Merge remote-tracking branch 'origin/fw_asan_fix' into device_sanitizers

Danilo · Danilo · commit b6c7bfd74514 · 2025-10-15T09:43:36.000+02:00
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -894,6 +894,10 @@ if(DEPTHAI_USB2_PATCH_ONLY_MODE)
     target_compile_definitions(${TARGET_CORE_NAME} PRIVATE DEPTHAI_PATCH_ONLY_MODE)
 endif()
 
+if(DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4)
+    target_compile_definitions(${TARGET_CORE_NAME} PRIVATE DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4)
+endif()
+
 # Helper function
 macro(add_runtime_dependencies depending_target dependency)
     if(TARGET ${dependency})
diff --git a/bindings/python/ci/upload-pypi.sh b/bindings/python/ci/upload-pypi.sh
@@ -11,14 +11,15 @@ for file in wheelhouse/audited/*.whl; do
     python3 -m twine upload --repository-url "$PYPI_SERVER" --username "$PYPI_USER" --password "$PYPI_PASSWORD" "$file"
 done
 
-# Uploads zip source distribution
-for file in wheelhouse/audited/*.zip; do
-    echo "Uploading $file"
-    python3 -m twine upload --repository-url "$PYPI_SERVER" --username "$PYPI_USER" --password "$PYPI_PASSWORD" "$file"
-done
+# TODO (Morato) - add the source distribution upload back
+# # Uploads zip source distribution
+# for file in wheelhouse/audited/*.zip; do
+#     echo "Uploading $file"
+#     python3 -m twine upload --repository-url "$PYPI_SERVER" --username "$PYPI_USER" --password "$PYPI_PASSWORD" "$file"
+# done
 
-# Uploads tar.gz source distribution
-for file in wheelhouse/audited/*.tar.gz; do
-    echo "Uploading $file"
-    python3 -m twine upload --repository-url "$PYPI_SERVER" --username "$PYPI_USER" --password "$PYPI_PASSWORD" "$file"
-done
+# # Uploads tar.gz source distribution
+# for file in wheelhouse/audited/*.tar.gz; do
+#     echo "Uploading $file"
+#     python3 -m twine upload --repository-url "$PYPI_SERVER" --username "$PYPI_USER" --password "$PYPI_PASSWORD" "$file"
+# done
diff --git a/cmake/Depthai/DepthaiDeviceRVC4Config.cmake b/cmake/Depthai/DepthaiDeviceRVC4Config.cmake
@@ -3,4 +3,4 @@
 set(DEPTHAI_DEVICE_RVC4_MATURITY "snapshot")
 
 # "version if applicable"
-set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+b54c18baec10d5160714fc721c6b661707b0f23a")
+set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+c845b18b4ec48ce5ace00da6078553b1bd8a1d20")
diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/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 "dc466b4462739d1edbaa00fdccbe63805bff8078")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "e94cab6df69c3e9e9b81c73503134e7ee336fce3")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")
diff --git a/cmake/depthaiDependencies.cmake b/cmake/depthaiDependencies.cmake
@@ -177,7 +177,7 @@ else()
     FetchContent_Declare(
         XLink
         GIT_REPOSITORY https://github.com/luxonis/XLink.git
-        GIT_TAG        13790284ce12969c169940f88aad755bd91146db
+        GIT_TAG        7958fece3f7b303b1a2038ea7e78f53405f89843
     )
 
     FetchContent_MakeAvailable(
diff --git a/cmake/depthaiOptions.cmake b/cmake/depthaiOptions.cmake
@@ -121,3 +121,6 @@ option(DEPTHAI_SANITIZE "Enable Address and Undefined sanitizers for library, ex
 # Local override paths
 set(DEPTHAI_XLINK_LOCAL "" CACHE STRING "Path to local XLink source to use instead of Hunter")
 set(DEPTHAI_BOOTLOADER_SHARED_LOCAL "" CACHE STRING "Path to local depthai-bootloader-shared source to use instead of submodule")
+
+# Options for internal use
+option(DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4 "This build is part of the rvc4 firmware build" OFF)
diff --git a/cmake/ports/libnop/portfile.cmake b/cmake/ports/libnop/portfile.cmake
@@ -1,8 +1,8 @@
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO luxonis/libnop
-    REF ab842f51dc2eb13916dc98417c2186b78320ed10
-    SHA512 6353765ac8c489e66e0c91dc1da899e5a89200eb3834c95a1697b5e22e4d7186d920c24a67272ff92fdf22a0fac5b6b838345ad077e67693f35815c1cc9dbf17
+    REF 00938ba06ad513e4e0a12f9f2ec41cecad7e40d1
+    SHA512 1377cc955148b9106e173d5877623df4f18400234ad2a3c0e6ab12970c53886478520f7bc591f4e8d89ae1a325c4cd030063043795e34f99ec6efe77457c6664
     HEAD_REF develop
 )
 vcpkg_cmake_configure(
diff --git a/examples/cpp/RGBD/rgbd_pcl_processing.cpp b/examples/cpp/RGBD/rgbd_pcl_processing.cpp
@@ -12,8 +12,8 @@ class CustomPCLProcessingNode : public dai::NodeCRTP<dai::node::ThreadedHostNode
     constexpr static const float thresholdDistance = 3000.0f;
 
    public:
-    Input inputPCL{*this, {.name = "inPCL", .types = {{dai::DatatypeEnum::PointCloudData, true}}}};
-    Output outputPCL{*this, {.name = "outPCL", .types = {{dai::DatatypeEnum::PointCloudData, true}}}};
+    Input  inputPCL{*this, {"inPCL", DEFAULT_GROUP, DEFAULT_BLOCKING, DEFAULT_QUEUE_SIZE, {{{dai::DatatypeEnum::PointCloudData, true}}}}};
+    Output outputPCL{*this, {"outPCL", DEFAULT_GROUP, {{{dai::DatatypeEnum::PointCloudData, true}}}}};
 
     void run() override {
         while(isRunning()) {
@@ -27,7 +27,7 @@ class CustomPCLProcessingNode : public dai::NodeCRTP<dai::node::ThreadedHostNode
                 for (const auto& point : pclData) {
                     const float distance = point.x*point.x + point.y*point.y + point.z*point.z;
                     if (distance <= thresholdSquared) {
-                        updatedPoints.emplace_back(point.x, point.y, point.z, 
+                        updatedPoints.emplace_back(point.x, point.y, point.z,
                                                    point.r, point.g, point.b, point.a);
                     }
                 }
diff --git a/examples/python/Benchmark/benchmark_nn.py b/examples/python/Benchmark/benchmark_nn.py
@@ -11,7 +11,7 @@
 
 if type:
     try:
-        frameType = dai.ImgFrame.Type.__getattribute__(type)
+        frameType = getattr(dai.ImgFrame.Type, type)
     except AttributeError:
         type = None
 
diff --git a/examples/python/Misc/DigitalZoom/person_crop_out.py b/examples/python/Misc/DigitalZoom/person_crop_out.py
@@ -75,7 +75,7 @@ def transformDetectionToSource(imgDetections: dai.ImgDetections, detection: dai.
 
 if type:
     try:
-        frameType = dai.ImgFrame.Type.__getattribute__(type)
+        frameType = getattr(dai.ImgFrame.Type, type)
     except AttributeError:
         type = None
 
diff --git a/examples/python/SpatialDetectionNetwork/spatial_detection.py b/examples/python/SpatialDetectionNetwork/spatial_detection.py
@@ -57,10 +57,7 @@ def drawDetections(self, frame, detection, frameWidth, frameHeight):
         x2 = int(detection.xmax * frameWidth)
         y1 = int(detection.ymin * frameHeight)
         y2 = int(detection.ymax * frameHeight)
-        try:
-            label = self.labelMap[detection.label]  # Ensure labelMap is accessible
-        except IndexError:
-            label = detection.label
+        label = detection.labelName
         color = (255, 255, 255)
         cv2.putText(frame, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
         cv2.putText(frame, "{:.2f}".format(detection.confidence * 100), (x1 + 10, y1 + 35), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
@@ -94,8 +91,7 @@ def drawDetections(self, frame, detection, frameWidth, frameHeight):
     # Linking
     monoLeft.requestOutput((640, 400)).link(stereo.left)
     monoRight.requestOutput((640, 400)).link(stereo.right)
-    visualizer.labelMap = spatialDetectionNetwork.getClasses()
 
-    visualizer.build(stereo.depth, spatialDetectionNetwork.out, spatialDetectionNetwork.passthrough)
+    visualizer.build(spatialDetectionNetwork.passthroughDepth, spatialDetectionNetwork.out, spatialDetectionNetwork.passthrough)
 
     p.run()
diff --git a/examples/python/StereoDepth/stereo.py b/examples/python/StereoDepth/stereo.py
@@ -10,8 +10,8 @@
 stereo = pipeline.create(dai.node.StereoDepth)
 
 # Linking
-monoLeftOut = monoLeft.requestFullResolutionOutput(type=dai.ImgFrame.Type.NV12)
-monoRightOut = monoRight.requestFullResolutionOutput(type=dai.ImgFrame.Type.NV12)
+monoLeftOut = monoLeft.requestFullResolutionOutput()
+monoRightOut = monoRight.requestFullResolutionOutput()
 monoLeftOut.link(stereo.left)
 monoRightOut.link(stereo.right)
 
diff --git a/include/depthai/pipeline/node/SpatialDetectionNetwork.hpp b/include/depthai/pipeline/node/SpatialDetectionNetwork.hpp
@@ -24,10 +24,16 @@ namespace node {
 class SpatialDetectionNetwork : public DeviceNodeCRTP<DeviceNode, SpatialDetectionNetwork, SpatialDetectionNetworkProperties> {
    public:
     explicit SpatialDetectionNetwork(const std::shared_ptr<Device>& device)
-        : DeviceNodeCRTP<DeviceNode, SpatialDetectionNetwork, SpatialDetectionNetworkProperties>(device),
+        : DeviceNodeCRTP<DeviceNode, SpatialDetectionNetwork, SpatialDetectionNetworkProperties>(device)
+#ifndef DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4
+          ,
           input{neuralNetwork->input},
           outNetwork{neuralNetwork->out},
-          passthrough{neuralNetwork->passthrough} {
+          passthrough {
+        neuralNetwork->passthrough
+    }
+#endif
+    {
         if(device) {
             auto platform = device->getPlatform();
             if(platform == Platform::RVC4) {
@@ -36,7 +42,16 @@ class SpatialDetectionNetwork : public DeviceNodeCRTP<DeviceNode, SpatialDetecti
         }
     };
     SpatialDetectionNetwork(std::unique_ptr<Properties> props)
-        : DeviceNodeCRTP(std::move(props)), input{neuralNetwork->input}, outNetwork{neuralNetwork->out}, passthrough{neuralNetwork->passthrough} {
+        : DeviceNodeCRTP(std::move(props))
+#ifndef DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4
+          ,
+          input{neuralNetwork->input},
+          outNetwork{neuralNetwork->out},
+          passthrough {
+        neuralNetwork->passthrough
+    }
+#endif
+    {
         auto device = getDevice();
         if(device) {
             auto platform = device->getPlatform();
@@ -46,7 +61,16 @@ class SpatialDetectionNetwork : public DeviceNodeCRTP<DeviceNode, SpatialDetecti
         }
     };
     SpatialDetectionNetwork(std::unique_ptr<Properties> props, bool confMode)
-        : DeviceNodeCRTP(std::move(props), confMode), input{neuralNetwork->input}, outNetwork{neuralNetwork->out}, passthrough{neuralNetwork->passthrough} {
+        : DeviceNodeCRTP(std::move(props), confMode)
+#ifndef DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4
+          ,
+          input{neuralNetwork->input},
+          outNetwork{neuralNetwork->out},
+          passthrough {
+        neuralNetwork->passthrough
+    }
+#endif
+    {
         auto device = getDevice();
         if(device) {
             auto platform = device->getPlatform();
@@ -56,10 +80,17 @@ class SpatialDetectionNetwork : public DeviceNodeCRTP<DeviceNode, SpatialDetecti
         }
     };
     SpatialDetectionNetwork(const std::shared_ptr<Device>& device, std::unique_ptr<Properties> props, bool confMode)
-        : DeviceNodeCRTP(device, std::move(props), confMode),
+        : DeviceNodeCRTP(device, std::move(props), confMode)
+#ifndef DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4
+          ,
+
           input{neuralNetwork->input},
           outNetwork{neuralNetwork->out},
-          passthrough{neuralNetwork->passthrough} {
+          passthrough {
+        neuralNetwork->passthrough
+    }
+#endif
+    {
         if(device) {
             auto platform = device->getPlatform();
             if(platform == Platform::RVC4) {
@@ -83,6 +114,7 @@ class SpatialDetectionNetwork : public DeviceNodeCRTP<DeviceNode, SpatialDetecti
     Subnode<DetectionParser> detectionParser{*this, "detectionParser"};
     std::unique_ptr<Subnode<ImageAlign>> depthAlign;
 
+#ifndef DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4
     /**
      * Input message with data to be inferred upon
      * Default queue is blocking with size 5
@@ -100,6 +132,7 @@ class SpatialDetectionNetwork : public DeviceNodeCRTP<DeviceNode, SpatialDetecti
      * Suitable for when input queue is set to non-blocking behavior.
      */
     Output& passthrough;
+#endif
 
     /**
      * Input message with depth data used to retrieve spatial information about detected object

Original file line number	Diff line number	Diff line change
`@@ -177,7 +177,7 @@ else()`
`177`	`177`	`FetchContent_Declare(`
`178`	`178`	`XLink`
`179`	`179`	`GIT_REPOSITORY https://github.com/luxonis/XLink.git`
`180`		`- GIT_TAG 13790284ce12969c169940f88aad755bd91146db`
	`180`	`+ GIT_TAG 7958fece3f7b303b1a2038ea7e78f53405f89843`
`181`	`181`	`)`
`182`	`182`
`183`	`183`	`FetchContent_MakeAvailable(`