Merge remote-tracking branch 'origin/main' into ros-release

Author: saching13

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,35 @@
+---
+name: Bug report
+about: Create a bug report to help us improve the DepthAI
+title: "[BUG] {Title of the bug}"
+labels: bug
+assignees: ''
+
+---
+
+**Check if issue already exists**
+
+- Google it (e.g. *error xy* github luxonis depthai)
+- Check [troubleshooting](https://docs.luxonis.com/en/latest/pages/troubleshooting/) in documentation.
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**Minimal Reproducible Example**
+Append the MRE to the bug report, [instructions here](https://docs.luxonis.com/en/latest/pages/support/#creating-minimal-reproducible-example)
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Pipeline Graph**
+
+Please also provide a screenshot of your pipeline using the [DepthAI Pipeline Graph](https://github.com/geaxgx/depthai_pipeline_graph).
+
+**Attach system log**
+ - Provide output of [log_system_information.py](https://github.com/luxonis/depthai/blob/main/log_system_information.py)
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,17 @@
+---
+name: Feature request
+about: Request a new feature
+title: "[Feature-Request] {Title of feature request}"
+labels: enhancement
+assignees: ''
+
+---
+
+### Start with the `why`:
+Describe why this feature would be useful to you and to other users.
+
+### Move to the `what`:
+A clear and concise description of the feature you would like to get added to the `depthai`.
+
+### Move to the `how`:
+If you already have an idea of how this new feature could be implemented, describe it here.

.github/workflows/main.workflow.yml

@@ -111,8 +111,8 @@ jobs:
     - name: Build (old CMake, gcc/Clang)
       if: matrix.cmake == '3.10.x' && matrix.os != 'windows-latest'
       run: |
-        cmake -H. -Bbuild -D'DEPTHAI_BUILD_EXAMPLES=ON' -D'DEPTHAI_BUILD_TESTS=ON' ${{ env.CMAKE_ARGS }}
-        cmake --build build -- -j4
+        cmake -H. -Bbuild -D'CMAKE_BUILD_TYPE=Release' -D'HUNTER_CONFIGURATION_TYPES=Release' -D'DEPTHAI_BUILD_EXAMPLES=ON' -D'DEPTHAI_BUILD_TESTS=ON' ${{ env.CMAKE_ARGS }}
+        cmake --build build --config Release -- -j4
 
     # CMake binaries unavailable
     # - name: Build (old CMake, MSVC)
@@ -124,8 +124,8 @@ jobs:
     - name: Build (newest CMake)
       if: matrix.cmake != '3.10.x'
       run: |
-        cmake -S . -B build -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON ${{ env.CMAKE_ARGS }}
-        cmake --build build --parallel 4
+        cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_CONFIGURATION_TYPES=Release -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON ${{ env.CMAKE_ARGS }}
+        cmake --build build --parallel 4 --config Release
 
   integration:
     runs-on: ${{ matrix.os }}
@@ -192,14 +192,14 @@ jobs:
       run: cmake --build build --config ${{ matrix.build-type }} --target install --parallel 4
 
     - name: Upload Win64 shared library
-      if: matrix.os == 'windows-latest' && matrix.shared == 'Shared' && matrix.platform == 'x64'
+      if: matrix.os == 'windows-latest' && matrix.shared && matrix.platform == 'x64'
       uses: actions/[email protected]
       with:
         name: windows-prebuilt-win64
         path: ${{ env.GITHUB_WORKSPACE }}/depthai_install/
 
     - name: Upload Win32 shared library
-      if: matrix.os == 'windows-latest' && matrix.shared == 'Shared' && matrix.platform == 'Win32'
+      if: matrix.os == 'windows-latest' && matrix.shared && matrix.platform == 'Win32'
       uses: actions/[email protected]
       with:
         name: windows-prebuilt-win32-no-opencv

CMakeLists.txt

@@ -43,7 +43,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.17.0" LANGUAGES CXX C)
+project(depthai VERSION "2.17.3" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)
@@ -457,6 +457,28 @@ if(DEPTHAI_USB2_PATCH_ONLY_MODE)
     target_compile_definitions(${TARGET_CORE_NAME} PRIVATE DEPTHAI_PATCH_ONLY_MODE)
 endif()
 
+# Helper function
+function(add_runtime_dependencies depending_target dependency)
+    if(WIN32)
+        if(TARGET ${dependency})
+            get_property(imported_configs TARGET ${dependency} PROPERTY IMPORTED_CONFIGURATIONS)
+            set(dlls "")
+            foreach(cfg ${imported_configs})
+                get_property(dll TARGET ${dependency} PROPERTY IMPORTED_LOCATION_${cfg})
+                set(dlls ${depthai_dll_libraries} $<$<CONFIG:${cfg}>:${dll}>)
+            endforeach()
+        endif()
+        file(GLOB depthai_dll_libraries "${HUNTER_INSTALL_PREFIX}/bin/*.dll")
+        # Copy the required dlls
+        add_custom_command(TARGET ${depending_target} POST_BUILD COMMAND
+            ${CMAKE_COMMAND} -E copy_if_different ${dlls} ${depthai_dll_libraries} $<TARGET_FILE_DIR:${depending_target}>
+            COMMAND_EXPAND_LISTS
+        )
+    endif()
+endfunction()
+# Add libusb dll in build time
+add_runtime_dependencies(${TARGET_CORE_NAME} usb-1.0)
+
 ########################
 # OpenCV Support
 ########################

cmake/Depthai/DepthaiBootloaderConfig.cmake

@@ -3,5 +3,5 @@ set(DEPTHAI_BOOTLOADER_MATURITY "release")
 # set(DEPTHAI_BOOTLOADER_MATURITY "snapshot")
 
 # "version if applicable"
-set(DEPTHAI_BOOTLOADER_VERSION "0.0.19")
+set(DEPTHAI_BOOTLOADER_VERSION "0.0.20")
 # 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 "6df2ae14def3d70c1b92ef8ce5a471b10ae30bd5")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "602822fe9eaca68a72c666497dc4979b29291b3e")
 
 # "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/117fdee6990dfbf7ad7e056775df75f91ac902aa.tar.gz"
-    SHA1 "edc1fd791e2e3f02df8d22adf9e297111adc734a"
+    URL "https://github.com/luxonis/XLink/archive/b8a37de143d98cb0beb5393055fcdc9d621765bb.tar.gz"
+    SHA1 "f8f91f0056bc46bba825bfff868136734f8585be"
 )
 
 hunter_config(

cmake/depthaiDependencies.cmake

@@ -49,9 +49,9 @@ if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT DEPTHAI_SHARED_LIBS))
     if(DEPTHAI_ENABLE_BACKWARD)
         # Disable automatic check for additional stack unwinding libraries
         # Just use the default compiler one
-        set(STACK_DETAILS_AUTO_DETECT FALSE)
+        set(STACK_DETAILS_AUTO_DETECT FALSE CACHE BOOL "Auto detect backward's stack details dependencies")
         find_package(Backward ${_QUIET} CONFIG REQUIRED)
-        set(STACK_DETAILS_AUTO_DETECT)
+        unset(STACK_DETAILS_AUTO_DETECT)
     endif()
 
 endif()

examples/CMakeLists.txt

@@ -250,6 +250,8 @@ dai_add_example(mono_depth_mobilenetssd mixed/mono_depth_mobilenetssd.cpp ON)
 dai_add_example(rgb_encoding_mono_mobilenet mixed/rgb_encoding_mono_mobilenet.cpp ON)
 dai_add_example(rgb_encoding_mono_mobilenet_depth mixed/rgb_encoding_mono_mobilenet_depth.cpp ON)
 dai_add_example(rgb_encoding_mobilenet mixed/rgb_encoding_mobilenet.cpp ON)
+dai_add_example(multiple_devices mixed/multiple_devices.cpp OFF)
+dai_add_example(frame_sync mixed/frame_sync.cpp ON)
 
 target_compile_definitions(mono_depth_mobilenetssd PRIVATE BLOB_PATH="${mobilenet_blob}")
 target_compile_definitions(rgb_encoding_mono_mobilenet PRIVATE BLOB_PATH="${mobilenet_blob}")
@@ -303,6 +305,8 @@ dai_add_example(script_http_server Script/script_http_server.cpp OFF)
 dai_add_example(script_mjpeg_server Script/script_mjpeg_server.cpp OFF)
 dai_add_example(script_nndata_example Script/script_nndata_example.cpp ON)
 dai_add_example(script_json_communication Script/script_json_communication.cpp ON)
+dai_add_example(script_change_pipeline_flow Script/script_change_pipeline_flow.cpp OFF)
+target_compile_definitions(script_change_pipeline_flow PRIVATE BLOB_PATH="${mobilenet_5shaves_blob}")
 
 # SpatialDetection
 dai_add_example(spatial_location_calculator SpatialDetection/spatial_location_calculator.cpp ON)

examples/ObjectTracker/object_tracker_video.cpp

@@ -132,12 +132,12 @@ int main(int argc, char** argv) {
         if(frame.empty()) break;
 
         auto img = std::make_shared<dai::ImgFrame>();
-        frame = resizeKeepAspectRatio(frame, cv::Size(1280, 720), cv::Scalar(0));
+        frame = resizeKeepAspectRatio(frame, cv::Size(1920, 1080), cv::Scalar(0));
         toPlanar(frame, img->getData());
         img->setTimestamp(baseTs);
         baseTs += steady_clock::duration(static_cast<int64_t>((1000 * 1000 * 1000 / simulatedFps)));
-        img->setWidth(1280);
-        img->setHeight(720);
+        img->setWidth(1920);
+        img->setHeight(1080);
         img->setType(dai::ImgFrame::Type::BGR888p);
         qIn->send(img);