Ros release 2.22.0 (#849)

* WIP: Camera node

* Added capability to set XLink logging level via XLINK_LEVEL env var

* Replace "_CMAKE_" variables with "_DEPTHAI_" (#662)

"_CMAKE_" variables are reserved for internal use and should not be used.
This change also makes it harder for other CMake scripts to accidentall overwrite this variable.

Co-authored-by: Cameron Blomquist <cblomquist@lsa2.com>

* Add comments

* Update FW: Add missing python bindings for boundingBoxMapping

* Updated NETWORK Bootloader with dual protocol capabilities

* [FW] Fixed a bug in board downselection. OAK-D S2/Pro camera enumeration fix.

* [FW] Added support for Mono video/preview in Camera node

* CI - Fixed style & tidy jobs

* Updated dual BL to v0.0.23 temporary build

* Added OAK-D-LR support. WIP: Orientation capability

* [FW/XLink] Explicitly limited to single connection

* ImageManip added colormap capability. TODO min/max range selection

* Add option to override baseline and/or focal length for disparity to depth conversion

* [FW] OAK-D-LR - Fixed default image orientation

* Updated brief description that affects docs of the DetectionParser node.

* Modified API of Camera a bit

* Updated FW with Camera changes and warp capabilities

* Updated FW with Camera warp capabilities

* Added dai::span

* Added undistort/warp API to Camera node

* FW - Modifed watchdog to do a graceful reset instead

* Added additional API to retrieve timestamps at various exposure points

* Fixed documentation on ObjectTracker::setMaxObjectsToTrack

* WIP: mockIsp capabilities

* [FW] Fix for CAM_C not being detected

* Device - Added non exclusive boot option

* Slight Colormap API improvements

* [FW] Added OpenVINO version 'universal'

* Added DeviceBase convinience constructors taking name or deviceid as string

* Add mode and median support to SLC

* Disabled some of the functionality for now

* Tweaked getTimestamp & exposure offset API

* FW: IMX296 support, added THE_1440x1080 resolution

* FW: IMX296 Camera node, IMX378 1080p limited to 60fps

* Bump version to 2.20.0

* Applied formatting

* Temporary revert to macos-11 for CI due to Catch2 issues

* Update FW, API

* Update FW

* Modified OpenVINO::VERSION_UNIVERSAL

* Updated Bootloader to 0.0.24

* Bump version and FW to 2.20.1 (Status LEDs improvement)

* calibration_flash example fix

* Fixed api docs for Warp HW ids

* FW: fix crash with ColorCamera at high resolution and certain ISP scaling

* FW: fix crash with ColorCamera at high resolution and certain ISP scaling

* Bump version to 2.20.2

* Added an ColorCamera isp scale example, and modified test workflow

* Implement multi stereo support

* Implement brightness filter

* FW: fix OV9282 SW-sync on devices with OV9782 RGB camera

* Update FW: Fix OOM due to too many SIPP pipelines

* Modified default device config OpenVINO version to universal

* Merge branch 'catch2_update'

* FW: handle EEPROM `boardOptions` bit 7 for separate I2C on L/R

* FW: fix for IMX378/477/577 on sockets other than RGB

* Update FW: support for stereo alignment to original left or right inputs; OOM fix for 4 stereo nodes with median filter

* Update FW: parsing optimization and improvements for Yolo v6, v6r2, v8

* Update FW w/ syncing stall fix

* Update stereo with more robust frame sync

* Update FW with optional override of spec translation for stereo algorithm calculations

* Correct type

* Update SPIOut.hpp

to address error C4458: declaration of 'id' hides class member

* Expose center alignment scale factor for debug purposes

* Expose SIPP mempool configurable sizes

* Update FW

* Fixed usage of DeviceBootloader with incomplete DeviceInfo and added a convinience constructor

* Closes: #714

* Add alpha scaling option for StereoDepth

* Update FW before merge

* Update FW with RGB alignment fix

* Update FW with performance metrics when DEPTHAI_LEVEL=info is enabled; enable brightness filter for 0 intensity pixels by default

* Improve spatial calculation X and Y accuracy; fix RGB alignment when custom output depth size is specified

* [XLink] Increased max number of links from 32 to 64

* Add crash dump functionality

* Change API to return just crash dump

* Update FW with commit hash attached to crash dump

* Update FW with fix for serialization of thread name

* Add hasCrashDump API

* Update FW

* Update FW, crash dump contains device ID

* Enable MEDAIN spatial calculation method for SpatialDetectionNetwork

* Update FW

* Update docs

* FW: HW sync (trigger mode) enabled for OAK-D-LR, for cameras with matching FPS

* Change default SIPP buffer sizes

* Add 3A skipping option to reduce CPU usage

* Change API to be able to configure isp 3A FPS

* Update BoarConfig with limits

* Update script node python bindings

* Update FW: Add workaround for BNO sequence number limit of 256 (sensors sends uint8)

* FW: camera sensor improvements:
- AR0234 improved AE smoothness, increased max gain to 400x (first 25.6x analog),
- OV9782 on RGB/CAM-A socket max FPS: 120 (previously was only for OV9282), also improves image quality in very bright light,
- OV9782/9282 minimum exposure time decreased: 20us -> 10us, helps in very bright light. TODO update tuning to make use of it, currently only possible to use with manual exposure

* Update stereo_depth_video.cpp

* Enable interrupt mode: Update BMI driver with fixes from: boschsensortec/BMI270_SensorAPI#16

* Update ObjectTracker with improvements from rvc3

* Add API to set trackingPerClass in ObjectTracker node

* Update FW before merge

* Update FW with IMU fix for BNO

* Add IMU versioning; firmware versioning, firmware update status callbacks

* Update FW with fix for BMI timestamp

* Update FW: IMU support for OAK-D-SR

* Fix 'default constrictible' error on some compilers

* Update FW

* Add IMU FW update RPC

* Updated yolo description

* Update examples

* Update FW with deprecation warning for enableFirmwareUpdate

* Change imu version to imu type

* Update FW before merge

* Added C++14 requirement to examples & tests

* Tweaked crash_report example

* [FW] Added missing bindings for CameraControl and ImgFrame

* Update FW with fix for calibration load example

* fix stability_stress_test fail to link on ubuntu

- fixes #769

* fix isClosed/checkClosed threading, rpcClient exceptions

- remove thread-unsafe checkClosed()
- update isClosed() doxygen + comments
- protect DataInputQueue::maxDataSize with std::atomic
- remove unused dai::DeviceBase::rpcStream
- fixes #520

* fix var hides class member, this-> in constructors

- fix few compile warn 'ex' unreferenced local variable
- rename setBusId() param to not hide class member
- refactor XLinkConnection constructors
- partial fix #247

* fix: stdexcept header added for std::runtime_error

Signed-off-by: Onuralp SEZER <thunderbirdtr@fedoraproject.org>

* [FW] Removed UTF-8 degree sign from temperature prints. Closes: #773

* Move sipp buffer size from BoardConfig to GlobalProperties

* Update style

* Partially reverted bce1444 - only kept the C++14 specified in examples, tests already had the version specified

* [Stereo] Add option to invalidate edge pixels on disparity/depth frame

* Update FW: handle disparity flipping

* Update FW: support for stereo.setOutputSize when LEFT or RIGHT alignment is set

* Update FW: support for stereo between RGB and LEFT/RIGHT

* [FW] ImageManip CSC improvements, New boards and power cycle fix

* FW: fix for UART0 / '/dev/ttyS0' init failure in Script node

* Update FW with fix for USB devices stuck after reboot

* Release v2.21.0

* Fix device destructor

* Update FW: fix spatial location calculator for 400p/480p resolution

* Release v2.21.1

* FW: Fix camera intrinsics when RGB alignment is used

* Release v2.21.2

* FW: fix running 4 cameras with Ethernet,
4th cam enabled didn't stream due to device memory allocation

* prevent duplicate xlink stream names

- fixes #469
- add test case

* [FW] Fix for OAK-D-SR camera enumeration

* [FW] OAK-D-LR R1 preparation

* [FW / BL] Updated both FW & BL for OAK-D-LR R1. ETH fixes and moved to BNO086 IMU.

* [BL] Updated to 0.0.25 release

* Deprecated misleading board socket aliases

* [FW] Match shared

* Tweaked naming a bit more

* WIP: Refactoring constructors

* Added 2 additional board socket enums

* Removed ;

* Updated FW and fixed Device constructors

* Added more checks when parsing message and a test

* Add get/set to all config messages

* Refactored logging to use device logger and capability to modify log levels for a specific device

* Added custom spdlog logger library usage and exposed profiling data globally and per device

* Updated XLink with new functionality and increased PoE search time

* Added means of grabbing global profiling data as well

* Updated XLink with 255.255.255.255 discovery added

* Applied formatting

* [Stereo] Fix auto distortion correction for 400p

* [Stereo] Fix temporal filter crash on startup

* Add missing info log level

* Logging: fixed `DEPTHAI_DEBUG=1` causing a crash at init,
`__gnu_cxx::recursive_init_error` exception due to `logger::get_level()` call

* CrashDump: add optional clear of crash dump, enabled by default

* Color/Mono/Camera: add `setRawOutputPacked` config
-- cherry-picked, FW and shared updated in upcoming commit

* ImgFrame: handle RAW10/12/14 (unpacked) like RAW16

* ToF node with ToFConfig
-- cherry-picked and squashed

* `make clangformat`

* FW: UVC: H.264 with `ImgFrame::Type::BITSTREAM`, few more config checks

* Device: fix some constructors to forward pipeline DeviceConfig

* Modified XLink to a temporary branch

* Updated XLink with fixed winusb mxid retrieval

* FW: Stereo: handle queue blocking settings

* [FW] Updated for some devices and ToF

* Added filter by device name

* [FW] WIP for S2 PoE boards

* [FW] WIP for new SoMs

* Fixed build

* [FW] Fixed camera orientation

* Bump version to v2.22.0

* FW: update IMX296 tuning

* [FW] Fixed OAK-D-SR and OV9782 issues

* updated the version in package.xml

* updated the changelog

* merge bugs fix

---------

Signed-off-by: Onuralp SEZER <thunderbirdtr@fedoraproject.org>
Co-authored-by: moratom <47612463+moratom@users.noreply.github.com>
Co-authored-by: Martin Peterlin <martin.peterlin7@gmail.com>
Co-authored-by: camblomquist <cameron@blomqu.ist>
Co-authored-by: Cameron Blomquist <cblomquist@lsa2.com>
Co-authored-by: Tommy <tomprochazka0@gmail.com>
Co-authored-by: SzabolcsGergely <szabi@luxonis.com>
Co-authored-by: Erol444 <erol123444@gmail.com>
Co-authored-by: szabi-luxonis <60790666+szabi-luxonis@users.noreply.github.com>
Co-authored-by: alex-luxonis <alex@luxonis.com>
Co-authored-by: anonymous-1000 <124404305+anonymous-1000@users.noreply.github.com>
Co-authored-by: TheMarpe <martin@luxonis.com>
Co-authored-by: Dale Phurrough <dale@hidale.com>
Co-authored-by: Onuralp SEZER <thunderbirdtr@fedoraproject.org>
Co-authored-by: Florin Buica <florin.buica@luxonis.com>
Co-authored-by: alex-luxonis <60824841+alex-luxonis@users.noreply.github.com>

Author: 14 people

CHANGELOG.rst

@@ -2,6 +2,27 @@
 Changelog for package depthai
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.22.0 (2023-06-15)
+-----------
+* UVC Node - Capability to create a pipeline that sends data over UVC (or flash it)
+* ToF Node - Capability to decode ToF data into a depth map
+* New devices: OAK-D-SR (fixes), OAK-D-LR R1, OAK-D SR PoE
+* Reorganized CameraBoardSocket naming
+* Logging improvements
+* Added data throughput profiling, per device and globally
+* Added DEPTHAI_DEVICE_NAME_LIST env var to filter devices by name
+* Bootloader v0.0.26 - Fix for bootloader crash (USB variant)
+* Fix for 4 cameras via ETH
+* Device constructor bugfixes (when taking pipeline, or pipeline with config preapplied, etc...)
+* XLink - Bugfix for wrongly discovered usb path on Windows
+* OV9782 startup stream issue fix
+* #779 - Fixes a parsing issue
+* #469 - Fixes a stuck case if same stream names are used
+* Deprecated RGB/LEFT/RIGHT/... CamerBoardSocket naming. Rely on CAM_[A-H] or setName API
+* Add option to clear crash dump
+* XLink - Added 255.255.255.255 discovery and increased PoE search time
+* Contributors: Alex Bougdan, Szabolcs Gergely, Martin Peterlin
+
 2.21.2 (2023-04-05)
 -----------
 * UPDATE: Use v2.21.2 due to issues this version carries

CMakeLists.txt

@@ -45,7 +45,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.21.2" LANGUAGES CXX C)
+project(depthai VERSION "2.22.0" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)
@@ -207,6 +207,7 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/node/XLinkOut.cpp
     src/pipeline/node/ColorCamera.cpp
     src/pipeline/node/Camera.cpp
+    src/pipeline/node/ToF.cpp
     src/pipeline/node/MonoCamera.cpp
     src/pipeline/node/StereoDepth.cpp
     src/pipeline/node/NeuralNetwork.cpp
@@ -225,6 +226,7 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/node/SPIIn.cpp
     src/pipeline/node/FeatureTracker.cpp
     src/pipeline/node/DetectionParser.cpp
+    src/pipeline/node/UVC.cpp
     src/pipeline/datatype/Buffer.cpp
     src/pipeline/datatype/ImgFrame.cpp
     src/pipeline/datatype/ImageManipConfig.cpp
@@ -244,11 +246,14 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/datatype/EdgeDetectorConfig.cpp
     src/pipeline/datatype/TrackedFeatures.cpp
     src/pipeline/datatype/FeatureTrackerConfig.cpp
+    src/pipeline/datatype/ToFConfig.cpp
     src/utility/Initialization.cpp
     src/utility/Resources.cpp
     src/utility/Path.cpp
     src/utility/Platform.cpp
     src/utility/Environment.cpp
+    src/utility/XLinkGlobalProfilingLogger.cpp
+    src/utility/Logging.cpp
     src/xlink/XLinkConnection.cpp
     src/xlink/XLinkStream.cpp
     src/openvino/OpenVINO.cpp

README.md

@@ -177,7 +177,9 @@ The following environment variables can be set to alter default behavior of the
 | DEPTHAI_CONNECT_TIMEOUT | Specifies timeout in milliseconds for establishing a connection to a given device. |
 | DEPTHAI_BOOTUP_TIMEOUT | Specifies timeout in milliseconds for waiting the device to boot after sending the binary. |
 | DEPTHAI_PROTOCOL | Restricts default search to the specified protocol. Options: any, usb, tcpip. |
-| DEPTHAI_DEVICE_MXID_LIST | Restricts default search to the specified MXIDs. Accepts comma separated list of MXIDs |
+| DEPTHAI_DEVICE_MXID_LIST | Restricts default search to the specified MXIDs. Accepts comma separated list of MXIDs. Lists filter results in an "AND" manner and not "OR" |
+| DEPTHAI_DEVICE_ID_LIST | Alias to MXID list. Lists filter results in an "AND" manner and not "OR" |
+| DEPTHAI_DEVICE_NAME_LIST | Restricts default search to the specified NAMEs. Accepts comma separated list of NAMEs. Lists filter results in an "AND" manner and not "OR" |
 | DEPTHAI_DEVICE_BINARY | Overrides device Firmware binary. Mostly for internal debugging purposes. |
 | DEPTHAI_BOOTLOADER_BINARY_USB | Overrides device USB Bootloader binary. Mostly for internal debugging purposes. |
 | DEPTHAI_BOOTLOADER_BINARY_ETH | Overrides device Network Bootloader binary. Mostly for internal debugging purposes. |

cmake/Depthai/DepthaiBootloaderConfig.cmake

@@ -3,5 +3,5 @@ set(DEPTHAI_BOOTLOADER_MATURITY "release")
 # set(DEPTHAI_BOOTLOADER_MATURITY "snapshot")
 
 # "version if applicable"
-set(DEPTHAI_BOOTLOADER_VERSION "0.0.24")
-# set(DEPTHAI_BOOTLOADER_VERSION "0.0.23+9704fa354a72599286e0be08663cee084266fda6")
+set(DEPTHAI_BOOTLOADER_VERSION "0.0.26")
+# set(DEPTHAI_BOOTLOADER_VERSION "0.0.24+57c26493754e2f00e57f6594b0b1a317f762d5f2")

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 "3575b77f20e796b4e79953bf3d2ba22f0416ee8b")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "f033fd9c7eb0b3578d12f90302e87759c78cfb36")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

cmake/Hunter/config.cmake

@@ -8,8 +8,8 @@ hunter_config(
 hunter_config(
     XLink
     VERSION "luxonis-2021.4.2-develop"
-    URL "https://github.com/luxonis/XLink/archive/b7c3aca2ba8b9d598be886a8076a875b50f5184f.tar.gz"
-    SHA1 "6c19757c6fe6871a9f40688871edbfc6f1e939ee"
+    URL "https://github.com/luxonis/XLink/archive/457b23fb33e1146610e1a4e52defa7565046977a.tar.gz"
+    SHA1 "006a2bd391498aea7895e988b787a420e7f51fa9"
 )
 
 hunter_config(

examples/AprilTag/apriltag.cpp

@@ -23,7 +23,7 @@ int main() {
 
     // Properties
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setCamera("left");
 
     aprilTag->initialConfig.setFamily(dai::AprilTagConfig::Family::TAG_36H11);
 

examples/AprilTag/apriltag_rgb.cpp

@@ -24,7 +24,7 @@ int main() {
 
     // Properties
     camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
-    camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
+    camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
 
     manip->initialConfig.setResize(480, 270);
     manip->initialConfig.setFrameType(dai::ImgFrame::Type::GRAY8);

examples/CMakeLists.txt

@@ -241,6 +241,7 @@ dai_add_example(device_queue_event host_side/device_queue_event.cpp ON)
 dai_add_example(opencv_support host_side/opencv_support.cpp ON)
 dai_add_example(queue_add_callback host_side/queue_add_callback.cpp ON)
 dai_add_example(device_information host_side/device_information.cpp OFF)
+dai_add_example(device_logging host_side/device_logging.cpp OFF)
 
 # ImageManip
 dai_add_example(image_manip ImageManip/image_manip_example.cpp ON)

examples/ColorCamera/rgb_isp_scale.cpp

@@ -14,7 +14,7 @@ int main() {
     xoutVideo->setStreamName("video");
 
     // Properties
-    camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
+    camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
     camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_4_K);
     camRgb->setIspScale(1, 2);
     camRgb->setVideoSize(1920, 1080);