From a65c574c5c72b6d6cd335625eb818a26b9ce4682 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Fri, 2 Jul 2021 01:23:25 +0300 Subject: [PATCH 01/10] Add OpenVino 2021.4 support; remove dperecated 2020.1, 2020.2 --- depthai-core | 2 +- docs/source/components/pipeline.rst | 2 +- src/openvino/OpenVINOBindings.cpp | 9 ++++----- 3 files changed, 6 insertions(+), 7 deletions(-) diff --git a/depthai-core b/depthai-core index 3759e196c..a6c2c400f 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit 3759e196c8a937860fbc6521138d6c8c41c305a7 +Subproject commit a6c2c400fd37ddbd83b76f9b894693966632b60f diff --git a/docs/source/components/pipeline.rst b/docs/source/components/pipeline.rst index 2aadc2c3d..2e1390c97 100644 --- a/docs/source/components/pipeline.rst +++ b/docs/source/components/pipeline.rst @@ -43,7 +43,7 @@ The reason behind this is that OpenVINO doesn't provide version inside the blob. pipeline = depthai.Pipeline() # Set the correct version: - pipeline.setOpenVINOVersion(depthai.OpenVINO.Version.VERSION_2020_1) + pipeline.setOpenVINOVersion(depthai.OpenVINO.Version.VERSION_2021_4) How to place it ############### diff --git a/src/openvino/OpenVINOBindings.cpp b/src/openvino/OpenVINOBindings.cpp index 6ad3346ac..eca2a0b04 100644 --- a/src/openvino/OpenVINOBindings.cpp +++ b/src/openvino/OpenVINOBindings.cpp @@ -19,19 +19,18 @@ void OpenVINOBindings::bind(pybind11::module& m){ ; // not strongly typed enum OpenVINO::Version - // previous step defined class 'OpenVINO' (variable 'openvino') + // previous step defined class 'OpenVINO' (variable 'openvino') // which is used in defining the following enum (its scope) - // and that the values are available directly under OpenVINO.VERSION_2020_1, ... + // and that the values are available directly under OpenVINO.VERSION_2021_4, ... // they are exported - // By default, pybind creates strong typed enums, eg: OpenVINO::Version::VERSION_2020_1 + // By default, pybind creates strong typed enums, eg: OpenVINO::Version::VERSION_2021_4 py::enum_(openvino, "Version", DOC(dai, OpenVINO, Version)) - .value("VERSION_2020_1", OpenVINO::Version::VERSION_2020_1) - .value("VERSION_2020_2", OpenVINO::Version::VERSION_2020_2) .value("VERSION_2020_3", OpenVINO::Version::VERSION_2020_3) .value("VERSION_2020_4", OpenVINO::Version::VERSION_2020_4) .value("VERSION_2021_1", OpenVINO::Version::VERSION_2021_1) .value("VERSION_2021_2", OpenVINO::Version::VERSION_2021_2) .value("VERSION_2021_3", OpenVINO::Version::VERSION_2021_3) + .value("VERSION_2021_4", OpenVINO::Version::VERSION_2021_4) .export_values() ; From 0850e983db9733939794d7daa2243705c6115e56 Mon Sep 17 00:00:00 2001 From: alex-luxonis Date: Thu, 15 Jul 2021 02:49:17 +0300 Subject: [PATCH 02/10] Update FW: RGB - Mono capture sync, add bindings for ImgFrame::tsDevice / getTimestampDevice() --- depthai-core | 2 +- src/DatatypeBindings.cpp | 11 +++++++++++ 2 files changed, 12 insertions(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index 0fbd13b98..66f7f4276 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit 0fbd13b98ed147583ab82f8e46339f259f3c324b +Subproject commit 66f7f4276578584dade92e777e45b920de8fc31b diff --git a/src/DatatypeBindings.cpp b/src/DatatypeBindings.cpp index c939b8f3b..1a2b6e6be 100644 --- a/src/DatatypeBindings.cpp +++ b/src/DatatypeBindings.cpp @@ -80,6 +80,16 @@ void DatatypeBindings::bind(pybind11::module& m){ o.ts.nsec = (ts - o.ts.sec) * 1000000000.0; } ) + .def_property("tsDevice", + [](const RawImgFrame& o){ + double ts = o.tsDevice.sec + o.tsDevice.nsec / 1000000000.0; + return ts; + }, + [](RawImgFrame& o, double ts){ + o.tsDevice.sec = ts; + o.tsDevice.nsec = (ts - o.tsDevice.sec) * 1000000000.0; + } + ) ; py::enum_(rawImgFrame, "Type") @@ -521,6 +531,7 @@ void DatatypeBindings::bind(pybind11::module& m){ .def(py::init<>()) // getters .def("getTimestamp", &ImgFrame::getTimestamp, DOC(dai, ImgFrame, getTimestamp)) + .def("getTimestampDevice", &ImgFrame::getTimestampDevice, DOC(dai, ImgFrame, getTimestampDevice)) .def("getInstanceNum", &ImgFrame::getInstanceNum, DOC(dai, ImgFrame, getInstanceNum)) .def("getCategory", &ImgFrame::getCategory, DOC(dai, ImgFrame, getCategory)) .def("getSequenceNum", &ImgFrame::getSequenceNum, DOC(dai, ImgFrame, getSequenceNum)) From 853cead950fdf9c083f51c4fc58c17d01eea2d5a Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Mon, 19 Jul 2021 06:16:41 +0300 Subject: [PATCH 03/10] Update FW with OpenVino FW fix --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index d631ce96b..e8d077e4a 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit d631ce96b3ccb319fb5f2ee3cd8dcd7c44395679 +Subproject commit e8d077e4a3e537ff55f48504dd49efb8144a6e70 From 7f8a6754333ff9e23a31604ff5967e78911f6c49 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Mon, 19 Jul 2021 07:50:29 +0300 Subject: [PATCH 04/10] Update core with latest develop --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index cbc04cd6d..a2a1f7ee6 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit cbc04cd6d03086bcfea6947a37eb5d75a071bf6e +Subproject commit a2a1f7ee6902efbe2c1bdc6e8afa5e4b3003afe0 From 14a63277c5286858a85c4de0f6cc3cceac62e14a Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Mon, 19 Jul 2021 07:58:46 +0300 Subject: [PATCH 05/10] Update core to latest develop --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index a2a1f7ee6..70ad1005c 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit a2a1f7ee6902efbe2c1bdc6e8afa5e4b3003afe0 +Subproject commit 70ad1005cdfaf6a12b5627f75d177d6f37081c6a From d1f22b10911caade87f19d387c46ff3e51a8215c Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Mon, 19 Jul 2021 08:33:41 +0300 Subject: [PATCH 06/10] Fix name clash for accuracy field in RotationVector structure --- depthai-core | 2 +- examples/imu_rotation_vector.py | 2 +- src/DatatypeBindings.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/depthai-core b/depthai-core index 70ad1005c..c7865c240 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit 70ad1005cdfaf6a12b5627f75d177d6f37081c6a +Subproject commit c7865c240c0bda74fae3d4d26af954a18380c0b6 diff --git a/examples/imu_rotation_vector.py b/examples/imu_rotation_vector.py index 61f20292b..63563fae6 100755 --- a/examples/imu_rotation_vector.py +++ b/examples/imu_rotation_vector.py @@ -53,7 +53,7 @@ def timeDeltaToMilliS(delta) -> float: print(f"Rotation vector timestamp: {tsF.format(timeDeltaToMilliS(rvTs))} ms") print(f"Quaternion: i: {imuF.format(rVvalues.i)} j: {imuF.format(rVvalues.j)} " f"k: {imuF.format(rVvalues.k)} real: {imuF.format(rVvalues.real)}") - print(f"Accuracy (rad): {imuF.format(rVvalues.accuracy)}") + print(f"Accuracy (rad): {imuF.format(rVvalues.rotationVectorAccuracy)}") if cv2.waitKey(1) == ord('q'): diff --git a/src/DatatypeBindings.cpp b/src/DatatypeBindings.cpp index c939b8f3b..365aa9d82 100644 --- a/src/DatatypeBindings.cpp +++ b/src/DatatypeBindings.cpp @@ -338,7 +338,7 @@ void DatatypeBindings::bind(pybind11::module& m){ .def_readwrite("j", &IMUReportRotationVectorWAcc::j) .def_readwrite("k", &IMUReportRotationVectorWAcc::k) .def_readwrite("real", &IMUReportRotationVectorWAcc::real) - .def_readwrite("accuracy", &IMUReportRotationVectorWAcc::accuracy) + .def_readwrite("rotationVectorAccuracy", &IMUReportRotationVectorWAcc::rotationVectorAccuracy) ; #if 0 From 0a39db32a341786b50c8942ff9a60d85cacf8805 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Mon, 19 Jul 2021 11:53:47 +0300 Subject: [PATCH 07/10] Rename IMUReportAccuracy enum to Accuracy --- depthai-core | 2 +- src/DatatypeBindings.cpp | 10 +++++----- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/depthai-core b/depthai-core index c7865c240..a1999e1ba 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit c7865c240c0bda74fae3d4d26af954a18380c0b6 +Subproject commit a1999e1ba3f7f0413e39a6197ab366899a046dfc diff --git a/src/DatatypeBindings.cpp b/src/DatatypeBindings.cpp index 365aa9d82..60f2c8243 100644 --- a/src/DatatypeBindings.cpp +++ b/src/DatatypeBindings.cpp @@ -304,11 +304,11 @@ void DatatypeBindings::bind(pybind11::module& m){ .def_readwrite("timestamp", &IMUReport::timestamp) ; - py::enum_(imureport, "IMUReportAccuracy") - .value("UNRELIABLE", IMUReport::IMUReportAccuracy::UNRELIABLE) - .value("LOW", IMUReport::IMUReportAccuracy::LOW) - .value("MEDIUM", IMUReport::IMUReportAccuracy::MEDIUM) - .value("HIGH", IMUReport::IMUReportAccuracy::HIGH) + py::enum_(imureport, "Accuracy") + .value("UNRELIABLE", IMUReport::Accuracy::UNRELIABLE) + .value("LOW", IMUReport::Accuracy::LOW) + .value("MEDIUM", IMUReport::Accuracy::MEDIUM) + .value("HIGH", IMUReport::Accuracy::HIGH) ; py::class_>(m, "IMUReportAccelerometer", DOC(dai, IMUReportAccelerometer)) From 62965fca1fd61b4eff2b58701a98d04649f8953d Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Mon, 19 Jul 2021 12:10:37 +0300 Subject: [PATCH 08/10] Update core to latest develop --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index a1999e1ba..4fe04c507 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit a1999e1ba3f7f0413e39a6197ab366899a046dfc +Subproject commit 4fe04c507b00a67789a57708d6be4e76125c8a1f From 9c7c922e29ee0fcadb5ea67638617970178b8320 Mon Sep 17 00:00:00 2001 From: TheMarpe Date: Tue, 20 Jul 2021 21:31:49 +0200 Subject: [PATCH 09/10] Updated core with RPC fix --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index 4fe04c507..950f27319 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit 4fe04c507b00a67789a57708d6be4e76125c8a1f +Subproject commit 950f27319f59cedbc949cf80cff6e335b6b7a3d0 From 197cc8856077f75fa627645a8bf5d7b7fe4edd86 Mon Sep 17 00:00:00 2001 From: SzabolcsGergely Date: Fri, 23 Jul 2021 15:43:42 +0300 Subject: [PATCH 10/10] Update core to 2.8.0 --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index 8b5894fe0..eaa9a1232 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit 8b5894fe070d367876fe81f39e1ed46d7db4bab5 +Subproject commit eaa9a1232190ae232bff85864897c9f837e02d35