Merge branch 'update_examples' into feat/stubs-docstring-generation

Author: Matevz Morato

.github/workflows/main.yml

@@ -72,7 +72,9 @@ jobs:
     steps:
       - name: Print home directory
         run: echo Home directory inside container $HOME
-
+      - name: Setup cmake
+        if: matrix.os == 'macos-latest'
+        uses: jwlawson/[email protected]
       - name: Cache .hunter folder
         if: matrix.os != 'windows-latest'
         uses: actions/cache@v3
@@ -132,7 +134,7 @@ jobs:
     needs: build-docstrings
     strategy:
       matrix:
-        rpi-os: [rpi-buster, rpi-bullseye]
+        rpi-os: [rpi-buster, rpi-bullseye, rpi-bookworm]
     runs-on: ${{ matrix.rpi-os }}
     steps:
       - name: Print home directory
@@ -155,7 +157,7 @@ jobs:
         run: python3 -m pip wheel . -w ./wheelhouse/ --verbose
       - name: Auditing wheels and adding armv6l tag (Running on RPi, binaries compiled as armv6l)
         run: |
-          python3 -m pip install -U wheel auditwheel
+          # python3 -m pip install -U wheel auditwheel # Called once when setting up the runner
           for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat linux_armv7l -w wheelhouse/preaudited/; done
           for whl in wheelhouse/preaudited/*.whl; do python3 -m wheel tags --platform-tag +linux_armv6l "$whl"; done
           mkdir -p wheelhouse/audited/
@@ -230,13 +232,13 @@ jobs:
           ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}
 
   # This job builds wheels for macOS x86_64 arch
-  build-macos-x86_64:
+  build-macos:
     needs: build-docstrings
     runs-on: macos-latest
     strategy:
       matrix:
-        python-version: [3.6, 3.7, 3.8, 3.9, '3.10', '3.11', '3.12']
-      fail-fast: false
+        python-version: [3.8, 3.9, '3.10', '3.11', '3.12']
+        os: [macos-13, macos-14] # macos-13 is x64, macos-14 is arm64
     steps:
       - name: Cache .hunter folder
         uses: actions/cache@v3
@@ -290,63 +292,6 @@ jobs:
           ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
           ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}
 
-  # This job builds wheels for macOS arm64 arch
-  build-macos-arm64:
-    needs: build-docstrings
-    runs-on: [self-hosted, macOS, ARM64]
-    steps:
-      # Cached locally on runner
-      # - name: Cache .hunter folder
-      #   uses: actions/cache@v3
-      #   with:
-      #     path: ~/.hunter
-      #     key: hunter-macos-latest
-      - name: List .hunter cache directory
-        run: |
-          ls -a -l ~/.hunter/_Base/ || true
-          echo "PATH=$PATH"
-
-      - uses: actions/checkout@v3
-        with:
-          submodules: 'recursive'
-
-      - uses: actions/download-artifact@v3
-        with:
-          name: 'docstrings'
-          path: docstrings
-      - name: Specify docstring to use while building the wheel
-        run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV
-
-      - name: Append build hash if not a tagged commit
-        if: startsWith(github.ref, 'refs/tags/v') != true
-        run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
-
-      # - name: Build and install depthai-core
-      #   run: |
-      #     echo "MACOSX_DEPLOYMENT_TARGET=11.0" >> $GITHUB_ENV
-      #     cmake -S depthai-core/ -B build_core -D CMAKE_BUILD_TYPE=Release -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake
-      #     cmake --build build_core --target install --parallel 4
-      #     echo "DEPTHAI_INSTALLATION_DIR=$PWD/build_core/install/" >> $GITHUB_ENV
-
-      - name: Build wheels
-        run: for PYBIN in {9..12}; do "python3.${PYBIN}" -m pip wheel . -w wheelhouse/ --verbose; done
-
-      - name: Auditing wheels
-        run: delocate-wheel -v -w wheelhouse/audited wheelhouse/*.whl
-
-      - name: Archive wheel artifacts
-        uses: actions/upload-artifact@v3
-        with:
-          name: audited-wheels
-          path: wheelhouse/audited/
-      - name: Deploy wheels to artifactory (if not a release)
-        if: startsWith(github.ref, 'refs/tags/v') != true
-        run: bash ./ci/upload-artifactory.sh
-        env:
-          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
-          ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
-          ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}
-
   # This job builds wheels for x86_64 arch
   build-linux-x86_64:
     needs: build-docstrings
@@ -470,7 +415,7 @@ jobs:
 
   release:
     if: startsWith(github.ref, 'refs/tags/v')
-    needs: [pytest, build-linux-armhf, build-windows-x86_64, build-macos-x86_64, build-macos-arm64, build-linux-x86_64, build-linux-arm64]
+    needs: [pytest, build-linux-armhf, build-windows-x86_64, build-macos, build-linux-x86_64, build-linux-arm64]
     runs-on: ubuntu-latest
 
     steps:
@@ -531,18 +476,6 @@ jobs:
           ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
           ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}
 
-  notify_robothub:
-    if: startsWith(github.ref, 'refs/tags/v')
-    needs: [release]
-    runs-on: ubuntu-latest
-    steps:
-      - name: Repository Dispatch
-        uses: peter-evans/repository-dispatch@v2
-        with:
-          token: ${{ secrets.REPO_ACCESS_TOKEN }}
-          repository: luxonis/robothub-apps
-          event-type: depthai-python-release
-          client-payload: '{"ref": "${{ github.ref }}", "sha": "${{ github.sha }}"}'
 
   # notify_hil_workflow_linux_x86_64:
   #   needs: [build-linux-x86_64]
@@ -556,8 +489,8 @@ jobs:
   #         event-type: python-hil-event
   #         client-payload: '{"ref": "${{ github.ref }}", "sha": "${{ github.sha }}"}'
 
-  notify_hil_workflow_linux_x86_64:
-    needs: [build-linux-x86_64]
+  notify_hil_workflow:
+    needs: [build-linux-armhf, build-linux-x86_64]
     runs-on: ubuntu-latest
     steps:
       - name: Dispatch an action and get the run ID

.github/workflows/test-install-dependencies.yml

@@ -16,7 +16,7 @@
      runs-on: ubuntu-latest
      strategy:
        matrix:
-          container_image: ["fedora:34", "fedora:35", "fedora:36", "ubuntu:18.04", "ubuntu:20.04", "ubuntu:22.04"]
+          container_image: ["fedora:34", "fedora:35", "fedora:36", "ubuntu:18.04", "ubuntu:20.04", "ubuntu:22.04", "ubuntu:rolling"]
      container:
        image: ${{ matrix.container_image }}
      steps:
@@ -32,7 +32,17 @@
            ln -snf /usr/share/zoneinfo/UTC /etc/localtime && echo UTC > /etc/timezone # Otherwise tzdata installer prompts for user input
            sed '/udevadm control --reload-rules && sudo udevadm trigger/d' docs/source/_static/install_dependencies.sh > tmp_script.sh # Doesn't work on docker
            bash tmp_script.sh
+       - name: Create a virtual environment
+         if: endsWith(matrix.container_image, 'rolling') == true
+         run: |
+           sudo apt-get install -y python3-venv
+           python3 -m venv .env
+           . .env/bin/activate
+           pip install --upgrade pip 
+           python3 examples/install_requirements.py
+         shell: bash
        - name: Install example requirements
+         if: endsWith(matrix.container_image, 'rolling') == false
          run: |
            python3 examples/install_requirements.py
    test_macos:
@@ -46,9 +56,13 @@
          run: |
            sed '/udevadm control --reload-rules && sudo udevadm trigger/d' docs/source/_static/install_dependencies.sh > tmp_script.sh
            bash tmp_script.sh
-       - name: Install example requirements
+       - name: Create a virtual environment
          run: |
+           python3 -m venv .env
+           . .env/bin/activate
+           pip install --upgrade pip 
            python3 examples/install_requirements.py
+         shell: bash
    test_windows:
       runs-on: windows-latest
       steps:

.gitignore

@@ -22,7 +22,7 @@ depthai-core/build/
 
 # builds
 _builds/
-
+.cache/
 #git
 *.orig
 *_REMOTE_*
@@ -44,4 +44,4 @@ env.bak/
 venv.bak/
 
 # PyCharm
-.idea/
+.idea/

CMakeLists.txt

@@ -129,9 +129,11 @@ pybind11_add_module(${TARGET_NAME}
     src/pipeline/node/WarpBindings.cpp
     src/pipeline/node/UVCBindings.cpp
     src/pipeline/node/ToFBindings.cpp
+    src/pipeline/node/PointCloudBindings.cpp
     src/pipeline/node/SyncBindings.cpp
     src/pipeline/node/MessageDemuxBindings.cpp
-
+    src/pipeline/node/CastBindings.cpp
+    src/pipeline/node/ImageAlignBindings.cpp
     src/pipeline/datatype/ADatatypeBindings.cpp
     src/pipeline/datatype/AprilTagConfigBindings.cpp
     src/pipeline/datatype/AprilTagsBindings.cpp
@@ -154,7 +156,9 @@ pybind11_add_module(${TARGET_NAME}
     src/pipeline/datatype/SystemInformationBindings.cpp
     src/pipeline/datatype/TrackedFeaturesBindings.cpp
     src/pipeline/datatype/TrackletsBindings.cpp
-
+    src/pipeline/datatype/PointCloudConfigBindings.cpp
+    src/pipeline/datatype/PointCloudDataBindings.cpp
+    src/pipeline/datatype/ImageAlignConfigBindings.cpp
 )
 
 if(WIN32)

depthai-core

@@ -0,0 +1,49 @@
+import os
+from pathlib import Path
+import subprocess
+
+here = os.path.dirname(os.path.realpath(__file__))
+
+if os.path.exists(os.path.join(here, "cam_test.py")):  # Installed package
+    CAM_TEST_PATH = Path(here) / "cam_test.py"
+else:
+    CAM_TEST_PATH = (
+        Path(here) / ".." / "utilities" / "cam_test.py"
+    )  # Execution from source
+CAM_TEST_PATH = str(CAM_TEST_PATH)
+
+
+def cli() -> int:
+    import argparse
+    import sys
+    import depthai as dai
+    parser = argparse.ArgumentParser(description="DepthAI CLI", add_help=True)
+    parser.add_argument("-v", "--version", action="store_true", help="Print version and exit.")
+    parser.add_argument("-l", "--list-devices", action="store_true", help="List connected devices.")
+    subparsers = parser.add_subparsers(dest="command", help="Sub-commands")
+    # Define the parser for the "cam_test" command
+    cam_test_parser = subparsers.add_parser("cam_test", help="Commands and options for cam_test", add_help=False)
+    cam_test_parser.add_argument("args", nargs=argparse.REMAINDER, help="Arguments to pass to cam_test")
+
+    # subparser REMINDER args would get parsed too if we used parse_args, so we have to handle unknown args manually
+    args, unknown_args = parser.parse_known_args()
+    if args.command == "cam_test":
+        cam_test_path = CAM_TEST_PATH
+        return subprocess.run([sys.executable, cam_test_path] + cam_test_parser.parse_args().args[1:]).returncode
+    # Parse other subcommands here
+    elif unknown_args:
+        parser.error(f"Unrecognized arguments: {unknown_args}") # handles exit internally
+    elif args.version:
+        print(dai.__version__)
+        return 0
+    elif args.list_devices:
+        print(dai.Device.getAllConnectedDevices())
+        return 0
+    else:
+        # No recognized commands, print help
+        parser.print_help()
+        return 1
+
+
+if __name__ == "__main__":
+    exit(cli())