Merge remote-tracking branch 'origin/main' into HEAD

Author: SzabolcsGergely

examples/calibration_reader.py

@@ -26,6 +26,18 @@
     print("LEFT Camera resized intrinsics...")
     print(M_left)
 
+    D_left = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.LEFT))
+    print("LEFT Distortion Coefficients...")
+    [print(name+": "+value) for (name, value) in zip(["k1","k2","p1","p2","k3","k4","k5","k6","s1","s2","s3","s4","τx","τy"],[str(data) for data in D_left])]
+
+    M_right = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.RIGHT, 1280, 720))
+    print("RIGHT Camera resized intrinsics...")
+    print(M_right)
+
+    D_right = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.RIGHT))
+    print("RIGHT Distortion Coefficients...")
+    [print(name+": "+value) for (name, value) in zip(["k1","k2","p1","p2","k3","k4","k5","k6","s1","s2","s3","s4","τx","τy"],[str(data) for data in D_right])]
+
     print(f"RGB FOV {calibData.getFov(dai.CameraBoardSocket.RGB)}, Mono FOV {calibData.getFov(dai.CameraBoardSocket.LEFT)}")
 
     R1 = np.array(calibData.getStereoLeftRectificationRotation())

examples/install_requirements.py

@@ -3,6 +3,7 @@
 import sys, os, subprocess
 import argparse
 import re
+import platform
 
 convert_default = "empty"
 parser = argparse.ArgumentParser()
@@ -38,7 +39,21 @@ def hasWhitespace(string):
 import find_version
 
 # 3rdparty dependencies to install
-DEPENDENCIES = ['numpy', 'opencv-python', 'pyyaml', 'requests']
+DEPENDENCIES = ['pyyaml', 'requests']
+requireOpenCv = True
+thisPlatform = platform.machine()
+if thisPlatform == "aarch64":
+    # try to import opencv, numpy in a subprocess, since it might fail with illegal instruction
+    # if it was previously installed w/ pip without setting OPENBLAS_CORE_TYPE=ARMV8 env variable
+    try:
+        subprocess.check_call([sys.executable, "-c", "import numpy, cv2;"])
+        requireOpenCv = False
+    except subprocess.CalledProcessError as ex:
+        requireOpenCv = True
+
+if requireOpenCv:
+    DEPENDENCIES.extend(['numpy','opencv-python'])
+
 
 # Constants
 ARTIFACTORY_URL = 'https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local'
@@ -61,12 +76,13 @@ def hasWhitespace(string):
 if sys.version_info[0] != 3:
     raise RuntimeError("Examples require Python 3 to run (detected: Python {})".format(sys.version_info[0]))
 
-if platform.machine() == "arm64" and platform.system() == "Darwin":
+if thisPlatform == "arm64" and platform.system() == "Darwin":
     err_str = "There are no prebuilt wheels for M1 processors. Please open the following link for a solution - https://discuss.luxonis.com/d/69-running-depthai-on-apple-m1-based-macs"
     raise RuntimeError(err_str)
 
-is_pi = platform.machine().startswith("arm") or platform.machine().startswith("aarch")
-if is_pi and sys.version_info[1] == 9:
+is_pi = thisPlatform.startswith("arm")
+prebuiltWheelsPythonVersion = [7,9]
+if requireOpenCv and is_pi and sys.version_info[1] not in prebuiltWheelsPythonVersion:
     print("[WARNING] There are no prebuilt wheels for Python 3.{} for OpenCV, building process on this device may be long and unstable".format(sys.version_info[1]))
 
 if not in_venv:
@@ -158,3 +174,14 @@ def hasWhitespace(string):
             prettyPrint(cmd)
         else:
             subprocess.check_call(cmd)
+
+if requireOpenCv and thisPlatform == "aarch64":
+    from os import environ
+    OPENBLAS_CORE_TYPE = environ.get('OPENBLAS_CORE_TYPE')
+    if OPENBLAS_CORE_TYPE != 'ARMV8':
+        WARNING='\033[1;5;31m'
+        RED='\033[91m'
+        LINE_CL='\033[0m'
+        SUGGESTION='echo "export OPENBLAS_CORETYPE=AMRV8" >> ~/.bashrc && source ~/.bashrc'
+        print(f'{WARNING}WARNING:{LINE_CL} Need to set OPENBLAS_CORE_TYPE environment variable, otherwise opencv will fail with illegal instruction.')
+        print(f'Run: {RED}{SUGGESTION}{LINE_CL}')