5zKLPg" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
     </div>
 
 Setup

diff --git a/docs/source/samples/22_1_tiny_yolo_v3_decoding_on_device.rst b/docs/source/samples/22_1_tiny_yolo_v3_decoding_on_device.rst
@@ -15,6 +15,12 @@ setConfidenceThreshold - confidence threshold above which objects are detected
 Demo
 ####
 
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/2zXyYzD7ESQ" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
 
 Setup
 #####

diff --git a/docs/source/samples/22_2_tiny_yolo_v4_decoding_on_device.rst b/docs/source/samples/22_2_tiny_yolo_v4_decoding_on_device.rst
@@ -15,6 +15,12 @@ setConfidenceThreshold - confidence threshold above which objects are detected
 Demo
 ####
 
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/l4jDLs9d8GI" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
 
 Setup
 #####

diff --git a/docs/source/samples/24_opencv_support.rst b/docs/source/samples/24_opencv_support.rst
@@ -5,6 +5,15 @@ This example shows API which exposes both numpy and OpenCV compatible image type
 It uses ColorCamera node to retrieve both BGR interleaved 'preview' and NV12 encoded 'video' frames.
 Both are displayed using functions `getFrame` and `getCvFrame`.
 
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/YyhUivHFsaU" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
 Setup
 #####
 

diff --git a/docs/source/samples/25_system_information.rst b/docs/source/samples/25_system_information.rst
@@ -3,6 +3,43 @@
 
 This example shows how to get system information (memory usage, cpu usage and temperature) from the board.
 
+Demo
+####
+
+Example script output
+
+.. code-block::
+
+  Drr used / total - 0.13 / 414.80 MiB
+  Cmx used / total - 2.24 / 2.50 MiB
+  LeonCss heap used / total - 4.17 / 46.41 MiB
+  LeonMss heap used / total - 2.87 / 27.58 MiB
+  Chip temperature - average: 38.59, css: 39.81, mss: 37.71, upa0: 38.65, upa1: 38.18
+  Cpu usage - Leon OS: 7.08%, Leon RT: 1.48 %
+  ----------------------------------------
+  Drr used / total - 0.13 / 414.80 MiB
+  Cmx used / total - 2.24 / 2.50 MiB
+  LeonCss heap used / total - 4.17 / 46.41 MiB
+  LeonMss heap used / total - 2.87 / 27.58 MiB
+  Chip temperature - average: 38.59, css: 39.58, mss: 37.94, upa0: 38.18, upa1: 38.65
+  Cpu usage - Leon OS: 1.55%, Leon RT: 0.30 %
+  ----------------------------------------
+  Drr used / total - 0.13 / 414.80 MiB
+  Cmx used / total - 2.24 / 2.50 MiB
+  LeonCss heap used / total - 4.17 / 46.41 MiB
+  LeonMss heap used / total - 2.87 / 27.58 MiB
+  Chip temperature - average: 38.94, css: 40.04, mss: 38.18, upa0: 39.35, upa1: 38.18
+  Cpu usage - Leon OS: 0.56%, Leon RT: 0.06 %
+  ----------------------------------------
+  Drr used / total - 0.13 / 414.80 MiB
+  Cmx used / total - 2.24 / 2.50 MiB
+  LeonCss heap used / total - 4.17 / 46.41 MiB
+  LeonMss heap used / total - 2.87 / 27.58 MiB
+  Chip temperature - average: 39.46, css: 40.28, mss: 38.88, upa0: 39.81, upa1: 38.88
+  Cpu usage - Leon OS: 0.51%, Leon RT: 0.06 %
+  ----------------------------------------
+
+
 Setup
 #####
 

diff --git a/docs/source/samples/26_1_spatial_mobilenet.rst b/docs/source/samples/26_1_spatial_mobilenet.rst
@@ -11,6 +11,12 @@ setConfidenceThreshold - confidence threshold above which objects are detected
 Demo
 ####
 
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/oM95Lz3aGkc" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
 
 Setup
 #####
+22 −20		.github/workflows/main.workflow.yml
+5 −1		.gitignore
+23 −21		CMakeLists.txt
+6 −6		README.md
+2 −2		cmake/Depthai/DepthaiDeviceSideConfig.cmake
+5 −5		cmake/depthaiDependencies.cmake
+9 −0		examples/CMakeLists.txt
+22 −19		examples/src/mobilenet_device_side_decoding_example.cpp
+138 −0		examples/src/object_tracker_example.cpp
+3 −3		examples/src/spatial_mobilenet_example.cpp
+3 −3		examples/src/spatial_mobilenet_mono_example.cpp
+171 −0		examples/src/spatial_object_tracker_example.cpp
+3 −3		examples/src/spatial_tiny_yolo_example.cpp
+6 −6		examples/src/stereo_example.cpp
+3 −3		examples/src/tiny_yolo_v3_device_side_decoding_example.cpp
+3 −3		examples/src/tiny_yolo_v4_device_side_decoding_example.cpp
+2 −0		include/depthai/depthai.hpp
+1 −1		include/depthai/openvino/OpenVINO.hpp
+1 −1		include/depthai/pipeline/Pipeline.hpp
+48 −0		include/depthai/pipeline/datatype/Tracklets.hpp
+3 −0		include/depthai/pipeline/node/ColorCamera.hpp
+3 −0		include/depthai/pipeline/node/DetectionNetwork.hpp
+3 −0		include/depthai/pipeline/node/ImageManip.hpp
+3 −0		include/depthai/pipeline/node/MonoCamera.hpp
+2 −0		include/depthai/pipeline/node/NeuralNetwork.hpp
+108 −0		include/depthai/pipeline/node/ObjectTracker.hpp
+2 −0		include/depthai/pipeline/node/SpatialDetectionNetwork.hpp
+2 −0		include/depthai/pipeline/node/SpatialLocationCalculator.hpp
+3 −0		include/depthai/pipeline/node/StereoDepth.hpp
+13 −0		include/depthai/pipeline/node/VideoEncoder.hpp
+1 −1		shared/depthai-shared
+6 −3		src/openvino/OpenVINO.cpp
+10 −0		src/pipeline/datatype/StreamPacketParser.cpp
+13 −0		src/pipeline/datatype/Tracklets.cpp
+53 −0		src/pipeline/node/ObjectTracker.cpp
+12 −0		src/pipeline/node/VideoEncoder.cpp
+16 −3		src/utility/Resources.cpp
-Original file line number
+Diff line change
@@ Expand Up @@
     Demo
     ####
+    .. raw:: html
+        <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+            <iframe src="https://www.youtube.com/embed/2zXyYzD7ESQ" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+        </div>
     Setup
     #####
@@ Expand Down @@