Ros release 2.20.2 (#708)

* CameraControl: add `setManualWhiteBalance(colorTemperatureK)`

* Update FW: reduce ColorCamera still pool: 4 -> 1 frame

* Update FW: support for up to 3x IMX378/IMX477 or 3x OV9782
color cameras. Note: configs for Left and Right sockets must be identical for now

* Fix FW, support for multiple IMX378/477

* Update FW (IMX214 multiple resolutions), add more camera sockets

* Update FW: CAM-D (4th socket) tested, AR0234 support. Note:
if AR0234 sensors are used, cannot be combined with other types at the moment (due to tuning blobs in use)

* Update FW: changes for IMX214/OV7251, other fixes

* Update FW: fix ColorCamera `preview`/`video`/`still` when multiple cameras use these outputs

* Update FW: change SIPP mem alloc to allow 4x ColorCamera to operate at the same time

* Update FW: StereoDepth: fix RGB alignment when running at calib resolution (OAK-D with 800_P or OAK-D-Lite)

* Update FW: fix for IMX378 still output at 12MP

* Update FW: OV9282/9782 img orientation per camera,
fix sync mode

* Update FW: - support for camera modules with IMX380 sensor id,
reusing IMX378 driver (some Arducam IMX577(?))
- soft-reset the sensor before config, to fix streaming with some Arducam modules

* Update FW: IMX577 proper support (0577 sensor ID)

* CameraControl: add setAutoFocusLensRange

* Add `CameraControl::setFrameSyncMode`,
controlling the FSIN pin I/O and camera sync behavior.
Implemented for OV9282/OV9782 for now.
Note: if one camera sets it to OUTPUT, and other(s) to INPUT, the hardware sync will work, but currently there's one frame de-sync in the sequence numbers (first frame is lost from the 'slave' cameras). This will be fixed

* changed spdlog visibility

* Add Device::getConnectedCameraProperties

* Add new predefined resolutions for ColorCamera: THE_1200_P, THE_13_MP

* Update FW: configurable FPS and fix enumeration issues with AR0234

* Added some getters to CameraControl and modified to use chrono where possible

* Update FW: populate `CameraProperties::hasAutofocus`

* OV5645 and 5MP resolution support

* Update FW: fixes for multiple IMX378/477

* Update FW: fixes for OV9282/9782 on CAM-D, fix stereo rectified frame type for color

* Update FW: allow `StereoDepth` to work with `ColorCamera`s,
without having to call `StereoDepth::setInputResolution`

* Add dot-projector/flood-illuminator brightness control for OAK-D-Pro-W, fix OV9782 slow AE due to missing AF

* Allow using AR0234/OV5645 (but at degraded image quality) with other sensors enabled at the same time

* Update FW with multiple fixes:
- properly handle manual/auto focus with multiple cameras
- fix potential init failure with same sensors (IMX378/477/214 / AR0234 / OV5645) on Left and Right sockets
- fix sensor name reporting for AR0234 / IMX378/380/477/577

* Fix CI build (not matching bootloader-shared commits)

* Script: add optional name parameter to `setScriptPath`,
might come handy if the path is long, to have a shorter identifier

* ColorCamera/MonoCamera: add `frameEvent` output, to be used for IR control, etc.

* Update FW: FSYNC for IMX378

* Update FW, add initial support for IMX582/IMX586

* Updates for IMX582 - full 48MP res, temporarily center cropped (5312x6000 out of 8000x6000)

* CameraControl: add STROBE MX-GPIO control, applicable for ext trig mode. AR0234 ext trig:

- `cam[c].initialControl.setExternalTrigger(1, 0)` for snapshot mode (exposure+readout following immediately after trigger)
- `cam[c].initialControl.setFrameSyncMode(dai.CameraControl.FrameSyncMode.INPUT)` for multiple devices sync (frame time is aligned, exposure could be different per device)

Note: sensor trigger pin reacts on rising edge signal, and keeping the line high will cause repeated triggering.

* Pipeline: add `setImageManipCmxSizeAdjust`

* FW: fixes for 48MP camera, FW build for previous commits

* Fix ColorCamera::getSensorCrop calculation for AUTO, was returning zero

* WIP - flashUserBootloader

* Updated Bootloader and added example

* Added monitor thread for DeviceBootloader

* Added explicit isUserBootloader call

* Updated Bootloader for better User Bootloader support

* MonoCamera: add frame pool size config API

* Removed device_information and multi_roi from tests

* Updated FW with ImageManip dynamic memory allocation

* Disabled LATEX generation for docs

* Added Warp node

* Applied style

* Set Yolo default iou threshold to 0.5

* Exposed Bootloader version available when booting a device in bootloader state

* [Warp] Exposed HW engines used and interpolation

* ImgFrame: add `getColorTemperature`. FW: fix exp/iso report for MonoCamera

* CameraControl: update API docs, specify some defaults

* Rename CameraProperties -> CameraFeatures

* Added a sign cast to max user bootloader size check

* Revert "Pipeline: add `setImageManipCmxSizeAdjust`"

This reverts commit 591a98b.

* Fix typo and add calibration_factory_reset example

* Don't use the example as a part of the testing suite

Co-authored-by: TheMarpe <[email protected]>

* DEPTHAI_DEBUG=1 env var to enable `logDevicePrints`, ColorCamera: THE_12P0_MP, THE_5312X6000

* Update FW, shared: clangformat

* `make clangformat`: calibration_factory_reset.cpp, depthai-shared,
FW: increase an internal queue size for frameEvent

* Exposed Timesync configurability

* Docs fixes

* Add support for yolov6r2 parsing

* Expand spatial image detections with original config

* Update CPP examples

* Add getTimestamp and getTimestampDevice getter to IMU packets

* Update IMU examples

* Add THE_1200_P for AR0234 MonoCamera

* Several FW updates:
- !!! For all sockets/cameras to be scanned, the EEPROM calib data boardName/productName should contain "FFC" or an FFC-related board name: 1090/2090/2088. Otherwise the behavior is to scan only for standard OAK devices sockets/cameras
- Some more checks for the LCM48 (on MAX) supported resolutions
- Fixes for RGB-mono SW-sync for standard OAK-D / OAK-D-Lite camera configs
- AR0234 monochrome support, however needs an OV9282 enabled at the same time for now

* Color/MonoCamera: handle some more cases for newly added resolutions/sockets

* Update shared/FW after merge, fix error log printed for MonoCamera AUTO socket

* Closes: #355

* Bump version to 2.18.0

* Updated FW with some Color/MonoCamera fixes

* stability test

* Update FW:
- fix for high system load crash, especially on PoE devices
- for for OV9282 as MonoCamera on RGB/CAM_A socket

* FW: OV9282 720p/800p max FPS: 60 -> 120

* stability test

* Added a convinience setTimesync function

* Added isUserBootloaderSupported to DeviceBootloader

* Updated XLink with Windows improvements when scanning for already booted USB devices

* Updated FW with device time reset on boot

* Bump to v2.19.0

* Improved wording on unavailable devices

* Fix yolo v5 decoding when there is a single class

* FW: fixes for certain OV9782 and OV9282 permutations/configs,
fix for OV9782/OV9282 alone failing on RGB/CAM_A socket

* Update CI to Node16 compatible actions

* Update FW: fix image size when decimation filter is enabled

* Stability test - limit FPS (#633)

* Print CPU usage

* Limit the FPS so POE devices aren't maxed out

* Increase FPS

* Reverse changes to the system logger example

Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: Matevz Morato <[email protected]>

* Added getProductName

* Added ids to IO for trace events

* Modified pipeline schema dump to happen on trace log level as well

* Renamed to getDeviceName and added some legacy handling

* Updated FW with productName as protected field and ImageManip behavior revert

* Updated style

* Added IR driver support for new OAK-FFC 4P

* FW: bugfix for device bootup with default static IP

* OAK-FFC 4P R5M1E5 IR/Dot support

* Bump to v2.19.1

* Added EepromError exception class and improved exception handling in calibration related methods

* Increased limit on DeviceBootloader monitor timeout

* Fixed check for user-provided toolchain file when given relative path (#645)

* Fixed check for user-provided toolchain file when given relative path

* WIP: camera/socket board configuration and capability to specify name/alias for a camera instead of socket

* Updated Bootloader to v0.0.22

* Added camera naming capabilites, setting and retrieving. WIP: rest of devices

* FW/CameraControl: fix still-capture for sockets other than RGB/center

* [FW] Fixed ImageManip + Subpixel issues and added FFC camera naming

* get/set camera FrameEvent filter

* Update depthai-shared submodule

* Disable depthai-shared commit hash check

* Change github workflows ubuntu version

* Update submodule

* Rename event filter

* fix #650 missing XLinkProtocolToStr() (#657)

- add local xlinkproto -> string from
  luxonis/XLink/tree/5c61615066af6539e50a4a17b5df3466e4350b21

* Updated grammar

* Update firmware

* WIP: Camera node

* Added capability to set XLink logging level via XLINK_LEVEL env var

* Replace "_CMAKE_" variables with "_DEPTHAI_" (#662)

"_CMAKE_" variables are reserved for internal use and should not be used.
This change also makes it harder for other CMake scripts to accidentall overwrite this variable.

Co-authored-by: Cameron Blomquist <[email protected]>

* Add comments

* Update FW: Add missing python bindings for boundingBoxMapping

* Updated NETWORK Bootloader with dual protocol capabilities

* [FW] Fixed a bug in board downselection. OAK-D S2/Pro camera enumeration fix.

* [FW] Added support for Mono video/preview in Camera node

* CI - Fixed style & tidy jobs

* Updated dual BL to v0.0.23 temporary build

* Added OAK-D-LR support. WIP: Orientation capability

* [FW/XLink] Explicitly limited to single connection

* ImageManip added colormap capability. TODO min/max range selection

* Add option to override baseline and/or focal length for disparity to depth conversion

* [FW] OAK-D-LR - Fixed default image orientation

* Updated brief description that affects docs of the DetectionParser node.

* Modified API of Camera a bit

* Updated FW with Camera changes and warp capabilities

* Updated FW with Camera warp capabilities

* Added dai::span

* Added undistort/warp API to Camera node

* FW - Modifed watchdog to do a graceful reset instead

* Added additional API to retrieve timestamps at various exposure points

* Fixed documentation on ObjectTracker::setMaxObjectsToTrack

* WIP: mockIsp capabilities

* [FW] Fix for CAM_C not being detected

* Device - Added non exclusive boot option

* Slight Colormap API improvements

* [FW] Added OpenVINO version 'universal'

* Added DeviceBase convinience constructors taking name or deviceid as string

* Disabled some of the functionality for now

* Tweaked getTimestamp & exposure offset API

* FW: IMX296 support, added THE_1440x1080 resolution

* FW: IMX296 Camera node, IMX378 1080p limited to 60fps

* Bump version to 2.20.0

* Applied formatting

* Temporary revert to macos-11 for CI due to Catch2 issues

* Modified OpenVINO::VERSION_UNIVERSAL

* Updated Bootloader to 0.0.24

* Bump version and FW to 2.20.1 (Status LEDs improvement)

* calibration_flash example fix

* FW: fix crash with ColorCamera at high resolution and certain ISP scaling

* Bump version to 2.20.2

* Added an ColorCamera isp scale example, and modified test workflow

* FW: fix OV9282 SW-sync on devices with OV9782 RGB camera

* FW: fix for IMX378/477/577 on sockets other than RGB

---------

Co-authored-by: alex-luxonis <[email protected]>
Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: SzabolcsGergely <[email protected]>
Co-authored-by: szabi-luxonis <[email protected]>
Co-authored-by: Matevz Morato <[email protected]>
Co-authored-by: moratom <[email protected]>
Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: alex-luxonis <[email protected]>
Co-authored-by: camblomquist <[email protected]>
Co-authored-by: Tommy <[email protected]>
Co-authored-by: Dale Phurrough <[email protected]>
Co-authored-by: Erol444 <[email protected]>
Co-authored-by: Cameron Blomquist <[email protected]>

Author: 12 people

.github/workflows/test.workflow.yml

@@ -57,7 +57,7 @@ jobs:
         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 4 --config Release
         cd build
-        ctest -C Release --output-on-failure -L usb --no-tests=error
+        ctest -C Release --output-on-failure -L usb --no-tests=error --repeat until-pass:3
 
     - name: Configure, Build and Test
       if: matrix.os == 'linux'
@@ -67,4 +67,4 @@ jobs:
         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 4 --config Release
         cd build
-        ctest -C Release --output-on-failure -L usb --no-tests=error
+        ctest -C Release --output-on-failure -L usb --no-tests=error --repeat until-pass:3

CHANGELOG.rst

@@ -1,8 +1,14 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package depthai
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+2.20.1 (2023-01-31)
+-----------
+* Fix for ColorCamera at high resolution while using isp scaling
+* Fix for OV9282 SW sync on devices with OV9782 RGB camera
+* Fix for IMX378/477/577 on sockets other than CAM_A (RGB)
+* Contributors: Alex Bougdan, Szabolcs Gergely, Martin Peterlin
 
-2.20.1 (2022-01-29)
+2.20.1 (2023-01-29)
 -----------
 * Modified OpenVINO::VERSION_UNIVERSAL API improvements / backward compatibility
 * Bootloader version 0.0.24 (fixes for standalone / flashed usecases)

CMakeLists.txt

@@ -45,7 +45,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.20.1" LANGUAGES CXX C)
+project(depthai VERSION "2.20.2" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)

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 "f888710ca677ca662a4a83103e57c5a1ae2a5c7f")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "8c3d6ac1c77b0bf7f9ea6fd4d962af37663d2fbd")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

examples/CMakeLists.txt

@@ -223,6 +223,7 @@ target_compile_definitions(calibration_load PRIVATE CALIB_PATH="${calib_v6}")
 dai_add_example(rgb_camera_control ColorCamera/rgb_camera_control.cpp ON)
 dai_add_example(rgb_preview ColorCamera/rgb_preview.cpp ON)
 dai_add_example(rgb_video ColorCamera/rgb_video.cpp ON)
+dai_add_example(rgb_isp_scale ColorCamera/rgb_isp_scale.cpp ON)
 
 # EdgeDetector
 dai_add_example(edge_detector EdgeDetector/edge_detector.cpp ON)

examples/ColorCamera/rgb_isp_scale.cpp

@@ -0,0 +1,46 @@
+#include <iostream>
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+int main() {
+    // Create pipeline
+    dai::Pipeline pipeline;
+
+    // Define source and output
+    auto camRgb = pipeline.create<dai::node::ColorCamera>();
+    auto xoutVideo = pipeline.create<dai::node::XLinkOut>();
+
+    xoutVideo->setStreamName("video");
+
+    // Properties
+    camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
+    camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_4_K);
+    camRgb->setIspScale(1, 2);
+    camRgb->setVideoSize(1920, 1080);
+
+    xoutVideo->input.setBlocking(false);
+    xoutVideo->input.setQueueSize(1);
+
+    // Linking
+    camRgb->video.link(xoutVideo->input);
+
+    // Connect to device and start pipeline
+    dai::Device device(pipeline);
+
+    auto video = device.getOutputQueue("video");
+
+    while(true) {
+        auto videoIn = video->get<dai::ImgFrame>();
+
+        // Get BGR frame from NV12 encoded video frame to show with opencv
+        // Visualizing the frame on slower hosts might have overhead
+        cv::imshow("video", videoIn->getCvFrame());
+
+        int key = cv::waitKey(1);
+        if(key == 'q' || key == 'Q') {
+            return 0;
+        }
+    }
+    return 0;
+}

package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>depthai</name>
-  <version>2.20.1</version>
+  <version>2.20.2</version>
   <description>DepthAI core is a C++ library which comes with firmware and an API to interact with OAK Platform</description>
 
   <maintainer email="[email protected]">Sachin Guruswamy</maintainer>