Merge branch 'develop' into main

Author: themarpe

.github/workflows/main.yml

@@ -26,31 +26,31 @@ jobs:
 
   # Job which builds docstrings for the rest of the wheel builds
   build-docstrings:
-    runs-on: macos-latest
+    runs-on: ubuntu-latest
     steps:
       - name: Cache .hunter folder
         uses: actions/cache@v2
         with:
           path: ~/.hunter
-          key: hunter-macos-latest
+          key: hunter-ubuntu-latest
       - name: List .hunter cache directory
         run: ls -a -l ~/.hunter/_Base/ || true
       - uses: actions/checkout@v2
         with:
           submodules: 'recursive'
       - name: Set up Python
         uses: actions/setup-python@v2
-        with: 
+        with:
           python-version: 3.8
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          brew install libusb
-          python -m pip install git+git://github.com/luxonis/pybind11_mkdoc.git@master
+          sudo apt install libusb-1.0-0-dev
+          python -m pip install -r docs/requirements_mkdoc.txt
       - name: Configure project
         run: cmake -S . -B build -DDEPTHAI_PYTHON_FORCE_DOCSTRINGS=ON -DDEPTHAI_PYTHON_DOCSTRINGS_OUTPUT="$PWD/docstrings/depthai_python_docstring.hpp"
       - name: Build target 'pybind11_mkdoc'
-        run: cmake --build build --target pybind11_mkdoc --parallel
+        run: cmake --build build --target pybind11_mkdoc --parallel 8
       - name: Upload docstring artifacts
         uses: actions/upload-artifact@v2
         with:
@@ -62,7 +62,7 @@ jobs:
   build-linux-armhf:
     needs: build-docstrings
     runs-on: luxonis-armhf
-    container: 
+    container:
       image: registry.gitlab.com/luxonis/depthai-crosscompile/debian-buster
       # Mount local hunter cache directory, instead of transfering to Github and back
       volumes:
@@ -73,7 +73,7 @@ jobs:
       - uses: actions/checkout@v2
         with:
           submodules: 'recursive'
-        
+
       - uses: actions/download-artifact@v2
         with:
           name: 'docstrings'
@@ -129,7 +129,7 @@ jobs:
 
       - name: Set up Python ${{ matrix.python-version }}
         uses: actions/setup-python@v2
-        with: 
+        with:
           python-version: ${{ matrix.python-version }}
           architecture: ${{ matrix.python-architecture }}
       - name: Append build hash if not a tagged commit
@@ -182,7 +182,7 @@ jobs:
 
       - name: Set up Python ${{ matrix.python-version }}
         uses: actions/setup-python@v2
-        with: 
+        with:
           python-version: ${{ matrix.python-version }}
       - name: Append build hash if not a tagged commit
         if: startsWith(github.ref, 'refs/tags/v') != true
@@ -197,7 +197,7 @@ jobs:
       - name: Building wheels
         run: python -m pip wheel . -w ./wheelhouse/ --verbose
       - name: Auditing wheels
-        run: ci/repair-whl-macos.sh `pwd`/wheelhouse/* `pwd`/wheelhouse/audited      
+        run: ci/repair-whl-macos.sh `pwd`/wheelhouse/* `pwd`/wheelhouse/audited
       - name: Archive wheel artifacts
         uses: actions/upload-artifact@v2
         with:
@@ -247,7 +247,7 @@ jobs:
       - name: Build and install depthai-core
         run: |
           cmake -S depthai-core/ -B build_core -D CMAKE_BUILD_TYPE=Release -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake
-          cmake --build build_core --target install --parallel
+          cmake --build build_core --target install --parallel 8
           echo "DEPTHAI_INSTALLATION_DIR=$PWD/build_core/install/" >> $GITHUB_ENV
 
       - name: Append build hash if not a tagged commit
@@ -309,7 +309,7 @@ jobs:
       - name: Build and install depthai-core
         run: |
           cmake -S depthai-core/ -B build_core -D CMAKE_BUILD_TYPE=Release -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake
-          cmake --build build_core --target install --parallel
+          cmake --build build_core --target install --parallel 8
           echo "DEPTHAI_INSTALLATION_DIR=$PWD/build_core/install/" >> $GITHUB_ENV
 
       - name: Append build hash if not a tagged commit
@@ -336,12 +336,12 @@ jobs:
     if: startsWith(github.ref, 'refs/tags/v')
     needs: [build-linux-armhf, build-windows-x86_64, build-macos-x86_64, build-linux-x86_64, build-linux-arm64]
     runs-on: ubuntu-latest
-    
+
     steps:
     - uses: actions/checkout@v2
       with:
         submodules: 'recursive'
-    
+
     - name: Get tag version
       id: tag
       uses: battila7/get-version-action@v2

CMakeLists.txt

@@ -31,6 +31,18 @@ endif()
 set(TARGET_NAME depthai)
 project(depthai VERSION "0") # revision of bindings [depthai-core].[rev]
 
+# Set default build type depending on context
+set(default_build_type "Release")
+if(EXISTS "${CMAKE_SOURCE_DIR}/.git" AND NOT DEFINED ENV{CI})
+    set(default_build_type "Debug")
+endif()
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+    message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
+    set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE STRING "Choose the type of build." FORCE)
+    # Set the possible values of build type for cmake-gui
+    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+endif()
+
 # Add module paths
 list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/")
 list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/depthai-core/cmake")
@@ -63,13 +75,13 @@ endif()
 hunter_add_package(pybind11)
 
 # Disable LTO if MINGW compiler
-if(MINGW)   
+if(MINGW)
     set(PYBIND11_LTO_CXX_FLAGS "" CACHE STRING "" FORCE)
 endif()
 find_package(pybind11 CONFIG REQUIRED)
 
 # Add files for python module
-pybind11_add_module(${TARGET_NAME} 
+pybind11_add_module(${TARGET_NAME}
     src/py_bindings.cpp
     src/XLinkConnectionBindings.cpp
     src/DeviceBindings.cpp
@@ -92,8 +104,8 @@ endif()
 
 if(DEPTHAI_PYTHON_DOCSTRINGS_OUTPUT)
     # If output is specified set both input and output to same the path
-    set(docstring_input_path ${DEPTHAI_PYTHON_DOCSTRINGS_OUTPUT}) 
-    set(docstring_output_path ${DEPTHAI_PYTHON_DOCSTRINGS_OUTPUT}) 
+    set(docstring_input_path ${DEPTHAI_PYTHON_DOCSTRINGS_OUTPUT})
+    set(docstring_output_path ${DEPTHAI_PYTHON_DOCSTRINGS_OUTPUT})
 else()
     # If input docstrings explicitly specified, use those and disable building
     if(DEPTHAI_PYTHON_DOCSTRINGS_INPUT)
@@ -102,11 +114,11 @@ else()
         set(DEPTHAI_PYTHON_BUILD_DOCSTRINGS OFF CACHE BOOL "Generate docstrings from header files if module 'pybind11_mkdoc' available" FORCE)
     else()
         # Otherwise set default location as input
-        set(docstring_input_path ${DEFAULT_DOCSTRINGS_OUTPUT}) 
+        set(docstring_input_path ${DEFAULT_DOCSTRINGS_OUTPUT})
     endif()
 
     # Set default output location
-    set(docstring_output_path ${DEFAULT_DOCSTRINGS_OUTPUT}) 
+    set(docstring_output_path ${DEFAULT_DOCSTRINGS_OUTPUT})
 endif()
 
 if(DEPTHAI_PYTHON_BUILD_DOCSTRINGS)
@@ -118,11 +130,14 @@ configure_file(cmake/docstring.hpp.in ${DOCSTRINGS_INCLUDE_PLACEHOLDER_PATH})
 # Add target to generate docstrings
 if (DEPTHAI_PYTHON_BUILD_DOCSTRINGS)
     include(pybind11-mkdoc)
-    
+
     # Check if pybind11_mkdoc available and create target
     target_pybind11_mkdoc_setup(${docstring_output_path} depthai::core ${DEPTHAI_PYTHON_FORCE_DOCSTRINGS})
-    
-    if(NOT TARGET pybind11_mkdoc)
+
+    if(TARGET pybind11_mkdoc)
+        # Add dependency to mkdoc target (makes sure that mkdoc is executed, and docstrings available)
+        add_dependencies(${TARGET_NAME} pybind11_mkdoc)
+    else()
         # Generate default docstrings to OUTPUT path
         configure_file(cmake/default_docstring.hpp.in ${docstring_output_path} COPYONLY)
     endif()
@@ -135,17 +150,39 @@ endif()
 target_include_directories(${TARGET_NAME} PRIVATE src ${DOCSTRINGS_INCLUDE_PLACEHOLDER_DIR})
 
 # Link with libraries
-target_link_libraries(${TARGET_NAME} 
-    PUBLIC 
+target_link_libraries(${TARGET_NAME}
+    PUBLIC
         # pybind11
         pybind11::pybind11
         depthai::core # Use non-opencv target as we use opencv-python in bindings
         hedley
 )
 
-# Add default commit hash ('dev') if not build by CI
-if(NOT DEFINED ENV{CI} AND NOT DEPTHAI_PYTHON_COMMIT_HASH)   
-    set(DEPTHAI_PYTHON_COMMIT_HASH "dev")
+# Find Git
+find_package(Git)
+
+# Add build information (commit, date)
+set(BUILD_COMMIT "dev")
+if(GIT_FOUND)
+    execute_process(
+        COMMAND ${GIT_EXECUTABLE} rev-parse HEAD
+        WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
+        OUTPUT_VARIABLE BUILD_COMMIT
+        ERROR_QUIET
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+    execute_process(
+        COMMAND ${GIT_EXECUTABLE} show -s --format=%ci ${BUILD_COMMIT}
+        WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
+        OUTPUT_VARIABLE BUILD_COMMIT_DATETIME
+        ERROR_QUIET
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+endif()
+
+# Add local commit hash (or 'dev' if unable to retrieve) if not build by CI
+if(NOT DEFINED ENV{CI} AND NOT DEPTHAI_PYTHON_COMMIT_HASH)
+    set(DEPTHAI_PYTHON_COMMIT_HASH ${BUILD_COMMIT})
 endif()
 
 # Get version to use
@@ -159,8 +196,15 @@ execute_process(COMMAND ${PYTHON_EXECUTABLE} "-c" "${version_command}"
     WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
 )
 
-# Add version definition
-target_compile_definitions(${TARGET_NAME} PRIVATE DEPTHAI_PYTHON_VERSION="${DEPTHAI_PYTHON_VERSION}")
+
+string(TIMESTAMP BUILD_DATETIME "%Y-%m-%d %H:%M:%S +0000" UTC)
+target_compile_definitions(${TARGET_NAME}
+    PRIVATE
+        DEPTHAI_PYTHON_VERSION="${DEPTHAI_PYTHON_VERSION}"
+        DEPTHAI_PYTHON_COMMIT_HASH="${BUILD_COMMIT}"
+        DEPTHAI_PYTHON_COMMIT_DATETIME="${BUILD_COMMIT_DATETIME}"
+        DEPTHAI_PYTHON_BUILD_DATETIME="${BUILD_DATETIME}"
+)
 
 # Set compiler features (c++14), and disables extensions
 set_property(TARGET ${TARGET_NAME} PROPERTY CXX_STANDARD 14)

README.md

@@ -23,45 +23,59 @@ python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifacto
 ### Dependencies
  - cmake >= 3.4
  - C++14 compiler (clang, gcc, msvc, ...)
- - Python
+ - Python3
 
 Along these, dependencies of depthai-core are also required
 See: [depthai-core dependencies](https://github.com/luxonis/depthai-core#dependencies)
 
 
 ### Building
 
-To build a shared library from source perform the following:
+To build and install using pip:
 ```
-git submodule update --init --recursive
-mkdir build && cd build
-cmake .. [-D PYTHON_EXECUTABLE=/full/path/to/python]
-cmake --build . --parallel
+python3 -m pip install .
 ```
+Add parameter `-v` to see the output of the building process.
 
-Where `-D PYTHON_EXECUTABLE` option can optionally specify an exact Python executable to use for building.
 
 To build a wheel, execute the following
 ```
 python3 -m pip wheel . -w wheelhouse
 ```
 
-To build and install using pip:
+To build a shared library from source perform the following:
+
+> ℹ️ To speed up build times, use `cmake --build build --parallel [num CPU cores]` (CMake >= 3.12).
+For older versions use: Linux/macOS: `cmake --build build -- -j[num CPU cores]`, MSVC: `cmake --build build -- /MP[num CPU cores]`
+
 ```
-python3 -m pip install .
+git submodule update --init --recursive
+cmake -H. -Bbuild
+cmake --build build
 ```
+To specify custom Python executable to build for, use `cmake -H. -Bbuild -D PYTHON_EXECUTABLE=/full/path/to/python`.
+
 
 ## Running tests
 
 To run the tests build the library with the following options
 ```
 git submodule update --init --recursive
-mkdir build_tests && cd build_tests
-cmake .. -D DEPTHAI_PYTHON_ENABLE_TESTS=ON -D DEPTHAI_PYTHON_ENABLE_EXAMPLES=ON -D DEPTHAI_PYTHON_TEST_EXAMPLES=ON
-cmake --build . --parallel
+cmake -H. -Bbuild -D DEPTHAI_PYTHON_ENABLE_TESTS=ON -D DEPTHAI_PYTHON_ENABLE_EXAMPLES=ON -D DEPTHAI_PYTHON_TEST_EXAMPLES=ON
+cmake --build build
+```
+
+Then navigate to `build` folder and run `ctest`
+```
+cd build
 ctest
 ```
 
+To test a specific example/test with a custom timeout (in seconds) use following:
+```
+TEST_TIMEOUT=0 ctest -R "01_rgb_preview" --verbose
+```
+If `TEST_TIMEOUT=0`, the test will run until stopped or it ends.
 
 ## Tested platforms
 
@@ -94,8 +108,8 @@ ctest
      ```
      python3 -m pip install -U pip
      python3 -m pip install -r docs/requirements.txt
-     cmake -S . -B build -D DEPTHAI_BUILD_DOCS=ON -D DEPTHAI_PYTHON_BUILD_DOCS=ON
-     cmake --build build --parallel --target sphinx
+     cmake -H. -Bbuild -D DEPTHAI_BUILD_DOCS=ON -D DEPTHAI_PYTHON_BUILD_DOCS=ON
+     cmake --build build --target sphinx
      python3 -m http.server --bind 0.0.0.0 8000 --directory build/docs/sphinx
      ```
 
@@ -105,7 +119,7 @@ ctest
      in a new terminal window to update the website source
 
      ```
-     cmake --build build --parallel --target sphinx
+     cmake --build build --target sphinx
      ```
 
      Then refresh your page - it should load the updated website that was just built

cmake/Hunter/config.cmake

@@ -2,6 +2,6 @@
 hunter_config(
     pybind11
     VERSION "2.6.3dev1"
-    URL "https://github.com/bstaletic/pybind11/archive/a4932c114a3a43c9d0157805a23c0c726e461b96.tar.gz"
-    SHA1 "e65484c0aa7dc3220123a7e48a50ae7a8cecdd1c"
+    URL "https://github.com/pybind/pybind11/archive/54430436fee2afc4f8443691075a6208f9ea8eba.tar.gz"
+    SHA1 "c8550f7d77e92045c996d17f1d214223d1e2e620"
 )

cmake/pybind11-mkdoc.cmake

@@ -80,7 +80,4 @@ function(pybind11_mkdoc_setup_internal target output_path mkdoc_headers enforce)
     # Force target build
     file(TOUCH_NOCREATE ${mkdoc_headers})
 
-    # Add dependency to mkdoc target (makes sure that mkdoc is executed, and docstrings available)
-    add_dependencies(${target} ${PYBIND11_MKDOC_TARGET_NAME})
-
 endfunction()

depthai-core

@@ -4,5 +4,16 @@ set(project_root "${CMAKE_CURRENT_LIST_DIR}/..")
 # Get buildCommitHash for non release build
 execute_process(COMMAND "git" "rev-parse" "HEAD" WORKING_DIRECTORY ${project_root} OUTPUT_VARIABLE buildCommitHash OUTPUT_STRIP_TRAILING_WHITESPACE)
 
-execute_process(COMMAND ${CMAKE_COMMAND} -D DEPTHAI_PYTHON_COMMIT_HASH:STRING=${buildCommitHash} -D DEPTHAI_PYTHON_BUILD_DOCS:BOOL=YES -D DEPTHAI_BUILD_DOCS:BOOL=YES -S . -B build WORKING_DIRECTORY ${project_root} COMMAND_ECHO STDOUT)
+# Configure
+execute_process(COMMAND ${CMAKE_COMMAND}
+    -D DEPTHAI_PYTHON_COMMIT_HASH:STRING=${buildCommitHash}
+    -D DEPTHAI_PYTHON_BUILD_DOCS:BOOL=YES
+    -D DEPTHAI_BUILD_DOCS:BOOL=YES
+    -D DEPTHAI_PYTHON_BUILD_DOCSTRINGS:BOOL=YES
+    -D DEPTHAI_PYTHON_FORCE_DOCSTRINGS:BOOL=YES
+    -S . -B build
+    WORKING_DIRECTORY ${project_root} COMMAND_ECHO STDOUT
+)
+
+# Build
 execute_process(COMMAND ${CMAKE_COMMAND} --build build --parallel 4 WORKING_DIRECTORY ${project_root} COMMAND_ECHO STDOUT)