Ros Release 2.23

CHANGELOG.rst

@@ -2,6 +2,29 @@
 Changelog for package depthai
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.23.0 (2023-11-14)
+-----------
+* ImageManip - configurable interpolation type
+* Script - added missing bindings for reading device releated data (on device calibration, etc...)
+* Added Device::getDeviceName and Device::getProductName that target a user name and a "SKU" name
+* Timesync - improved synchronization with tweaks to XLink
+* Calibration - added housingExtrinsics
+* Fix CAM_D enumeration on OAK-FFC-4P R7
+* BMI270 IMU - fix latency when slow reading
+* Device related logging
+* OAK-D-SR-POE - new revision bugfixes
+* Fix 4 cameras crash on PoE due to memory allocation
+* Fixed incorrect warp in issue #882
+* XLink - updated number of devices to 64
+* ToF - median filter and Z map support (still not the final decoding pipeline)
+* hasAutofocus value fixed and introduced hasAutofocusIC
+* Added timestamps and sequence numbers to all Message types
+* Added DEPTHAI_ENABLE_LIBUSB for potentially disabling USB protocol (to not require libusb library)
+* OV9782 and AR0234 improvements:
+* OV9782 FPS improvements
+* AR0234 max exposure time bump to 33ms and improved FSync INPUT mode
+* Contributors: Alex Bougdan, Szabolcs Gergely, Martin Peterlin
+
 2.22.0 (2023-06-15)
 -----------
 * UVC Node - Capability to create a pipeline that sends data over UVC (or flash it)

CMakeLists.txt

@@ -8,6 +8,9 @@ endif()
 
 set(HUNTER_SKIP_PACKAGE_nlohmann_json OFF)
 set(BUILD_SHARED_LIBS ON)
+# Early options
+option(DEPTHAI_ENABLE_LIBUSB "Enable usage of libusb and interaction with USB devices" ON)
+
 # Set type to canonicalize relative paths for user-provided toolchain
 set(CMAKE_TOOLCHAIN_FILE "" CACHE FILEPATH "CMake toolchain path")
 
@@ -45,7 +48,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.22.0" LANGUAGES CXX C)
+project(depthai VERSION "2.23.0" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)
@@ -254,6 +257,7 @@ add_library(${TARGET_CORE_NAME}
     src/utility/Environment.cpp
     src/utility/XLinkGlobalProfilingLogger.cpp
     src/utility/Logging.cpp
+    src/utility/EepromDataParser.cpp
     src/xlink/XLinkConnection.cpp
     src/xlink/XLinkStream.cpp
     src/openvino/OpenVINO.cpp
@@ -449,13 +453,16 @@ target_link_libraries(${TARGET_CORE_NAME}
 set(DEPTHAI_DEVICE_VERSION "${DEPTHAI_DEVICE_SIDE_COMMIT}")
 target_compile_definitions(${TARGET_CORE_NAME}
     PRIVATE
-        # XLink required define
-        __PC__
         # Add depthai-device version
         DEPTHAI_DEVICE_VERSION="${DEPTHAI_DEVICE_VERSION}"
         # Add depthai-bootloader version
         DEPTHAI_BOOTLOADER_VERSION="${DEPTHAI_BOOTLOADER_VERSION}"
 )
+# Add compile flag if libusb is available
+if(DEPTHAI_ENABLE_LIBUSB)
+    target_compile_definitions(${TARGET_CORE_NAME} PRIVATE DEPTHAI_ENABLE_LIBUSB)
+    set(DEPTHAI_HAVE_LIBUSB_SUPPORT ON)
+endif()
 
 # Add Backward dependency if enabled (On by default)
 if(DEPTHAI_ENABLE_BACKWARD)
@@ -484,8 +491,9 @@ macro(add_runtime_dependencies depending_target dependency)
         set(required_dll_files ${dlls} ${depthai_dll_libraries})
         # Copy the required dlls
         add_custom_command(TARGET ${depending_target} POST_BUILD COMMAND
-            ${CMAKE_COMMAND} -E copy_if_different ${required_dll_files} $<TARGET_FILE_DIR:${depending_target}>
+            "$<$<BOOL:${required_dll_files}>:${CMAKE_COMMAND};-E;copy_if_different;${required_dll_files};$<TARGET_FILE_DIR:${depending_target}>>"
             COMMAND_EXPAND_LISTS
+            VERBATIM
         )
         message(STATUS "Required dlls for core are: ${required_dll_files}")
     endif()

README.md

@@ -1,5 +1,7 @@
 # DepthAI C++ Library
 
+[![Forum](https://img.shields.io/badge/Forum-discuss-orange)](https://discuss.luxonis.com/)
+[![Docs](https://img.shields.io/badge/Docs-DepthAI_API-yellow)](https://docs.luxonis.com/projects/api)
 [![License: MIT](https://img.shields.io/badge/License-MIT-green.svg)](https://opensource.org/licenses/MIT)
 
 Core C++ library

cmake/Depthai/DepthaiDeviceSideConfig.cmake

@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "f033fd9c7eb0b3578d12f90302e87759c78cfb36")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "39a9d271a9ed0172f6481877723fca96d41b54c6")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

cmake/Hunter/config.cmake

@@ -8,8 +8,10 @@ hunter_config(
 hunter_config(
     XLink
     VERSION "luxonis-2021.4.2-develop"
-    URL "https://github.com/luxonis/XLink/archive/457b23fb33e1146610e1a4e52defa7565046977a.tar.gz"
-    SHA1 "006a2bd391498aea7895e988b787a420e7f51fa9"
+    URL "https://github.com/luxonis/XLink/archive/c940feaf9321f06a7d9660f28e686a9718135f38.tar.gz"
+    SHA1 "52935b6ceb470ee632de3348b9d2aaa2c6c24ac0"
+    CMAKE_ARGS
+        XLINK_ENABLE_LIBUSB=${DEPTHAI_ENABLE_LIBUSB}
 )
 
 hunter_config(

cmake/config.hpp.in

@@ -6,9 +6,32 @@
 // This build supports OpenCV integration?
 #cmakedefine DEPTHAI_HAVE_OPENCV_SUPPORT
 
+// This build supports libusb?
+#cmakedefine DEPTHAI_HAVE_LIBUSB_SUPPORT
+
 // Build specific settings overwrite
 #ifdef DEPTHAI_TARGET_CORE
 #ifndef DEPTHAI_TARGET_OPENCV
 #undef DEPTHAI_HAVE_OPENCV_SUPPORT
 #endif
 #endif
+
+namespace dai
+{
+namespace build
+{
+
+#ifdef DEPTHAI_HAVE_OPENCV_SUPPORT
+    constexpr static bool HAVE_OPENCV_SUPPORT = true;
+#else
+    constexpr static bool HAVE_OPENCV_SUPPORT = false;
+#endif
+
+#ifdef DEPTHAI_HAVE_LIBUSB_SUPPORT
+    constexpr static bool HAVE_LIBUSB_SUPPORT = true;
+#else
+    constexpr static bool HAVE_LIBUSB_SUPPORT = false;
+#endif
+
+} // namespace build
+} // namespace dai

examples/CMakeLists.txt

@@ -83,8 +83,9 @@ function(dai_add_example example_name example_src enable_test)
             set(depthai_dll_libraries "$<TARGET_RUNTIME_DLLS:${example_name}>")
         endif()
         add_custom_command(TARGET ${example_name} POST_BUILD COMMAND
-            ${CMAKE_COMMAND} -E copy_if_different ${depthai_dll_libraries} $<TARGET_FILE_DIR:${example_name}>
+            "$<$<BOOL:${depthai_dll_libraries}>:${CMAKE_COMMAND};-E;copy_if_different;${depthai_dll_libraries};$<TARGET_FILE_DIR:${example_name}>>"
             COMMAND_EXPAND_LISTS
+            VERBATIM
         )
     endif()
 endfunction()
@@ -320,6 +321,7 @@ dai_add_example(script_json_communication Script/script_json_communication.cpp O
 dai_add_example(script_change_pipeline_flow Script/script_change_pipeline_flow.cpp OFF)
 target_compile_definitions(script_change_pipeline_flow PRIVATE BLOB_PATH="${mobilenet_5shaves_blob}")
 dai_add_example(script_get_device_info Script/script_get_device_info.cpp ON)
+dai_add_example(script_read_calibration Script/script_read_calibration.cpp ON)
 
 # SpatialDetection
 dai_add_example(spatial_location_calculator SpatialDetection/spatial_location_calculator.cpp ON)

examples/ColorCamera/rgb_preview.cpp

@@ -38,7 +38,7 @@ int main() {
     }
 
     // Device name
-    cout << "Device name: " << device.getDeviceName() << endl;
+    cout << "Device name: " << device.getDeviceName() << " Product name: " << device.getProductName() << endl;
 
     // Output queue will be used to get the rgb frames from the output defined above
     auto qRgb = device.getOutputQueue("rgb", 4, false);

examples/Script/script_read_calibration.cpp

@@ -0,0 +1,43 @@
+#include <iostream>
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+int main() {
+    using namespace std;
+
+    // Start defining a pipeline
+    dai::Pipeline pipeline;
+
+    // Script node
+    auto script = pipeline.create<dai::node::Script>();
+    script->setProcessor(dai::ProcessorType::LEON_CSS);
+    script->setScript(R"(
+        import time
+
+        cal = Device.readCalibration2()
+        left_camera_id = cal.getStereoLeftCameraId()
+        right_camera_id = cal.getStereoRightCameraId()
+
+        extrinsics = cal.getCameraExtrinsics(left_camera_id, right_camera_id)
+        intrinsics_left = cal.getCameraIntrinsics(left_camera_id)
+
+        node.info(extrinsics.__str__())
+        node.info(intrinsics_left.__str__())
+
+        time.sleep(1)
+        node.io['end'].send(Buffer(32))
+    )");
+
+    auto xout = pipeline.create<dai::node::XLinkOut>();
+    xout->setStreamName("end");
+
+    script->outputs["end"].link(xout->input);
+
+    // Connect to device with pipeline
+    dai::Device device(pipeline);
+
+    device.getOutputQueue("end")->get();
+
+    return 0;
+}

examples/Warp/warp_mesh.cpp

@@ -27,7 +27,7 @@ int main() {
     constexpr std::tuple<int, int> WARP1_OUTPUT_FRAME_SIZE = {992, 500};
     warp1->setOutputSize(WARP1_OUTPUT_FRAME_SIZE);
     warp1->setMaxOutputFrameSize(std::get<0>(WARP1_OUTPUT_FRAME_SIZE) * std::get<1>(WARP1_OUTPUT_FRAME_SIZE) * 3);
-    warp1->setInterpolation(dai::node::Warp::Properties::Interpolation::BYPASS);
+    warp1->setInterpolation(dai::Interpolation::NEAREST_NEIGHBOR);
     warp1->setHwIds({1});
 
     camRgb->preview.link(warp1->inputImage);
@@ -47,7 +47,7 @@ int main() {
     // clang-format on
     warp2->setWarpMesh(mesh2, 3, 3);
     warp2->setMaxOutputFrameSize(maxFrameSize);
-    warp2->setInterpolation(dai::node::Warp::Properties::Interpolation::BICUBIC);
+    warp2->setInterpolation(dai::Interpolation::BICUBIC);
     warp2->setHwIds({2});
 
     camRgb->preview.link(warp2->inputImage);

include/depthai/common/CameraFeatures.hpp

@@ -24,6 +24,7 @@ inline std::ostream& operator<<(std::ostream& out, const dai::CameraFeatures& ca
     }
     out << "], ";
     out << "hasAutofocus: " << camera.hasAutofocus << ", ";
+    out << "hasAutofocusIC: " << camera.hasAutofocusIC << ", ";
     out << "name: " << camera.name << "}";
 
     return out;

include/depthai/device/CalibrationHandler.hpp

@@ -353,6 +353,37 @@ class CalibrationHandler {
                       uint32_t boardOptions,
                       std::string boardCustom = "");
 
+    /**
+     * Set the Board Info object. Creates version 7 EEPROM data
+     *
+     * @param deviceName Sets device name.
+     * @param productName Sets product name (alias).
+     * @param boardName Sets board name.
+     * @param boardRev Sets board revision id.
+     * @param boardConf Sets board configuration id.
+     * @param hardwareConf Sets hardware configuration id.
+     * @param batchName Sets batch name. Not supported anymore
+     * @param batchTime Sets batch time (unix timestamp).
+     * @param boardCustom Sets a custom board (Default empty string).
+     */
+    void setBoardInfo(std::string deviceName,
+                      std::string productName,
+                      std::string boardName,
+                      std::string boardRev,
+                      std::string boardConf,
+                      std::string hardwareConf,
+                      std::string batchName,
+                      uint64_t batchTime,
+                      uint32_t boardOptions,
+                      std::string boardCustom = "");
+
+    /**
+     * Set the deviceName which responses to getDeviceName of Device
+     *
+     * @param deviceName Sets device name.
+     */
+    void setDeviceName(std::string deviceName);
+
     /**
      * Set the productName which acts as alisas for users to identify the device
      *

include/depthai/device/DeviceBase.hpp

@@ -292,8 +292,8 @@ class DeviceBase {
 
     /**
      * Connects to device 'devInfo' with custom config.
-     * @param devInfo DeviceInfo which specifies which device to connect to
      * @param config Device custom configuration to boot with
+     * @param devInfo DeviceInfo which specifies which device to connect to
      */
     DeviceBase(Config config, const DeviceInfo& devInfo);
 
@@ -364,8 +364,8 @@ class DeviceBase {
 
     /**
      * Connects to device specified by devInfo.
-     * @param version OpenVINO version which the device will be booted with
-     * @param config Config with which specifies which device to connect to
+     * @param config Config with which the device will be booted with
+     * @param devInfo DeviceInfo which specifies which device to connect to
      * @param maxUsbSpeed Maximum allowed USB speed
      */
     DeviceBase(Config config, const DeviceInfo& devInfo, UsbSpeed maxUsbSpeed);
@@ -456,6 +456,12 @@ class DeviceBase {
      */
     std::string getDeviceName();
 
+    /**
+     * Get product name if available
+     * @returns product name or empty string if not available
+     */
+    std::string getProductName();
+
     /**
      * Get MxId of device
      *
@@ -867,7 +873,6 @@ class DeviceBase {
     void init(OpenVINO::Version version);
     void init(OpenVINO::Version version, const dai::Path& pathToCmd);
     void init(OpenVINO::Version version, UsbSpeed maxUsbSpeed);
-    void init(OpenVINO::Version version, bool usb2Mode, const dai::Path& pathToMvcmd);
     void init(OpenVINO::Version version, UsbSpeed maxUsbSpeed, const dai::Path& pathToMvcmd);
     void init(const Pipeline& pipeline);
     void init(const Pipeline& pipeline, UsbSpeed maxUsbSpeed);
@@ -876,9 +881,7 @@ class DeviceBase {
     void init(const Pipeline& pipeline, const DeviceInfo& devInfo, bool usb2Mode);
     void init(const Pipeline& pipeline, const DeviceInfo& devInfo, UsbSpeed maxUsbSpeed);
     void init(const Pipeline& pipeline, const DeviceInfo& devInfo, const dai::Path& pathToCmd);
-    void init(const Pipeline& pipeline, bool usb2Mode, const dai::Path& pathToMvcmd);
     void init(const Pipeline& pipeline, UsbSpeed maxUsbSpeed, const dai::Path& pathToMvcmd);
-    void init(Config config, bool usb2Mode, const dai::Path& pathToMvcmd);
     void init(Config config, UsbSpeed maxUsbSpeed, const dai::Path& pathToMvcmd);
     void init(Config config, UsbSpeed maxUsbSpeed);
     void init(Config config, const dai::Path& pathToCmd);

include/depthai/pipeline/datatype/AprilTags.hpp

@@ -25,22 +25,6 @@ class AprilTags : public Buffer {
 
     std::vector<AprilTag>& aprilTags;
 
-    /**
-     * Retrieves image timestamp related to dai::Clock::now()
-     */
-    std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestamp() const;
-
-    /**
-     * Retrieves image timestamp directly captured from device's monotonic clock,
-     * not synchronized to host time. Used mostly for debugging
-     */
-    std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestampDevice() const;
-
-    /**
-     * Retrieves image sequence number
-     */
-    int64_t getSequenceNum() const;
-
     /**
      * Sets image timestamp related to dai::Clock::now()
      */