Merge branch 'v3_cleanup' into lnotspotl/internal_xlink

Author: lnotspotl

.github/workflows/main.workflow.yml

@@ -100,11 +100,13 @@ jobs:
     strategy:
       matrix:
         os: [macos-latest, windows-latest, ubuntu-latest]
+        # TODO(Morato) - add back Debug builds to CI
         # build-type: [Debug, Release]
         build-type: [Release]
         # shared: [true, false]
         shared: [true]
         platform: [x64]
+        # TODO(Morato) - add back Win32 and shared builds to CI
         # include:
         #   - platform: Win32
         #     os: windows-latest
@@ -159,7 +161,7 @@ jobs:
       with:
         name: windows-prebuilt-win64-${{ matrix.build-type }}
         path: ${{ env.GITHUB_WORKSPACE }}/depthai_install/
-
+    # TODO(Morato) - add back Win32 and shared builds to CI
     # - name: Upload Win32 shared library
     #   if: matrix.os == 'windows-latest' && matrix.shared && matrix.platform == 'Win32'
     #   uses: actions/upload-artifact@v4

.github/workflows/python-main.yml

@@ -59,7 +59,16 @@ jobs:
           sudo apt install libusb-1.0-0-dev pkg-config bison autoconf libtool libxi-dev libxtst-dev libxrandr-dev libx11-dev libxft-dev libxext-dev nasm flex libudev-dev automake libltdl-dev
           python -m pip install -r bindings/python/docs/requirements_mkdoc.txt
       - name: Configure project
-        run: cmake -S . -B build -DDEPTHAI_VCPKG_INTERNAL_ONLY=OFF -DDEPTHAI_BUILD_PYTHON=ON -DDEPTHAI_PYTHON_FORCE_DOCSTRINGS=ON -DDEPTHAI_BASALT_SUPPORT=ON -DDEPTHAI_PCL_SUPPORT=ON -DDEPTHAI_RTABMAP_SUPPORT=ON -DDEPTHAI_PYTHON_DOCSTRINGS_OUTPUT="$PWD/bindings/python/docstrings/depthai_python_docstring.hpp"
+        run: |
+          cmake -S . \
+            -B build \
+            -DDEPTHAI_VCPKG_INTERNAL_ONLY=OFF \
+            -DDEPTHAI_BUILD_PYTHON=ON \
+            -DDEPTHAI_PYTHON_FORCE_DOCSTRINGS=ON \
+            -DDEPTHAI_BASALT_SUPPORT=ON \
+            -DDEPTHAI_PCL_SUPPORT=ON \
+            -DDEPTHAI_RTABMAP_SUPPORT=ON \
+            -DDEPTHAI_PYTHON_DOCSTRINGS_OUTPUT="$PWD/bindings/python/docstrings/depthai_python_docstring.hpp"
       - name: Build target 'pybind11_mkdoc'
         run: cmake --build build --target pybind11_mkdoc --parallel 4
       - name: Print out vcpkg logs if building port fails
@@ -151,8 +160,14 @@ jobs:
 
       - name: Compile
         run: |
-          cmake -S . -B build -DDEPTHAI_VCPKG_INTERNAL_ONLY=OFF -DDEPTHAI_BUILD_PYTHON=ON -D CMAKE_BUILD_TYPE=Release -D DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp -D DEPTHAI_PYTHON_ENABLE_TESTS=ON
-          cmake --build build --parallel 4
+            cmake -S . \
+            -B build \
+            -DDEPTHAI_VCPKG_INTERNAL_ONLY=OFF \
+            -DDEPTHAI_BUILD_PYTHON=ON \
+            -D CMAKE_BUILD_TYPE=Release \
+            -D DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp \
+            -D DEPTHAI_PYTHON_ENABLE_TESTS=ON
+            cmake --build build --parallel 4
       - name: Print out vcpkg logs if building port fails
         if: failure()    # Only run this if the build step fails
         run: cd bindings/python && bash ./ci/show_vcpkg_logs.sh

cmake/depthaiDependencies.cmake

@@ -162,6 +162,7 @@ if(DEPTHAI_BUILD_TESTS)
 endif()
 
 # XLink
+# Always compile XLink as static library, even when DepthAI is built as shared
 set(_BUILD_SHARED_LIBS_SAVED "${BUILD_SHARED_LIBS}")
 set(BUILD_SHARED_LIBS OFF)
 set(XLINK_ENABLE_LIBUSB ${DEPTHAI_ENABLE_LIBUSB} CACHE BOOL "Enable libusb" FORCE)

cmake/depthaiOptions.cmake

@@ -1,25 +1,46 @@
+# ==================================
+# DepthAI Build Options (organized)
+# ==================================
+
+# ---------- Platform‑based defaults ----------
+
+# Detect 32‑bit Linux for default CURL support
+if(CMAKE_SIZEOF_VOID_P EQUAL 4 AND UNIX)
+    set(DEPTHAI_DEFAULT_CURL_SUPPORT OFF)
+else()
+    set(DEPTHAI_DEFAULT_CURL_SUPPORT ON)
+endif()
+
+# ---------- Core Feature Toggles (private) -------------
 option(DEPTHAI_ENABLE_LIBUSB "Enable usage of libusb and interaction with USB devices" ON)
 option(DEPTHAI_ENABLE_APRIL_TAG "Enable AprilTag node (not available for Windows)" ON)
-option(DEPTHAI_RTABMAP_SUPPORT "Enable optional RTABMap support" OFF)
-option(DEPTHAI_BASALT_SUPPORT "Enable optional Basalt support" OFF)
 option(DEPTHAI_ENABLE_PROTOBUF "Enable Protobuf support" ON)
-option(DEPTHAI_BUILD_PYTHON "Build python bindings" OFF)
-option(DEPTHAI_BUILD_TESTS "Build tests" OFF)
+option(DEPTHAI_ENABLE_CURL "Enable CURL support" ${DEPTHAI_DEFAULT_CURL_SUPPORT})
+option(DEPTHAI_ENABLE_KOMPUTE "Enable Kompute support" OFF)
+option(DEPTHAI_ENABLE_MP4V2 "Enable video recording using the MP4V2 library" ON)
+
+# ---------- Optional Features (public) -------------
 option(DEPTHAI_OPENCV_SUPPORT "Enable optional OpenCV support" ON)
-OPTION(DEPTHAI_ENABLE_KOMPUTE "Enable Kompute support" OFF)
+option(DEPTHAI_XTENSOR_SUPPORT "Enable optional xtensor support" ON)
 option(DEPTHAI_PCL_SUPPORT "Enable optional PCL support" OFF)
+
+option(DEPTHAI_RTABMAP_SUPPORT "Enable optional RTABMap support" OFF)
+option(DEPTHAI_BASALT_SUPPORT "Enable optional Basalt support" OFF)
+
+# Build Behaviour
 option(DEPTHAI_MERGED_TARGET "Enable merged target build" ON)
-option(DEPTHAI_NEW_FIND_PYTHON "Use new FindPython module" ON)
+option(DEPTHAI_BUILD_PYTHON "Build python bindings" OFF)
+option(DEPTHAI_BUILD_TESTS "Build tests" OFF)
+option(DEPTHAI_BUILD_EXAMPLES "Build examples - Requires OpenCV library to be installed" OFF)
+option(DEPTHAI_BUILD_DOCS "Build documentation - requires doxygen to be installed" OFF)
 option(DEPTHAI_BUILD_ZOO_HELPER "Build the Zoo helper" OFF)
-option(DEPTHAI_ENABLE_MP4V2 "Enable video recording using the MP4V2 library" ON)
-option(DEPTHAI_XTENSOR_SUPPORT "Enable optional xtensor support" ON)
+option(DEPTHAI_NEW_FIND_PYTHON "Use new FindPython module" ON)
+option(DEPTHAI_INSTALL "Enable install target for depthai-core targets" ON)
 
-#VCPKG related options
+# ---------- Dependency Management -------------
 option(DEPTHAI_BOOTSTRAP_VCPKG "Automatically bootstrap VCPKG" ON)
-# DepthAI uses VCPKG internally, to fetch its private dependencies, but not for the public interface dependencies by default
-# (OpenCV, PCL, etc.)
-# This is to avoid conflicts with the system installed libraries when downstream libraries use DepthAI.
-option(DEPTHAI_VCPKG_INTERNAL_ONLY "Use VCPKG internally, but not for libraries on the interface" ON)
+option(DEPTHAI_VCPKG_INTERNAL_ONLY "Use VCPKG internally, but not for interface libraries" ON)
+
 set(USE_EXTERNAL_INTERFACE_LIBS_DEFAULT ON)
 if(DEPTHAI_VCPKG_INTERNAL_ONLY)
     set(USE_EXTERNAL_INTERFACE_LIBS_DEFAULT OFF)
@@ -29,34 +50,29 @@ option(DEPTHAI_JSON_EXTERNAL "Use external nlohmann_json library" ${USE_EXTERNAL
 option(DEPTHAI_LIBNOP_EXTERNAL "Use external libnop library" ${USE_EXTERNAL_INTERFACE_LIBS_DEFAULT})
 option(DEPTHAI_XTENSOR_EXTERNAL "Use external xtensor library" ${USE_EXTERNAL_INTERFACE_LIBS_DEFAULT})
 
-if(NOT DEPTHAI_OPENCV_SUPPORT)
-    set(DEPTHAI_MERGED_TARGET OFF CACHE BOOL "Enable merged target build" FORCE)
-endif()
+# ---------- Platform / Compiler Tweaks ---------
 
+# AprilTag node support
 set(DEPTHAI_HAS_APRIL_TAG ${DEPTHAI_ENABLE_APRIL_TAG})
 if(WIN32)
     message(STATUS "AprilTag node is not supported on Windows")
     set(DEPTHAI_HAS_APRIL_TAG OFF)
 endif()
 
-# Enable backward stack printing on crash
+# Disable merged target when OpenCV is disabled
+if(NOT DEPTHAI_OPENCV_SUPPORT)
+    set(DEPTHAI_MERGED_TARGET OFF CACHE BOOL "Enable merged target build" FORCE)
+endif()
+
+# Backward stacktrace printing
 if(ANDROID OR EMSCRIPTEN)
     # Backward not supported currently on Android
     set(DEPTHAI_ENABLE_BACKWARD OFF CACHE BOOL "" FORCE)
 else()
     option(DEPTHAI_ENABLE_BACKWARD "Enable stacktrace printing on crash using Backward" ON)
 endif()
 
-# Check if on 32 bit linux - default without CURL support
-if(CMAKE_SIZEOF_VOID_P EQUAL 4 AND UNIX)
-    set(DEPTHAI_DEFAULT_CURL_SUPPORT OFF)
-else()
-    set(DEPTHAI_DEFAULT_CURL_SUPPORT ON)
-endif()
-
-option(DEPTHAI_ENABLE_CURL "Enable CURL support" ${DEPTHAI_DEFAULT_CURL_SUPPORT})
-
-
+# ---------- Remote connection options
 if(DEPTHAI_ENABLE_PROTOBUF)
     option(DEPTHAI_ENABLE_REMOTE_CONNECTION "Enable Remote Connection support" ON)
     if(DEPTHAI_ENABLE_CURL AND DEPTHAI_HAVE_OPENCV_SUPPORT)
@@ -70,34 +86,24 @@ else()
     message(STATUS "Remote Connection support disabled because Protobuf support is disabled.")
 endif()
 
-# Additional options
-option(DEPTHAI_CLANG_FORMAT "Enable clang-format target"                  ON)
-option(DEPTHAI_CLANG_TIDY "Enable clang-tidy checks during compilation" OFF)
-option(DEPTHAI_SANITIZE "Enable Address and Undefined sanitizers for library, examples and tests" OFF)
-
-# Should install depthai core libraries
-option(DEPTHAI_INSTALL   "Enable install target for depthai-core targets" ON)
-
-
-# Debug option
-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")
-
-
-# First specify options
-option(DEPTHAI_BUILD_EXAMPLES "Build examples - Requires OpenCV library to be installed" OFF)
-option(DEPTHAI_BUILD_DOCS "Build documentation - requires doxygen to be installed" OFF)
-
-# Specify support for FW
-option(DEPTHAI_ENABLE_DEVICE_FW "Enable MyriadX Device FW" ON)
-option(DEPTHAI_ENABLE_DEVICE_BOOTLOADER_FW "Enable MyriadX Device Bootloader FW" ON)
-option(DEPTHAI_ENABLE_DEVICE_RVC3_FW "Enable RVC3 Device FW" OFF)
-option(DEPTHAI_ENABLE_DEVICE_RVC4_FW "Enable RVC4 Device FW" ON)
-
 if(DEPTHAI_ENABLE_REMOTE_CONNECTION)
     option(DEPTHAI_EMBED_FRONTEND "Embed frontend resources into library" ON)
 else()
     option(DEPTHAI_EMBED_FRONTEND "Embed frontend resources into library" OFF)
 endif()
 
+# ---------- Embedded firmware  ---------------------------
+option(DEPTHAI_ENABLE_DEVICE_FW "Enable MyriadX Device FW" ON)
+option(DEPTHAI_ENABLE_DEVICE_BOOTLOADER_FW "Enable MyriadX Device Bootloader FW" ON)
+option(DEPTHAI_ENABLE_DEVICE_RVC3_FW "Enable RVC3 Device FW" OFF)
+option(DEPTHAI_ENABLE_DEVICE_RVC4_FW "Enable RVC4 Device FW" ON)
 option(DEPTHAI_BINARIES_RESOURCE_COMPILE "Compile Depthai device side binaries into library" ON)
+
+# ---------- Development Aids -------------------
+option(DEPTHAI_CLANG_FORMAT "Enable clang-format target" ON)
+option(DEPTHAI_CLANG_TIDY "Enable clang-tidy checks during compilation" OFF)
+option(DEPTHAI_SANITIZE "Enable Address and Undefined sanitizers for library, examples and tests" OFF)
+
+# 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")

tests/src/ondevice_tests/openvino_blob_test.cpp

@@ -15,19 +15,15 @@ void checkBlob(dai::OpenVINO::Blob& blob) {
     for(const auto& in : blob.networkInputs) {
         std::string name = in.first;
         auto tensor = in.second;
-        // printf("'%s - dims: %d - order: %04x - type: %d' ", name.c_str(), tensor.numDimensions, tensor.order, tensor.dataType);
     }
     for(const auto& out : blob.networkOutputs) {
         std::string name = out.first;
         auto tensor = out.second;
-        // printf("'%s - dims: %d - order: %04x - type: %d' ", name.c_str(), tensor.numDimensions, tensor.order, tensor.dataType);
     }
-    // printf("(%u %u %u %u)\n", blob.stageCount, blob.numShaves, blob.numSlices, blob.version);
 
     REQUIRE(blob.networkInputs.size() == 1);
     REQUIRE(blob.networkInputs.at("0").numDimensions == 4);
     REQUIRE(blob.networkInputs.at("0").order == dai::TensorInfo::StorageOrder::NCHW);
-    // REQUIRE(blob.networkInputs.at("0").dataType == dai::TensorInfo::DataType::U8F);
 
     REQUIRE(blob.networkOutputs.size() == 1);
     REQUIRE(blob.networkOutputs.at("14").numDimensions == 4);