Merge pull request #283 from luxonis/develop

Release v2.5.0.0

Author: SzabolcsGergely

CMakeLists.txt

@@ -85,6 +85,7 @@ pybind11_add_module(${TARGET_NAME}
     src/py_bindings.cpp
     src/XLinkConnectionBindings.cpp
     src/DeviceBindings.cpp
+    src/CalibrationHandlerBindings.cpp
     src/DeviceBootloaderBindings.cpp
     src/DatatypeBindings.cpp
     src/DataQueueBindings.cpp

depthai-core

@@ -50,6 +50,7 @@ extensions = [
     "sphinx.ext.autosectionlabel",  # https://github.com/sphinx-doc/sphinx/issues/7697 wait for this and implement
     "sphinx_rtd_theme",
     "zephyr.warnings_filter",
+    'sphinx.ext.mathjax',
 ]
 
 # See https://github.com/sphinx-doc/sphinx/issues/7728

docs/conf.py.in

@@ -0,0 +1,37 @@
+IMU Accelerometer & Gyroscope
+=============================
+
+This example shows accelerometer and gyroscope at a combined/synchronized 500 hz rate using the onboard IMU.
+Returns acceleration [m/s^2] and angular velocity [rad/s].
+
+Demo
+####
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/imu_gyroscope_accelerometer.py>`__
+
+        .. literalinclude:: ../../../examples/imu_gyroscope_accelerometer.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/imu_gyroscope_accelerometer.cpp>`__
+
+        .. literalinclude:: ../../../depthai-core/examples/src/imu_gyroscope_accelerometer.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst

docs/source/samples/imu_accelerometer_gyroscope.rst

@@ -0,0 +1,37 @@
+IMU Rotation Vector
+===================
+
+This example shows rotation vector output at 400 hz rate using the onboard IMU.
+Returns quaternion.
+
+Demo
+####
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/imu_rotation_vector.py>`__
+
+        .. literalinclude:: ../../../examples/imu_rotation_vector.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/imu_rotation_vector.cpp>`__
+
+        .. literalinclude:: ../../../depthai-core/examples/src/imu_rotation_vector.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst

docs/source/samples/imu_rotation_vector.rst

@@ -27,6 +27,8 @@ Code samples are used for automated testing. They are also a great starting poin
 - :ref:`RGB & MobileNetSSD @ 4K` - Runs MobileNetSSD on RGB frames and displays detections on both preview and 4k frames
 - :ref:`Mono & MobilenetSSD` - Runs MobileNetSSD on mono frames and displays detections on the frame
 - :ref:`Video & MobilenetSSD` - Runs MobileNetSSD on the video from the host
+- :ref:`IMU Accelerometer & Gyroscope` - Accelerometer and gyroscope at 500hz rate
+- :ref:`IMU Rotation Vector` - Rotation vector at 400 hz rate
 
 .. rubric:: Complex
 

docs/source/tutorials/code_samples.rst

@@ -19,6 +19,9 @@ Simple
    ../samples/rgb_mobilenet_4k.rst
    ../samples/mono_mobilenet.rst
    ../samples/video_mobilenet.rst
+   ../samples/imu_accelerometer_gyroscope.rst
+   ../samples/imu_rotation_vector.rst
+
 
 These samples are great starting point for the gen2 API.
 

docs/source/tutorials/simple_samples.rst

@@ -1,3 +1,4 @@
 *.h26*
 *.mp4
-*_data
+*_data
+*.json

examples/.gitignore

@@ -20,8 +20,11 @@ add_custom_target(install_requirements ALL
     COMMAND_EXPAND_LISTS
 )
 
-# Macro for adding new python test
-macro(add_python_example example_name python_script_path)
+# Function for adding new python test
+function(add_python_example example_name python_script_path)
+    # Modify example name to signify that its Python based
+    set(example_name "py_${example_name}")
+
     # parse the rest of the arguments
     set(arguments ${ARGV})
     list(REMOVE_AT arguments 0 1)
@@ -60,7 +63,7 @@ macro(add_python_example example_name python_script_path)
 
     endif()
 
-endmacro()
+endfunction()
 
 if(DEPTHAI_PYTHON_TEST_EXAMPLES)
 
@@ -119,3 +122,5 @@ add_python_example(spatial_object_tracker spatial_object_tracker.py)
 add_python_example(object_tracker_video object_tracker_video.py)
 add_python_example(stereo_depth_from_host stereo_depth_from_host.py)
 add_python_example(stereo_depth_video stereo_depth_video.py)
+add_python_example(imu_gyroscope_accelerometer imu_gyroscope_accelerometer.py)
+add_python_example(imu_rotation_vector imu_rotation_vector.py)

examples/CMakeLists.txt

@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import cv2
+import depthai as dai
+import argparse
+
+
+# Connect Device
+calibJsonFile = str((Path(__file__).parent / Path('models/depthai_calib.json')).resolve().absolute())
+calibBackupfile = str((Path(__file__).parent / Path('depthai_calib_backup.json')).resolve().absolute())
+
+parser = argparse.ArgumentParser()
+parser.add_argument('calibJsonFile', nargs='?', help="Path to V6 calibration file in json", default=calibJsonFile)
+args = parser.parse_args()
+
+with dai.Device() as device:
+    deviceCalib = device.readCalibration()
+    deviceCalib.eepromToJsonFile(calibBackupfile)
+    print("Calibration Data on the device is backed up at:")
+    print(calibBackupfile)
+    calibData = dai.CalibrationHandler(args.calibJsonFile);
+    status = device.flashCalibration(calibData)
+    if status:
+        print('Calibration write succesfull')
+    else:
+        print('Calibration Flash Failed!!')