Ros release 2.19 (#629)

* Update FW: allow OV9282/OV9782 on RGB socket
TODO: ColorISP

* Color/MonoCamera: add extra resolutions for OV9782 and OV7251 support

* Update FW: initial ColorCamera support for OV9782

* Update FW: improve OV9782 colors

* Update FW: OV9782 on RGB socket, working with OV9282 on L/R

* Update FW: fix OV9782 bayer order

* Update FW: improve OV9782 color saturation and sharpness

* TMP: OV9782(color) working on Left and/or Right sockets

* Update FW: initial support for LUX-D-LITE: IMX214 and OV7251

* Update FW: fix some OV7251 flickering, change stereo res to 480p,
improve IMX214 focusing

* Update FW: improved focus for IMX214, lowered range

* CameraControl: add `setExternalTrigger(numFramesBurst)`

* ImgFrame: add API to get camera settings:
getLensPosition(), getExposureTime(), getSensitivity()
Only the first is implemented for now

* setManualFocus auto-handles focus mode now, don't set

* Update FW: report exposure + iso too in ImgFrame for RGB,
(note: lens position may be reported one frame in advance),
fix black image when initial manual exposure was set with other controls,
fix switching from auto to manual exposure causing the lens to jump to zero
(note: the lens is directly set now with manual focus, bypassing 3A)

* CameraControl setExternalTrigger: add numFramesDiscard param

* 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

* 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

* added changelog and version update in package.xml

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: sags <[email protected]>

Author: 8 people

.github/workflows/main.workflow.yml

@@ -23,7 +23,7 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: 'recursive'
 
@@ -42,7 +42,7 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: 'recursive'
 
@@ -71,23 +71,23 @@ jobs:
     steps:
     - name: Cache .hunter folder
       if: matrix.os != 'windows-latest'
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       with:
         path: ~/.hunter/
         key: hunter-${{ matrix.os }}-${{ matrix.cmake }}
     - name: Cache .hunter folder
       if: matrix.os == 'windows-latest'
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       with:
         path: C:/.hunter/
         key: hunter-${{ matrix.os }}-${{ matrix.cmake }}
 
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: 'recursive'
 
     - name: Setup cmake
-      uses: jwlawson/actions-setup-cmake@v1.9
+      uses: jwlawson/actions-setup-cmake@v1.13
       with:
         cmake-version: ${{ matrix.cmake }}
 
@@ -147,18 +147,18 @@ jobs:
     steps:
     - name: Cache .hunter folder
       if: matrix.os != 'windows-latest'
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       with:
         path: ~/.hunter/
         key: hunter-${{ matrix.os }}-shared_${{ matrix.shared }}
     - name: Cache .hunter folder
       if: matrix.os == 'windows-latest'
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       with:
         path: C:/.hunter/
         key: hunter-${{ matrix.os }}-shared_${{ matrix.shared }}
 
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: 'recursive'
 
@@ -193,14 +193,14 @@ jobs:
 
     - name: Upload Win64 shared library
       if: matrix.os == 'windows-latest' && matrix.shared && matrix.platform == 'x64'
-      uses: actions/upload-artifact@v2.2.4
+      uses: actions/upload-artifact@v3
       with:
         name: windows-prebuilt-win64
         path: ${{ env.GITHUB_WORKSPACE }}/depthai_install/
 
     - name: Upload Win32 shared library
       if: matrix.os == 'windows-latest' && matrix.shared && matrix.platform == 'Win32'
-      uses: actions/upload-artifact@v2.2.4
+      uses: actions/upload-artifact@v3
       with:
         name: windows-prebuilt-win32-no-opencv
         path: ${{ env.GITHUB_WORKSPACE }}/depthai_install/
@@ -234,11 +234,12 @@ jobs:
 
     # Clone repository
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: 'recursive'
 
     # Get tag version
+    # TODO(themarpe) - Node12, has to be updated
     - name: Get latest release version number
       id: tag
       uses: battila7/get-version-action@v2
@@ -247,20 +248,20 @@ jobs:
     #- name: Check if version matches
     #   run: |
 
-    - uses: actions/setup-python@v2
+    - uses: actions/setup-python@v3
       with:
         python-version: '3.8'
     - name: Install dependencies
       run: python3.8 -m pip install git-archive-all
 
     - name: Download Win64 artifacts
-      uses: actions/download-artifact@v2
+      uses: actions/download-artifact@v3
       with:
         name: 'windows-prebuilt-win64'
         path: depthai-core-${{ steps.tag.outputs.version }}-win64
 
     - name: Download Win32 artifacts
-      uses: actions/download-artifact@v2
+      uses: actions/download-artifact@v3
       with:
         name: 'windows-prebuilt-win32-no-opencv'
         path: depthai-core-${{ steps.tag.outputs.version }}-win32-no-opencv

.github/workflows/stability.workflow.yml

@@ -26,11 +26,11 @@ jobs:
     timeout-minutes: 1450 # 24h & 10minutes
     steps:
     - name: Cache .hunter folder
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       with:
         path: $HOME/.hun_vanilla
         key: hunter-linux-stability-vanilla
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: 'recursive'
 

.github/workflows/test.workflow.yml

@@ -36,11 +36,11 @@ jobs:
 
     steps:
     - name: Cache .hunter folder
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       with:
         path: $HOME/.hun2_${{ matrix.flavor }}
         key: hunter-${{ matrix.os }}-${{ matrix.cmake }}
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: 'recursive'
 

CHANGELOG.rst

@@ -2,6 +2,23 @@
 Changelog for package depthai
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+
+2.19.0 (2022-09-20)
+-----------
+* Stability improvements #616
+* isUserBootloaderSupported API
+* Device.setTimesync(true/false) convenience function to enable or disable subsequent timesyncing
+* Windows improvements with listing BOOTED devices ("udev permissions" issue)
+* Fix OV9282 as MonoCamera on RGB socket (issue was black image)
+* Fix crash under high load (regression with camera events streaming)
+* Fix YOLOv5/7 decoding in case of a single class
+* Fix image size when decimation filter is enabled
+* Fix for certain OV9782 and OV9282 permutations/configs
+* Reset Device timestamp on boot to zero
+* Reworded "No available devices" error message when there are other connected devices connected.
+* Update CI to Node16 compatible actions
+
+
 2.17.4 (2022-09-20)
 -----------
 * DEPTHAI_WATCHDOG=0 bugfix (245fb57)

CMakeLists.txt

@@ -43,7 +43,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.17.4" LANGUAGES CXX C)
+project(depthai VERSION "2.19.0" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)
@@ -197,6 +197,7 @@ add_library(${TARGET_CORE_NAME}
     src/device/DataQueue.cpp
     src/device/CallbackHandler.cpp
     src/device/CalibrationHandler.cpp
+    src/device/Version.cpp
     src/pipeline/Pipeline.cpp
     src/pipeline/AssetManager.cpp
     src/pipeline/Node.cpp
@@ -207,6 +208,7 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/node/StereoDepth.cpp
     src/pipeline/node/NeuralNetwork.cpp
     src/pipeline/node/ImageManip.cpp
+    src/pipeline/node/Warp.cpp
     src/pipeline/node/VideoEncoder.cpp
     src/pipeline/node/DetectionNetwork.cpp
     src/pipeline/node/Script.cpp

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 "0.0.20")
-# set(DEPTHAI_BOOTLOADER_VERSION "0.0.19+4af3b8fe5c0dc6f9a31dedac17affe2e490f81a0")
+set(DEPTHAI_BOOTLOADER_VERSION "0.0.21")
+# set(DEPTHAI_BOOTLOADER_VERSION "0.0.21+050d0a19edf9747082ae8c3852e09a1764304f78")

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 "1a59c80266cd7a30ba874aa8d4a8277e0bf161ec")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "b3aeaf23ff5857fc8f79d412ceefc08da23e7aad")
 
 # "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/4f8cd1f9b2ab1b44e36c448a4b7d5d80255f5872.tar.gz"
-    SHA1 "fe7aaa8a61ddd7e9030c6c2720978e35a1449fba"
+    URL "https://github.com/luxonis/XLink/archive/5c61615066af6539e50a4a17b5df3466e4350b21.tar.gz"
+    SHA1 "25fba41da891743bf0bdff5bc9a5cda07535be49"
 )
 
 hunter_config(

docs/Doxyfile.in

@@ -1737,7 +1737,7 @@ EXTRA_SEARCH_MAPPINGS  =
 # If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
 # The default value is: YES.
 
-GENERATE_LATEX         = YES
+GENERATE_LATEX         = NO
 
 # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
 # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of

examples/CMakeLists.txt

@@ -200,6 +200,7 @@ hunter_private_data(
 # bootloader
 dai_add_example(bootloader_version bootloader/bootloader_version.cpp ON)
 dai_add_example(flash_bootloader bootloader/flash_bootloader.cpp OFF)
+dai_add_example(flash_user_bootloader bootloader/flash_user_bootloader.cpp OFF)
 dai_add_example(bootloader_config bootloader/bootloader_config.cpp ON read)
 dai_add_example(poe_set_ip bootloader/poe_set_ip.cpp OFF)
 dai_add_example(read_flash_memory bootloader/read_flash_memory.cpp OFF)
@@ -212,6 +213,7 @@ dai_add_example(calibration_flash_version5 calibration/calibration_flash_v5.cpp
 dai_add_example(calibration_load calibration/calibration_load.cpp ON)
 dai_add_example(calibration_reader calibration/calibration_reader.cpp ON)
 dai_add_example(calibration_dump calibration/calibration_dump.cpp ON)
+dai_add_example(calibration_factory_reset calibration/calibration_factory_reset.cpp OFF)
 
 target_compile_definitions(calibration_flash PRIVATE CALIB_PATH="${calib_v6}")
 target_compile_definitions(calibration_flash_version5 PRIVATE CALIB_PATH="${calib_v5}" BOARD_PATH="${device_config}")
@@ -233,7 +235,7 @@ dai_add_example(feature_tracker FeatureTracker/feature_tracker.cpp ON)
 dai_add_example(device_queue_event host_side/device_queue_event.cpp ON)
 dai_add_example(opencv_support host_side/opencv_support.cpp ON)
 dai_add_example(queue_add_callback host_side/queue_add_callback.cpp ON)
-dai_add_example(device_information host_side/device_information.cpp ON)
+dai_add_example(device_information host_side/device_information.cpp OFF)
 
 # ImageManip
 dai_add_example(image_manip ImageManip/image_manip_example.cpp ON)
@@ -242,6 +244,9 @@ dai_add_example(image_manip_tiling ImageManip/image_manip_tiling.cpp ON)
 dai_add_example(rgb_rotate_warp ImageManip/rgb_rotate_warp.cpp ON)
 dai_add_example(image_manip_warp_mesh ImageManip/image_manip_warp_mesh.cpp ON)
 
+# Warp
+dai_add_example(warp_mesh Warp/warp_mesh.cpp ON)
+
 # IMU
 dai_add_example(imu_gyroscope_accelerometer IMU/imu_gyroscope_accelerometer.cpp ON)
 dai_add_example(imu_rotation_vector IMU/imu_rotation_vector.cpp ON)
@@ -316,7 +321,7 @@ dai_add_example(spatial_mobilenet_mono SpatialDetection/spatial_mobilenet_mono.c
 dai_add_example(spatial_mobilenet SpatialDetection/spatial_mobilenet.cpp ON)
 dai_add_example(spatial_tiny_yolo_v3 SpatialDetection/spatial_tiny_yolo.cpp ON)
 dai_add_example(spatial_tiny_yolo_v4 SpatialDetection/spatial_tiny_yolo.cpp ON)
-dai_add_example(spatial_calculator_multi_roi SpatialDetection/spatial_calculator_multi_roi.cpp ON)
+dai_add_example(spatial_calculator_multi_roi SpatialDetection/spatial_calculator_multi_roi.cpp OFF)
 
 target_compile_definitions(spatial_mobilenet_mono PRIVATE BLOB_PATH="${mobilenet_blob}")
 target_compile_definitions(spatial_mobilenet PRIVATE BLOB_PATH="${mobilenet_blob}")