Ros release 2.28.0 (luxonis#1106)

.github/workflows/main.workflow.yml

@@ -62,8 +62,8 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [macos-11, windows-latest, ubuntu-latest]
-        cmake: ['3.10.x', ''] # Older version (Ubuntu 18.04) and newest
+        os: [macos-latest, windows-latest, ubuntu-latest]
+        cmake: ['3.10.x', '3.29.x'] # Older version (Ubuntu 18.04) and newest
         exclude:
           - os: windows-latest
             cmake: '3.10.x'
@@ -185,6 +185,8 @@ jobs:
 
     - name: Setup cmake
       uses: jwlawson/[email protected]
+      with:
+        cmake-version: '3.29.x'
 
     - name: Configure ${{ matrix.build-type }}, shared ${{ matrix.shared }}, ${{ matrix.platform }}
       run: cmake -S . -B build -D BUILD_SHARED_LIBS=${{ matrix.shared}} -D CMAKE_BUILD_TYPE=${{ matrix.build-type }} -D CMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/depthai_install ${{ env.CMAKE_ARGS }}

.github/workflows/python-main.yml

@@ -0,0 +1,5 @@
+name: Depthai Python CI/CD
+
+# Added to main to allow workflow_dispath on v3 branches
+on:
+  workflow_dispatch:

CHANGELOG.rst

@@ -1,6 +1,24 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package depthai
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+2.28.0 (2024-08-21)
+-----------
+Features
+* Changed the automatic crashdump collection to always on unless DEPTHAI_DISABLE_CRASHDUMP_COLLECTION is set.
+* Added DEPTHAI_ENABLE_ANALYTICS_COLLECTION environment varialbe - when set, analytic data (pipeline schema) is sent to Luxonis which will be used to further improve the library.
+* Undistort both outputs of ToF by default.
+* Improved 3A syncing on OAK-D-LR
+* Added support for YoloV10
+* Bug fixes
+* Fix Camera node to correctly allocate resources for undistortion
+* Fix StereoDepth node when decimation filter and depth alignment are used
+* Fix host timestamps of thermal frames to be synced
+* Misc
+* Updated XLink to support clangd and shared libraries on Windows:
+* luxonis/XLink#81
+* luxonis/XLink#84
+* Remove a custom assert to always produce a crash dump to improve the UX with the automatic crashdump collection
+* Increased watchdog priority on device side to improve stability during high load
 
 2.26.1 (2024-06-12)
 -----------

CMakeLists.txt

@@ -13,6 +13,18 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 # Early options
 option(DEPTHAI_ENABLE_LIBUSB "Enable usage of libusb and interaction with USB devices" ON)
 
+# Early options
+option(DEPTHAI_ENABLE_LIBUSB "Enable usage of libusb and interaction with USB devices" ON)
+
+# Set to use native tls for windows before including Hunter (used for Curl)
+if(WIN32)
+    set(DEPTHAI_CURL_USE_SCHANNEL ON)
+    set(DEPTHAI_CURL_USE_OPENSSL OFF)
+else()
+    set(DEPTHAI_CURL_USE_SCHANNEL OFF)
+    set(DEPTHAI_CURL_USE_OPENSSL ON)
+endif()
+
 # Set type to canonicalize relative paths for user-provided toolchain
 set(CMAKE_TOOLCHAIN_FILE "" CACHE FILEPATH "CMake toolchain path")
 
@@ -39,8 +51,8 @@ endif()
 
 include("cmake/HunterGate.cmake")
 HunterGate(
-    URL "https://github.com/cpp-pm/hunter/archive/v0.23.322.tar.gz"
-    SHA1 "cb0ea1f74f4a2c49a807de34885743495fccccbe"
+    URL "https://github.com/cpp-pm/hunter/archive/9d9242b60d5236269f894efd3ddd60a9ca83dd7f.tar.gz"
+    SHA1 "16cc954aa723bccd16ea45fc91a858d0c5246376"
     LOCAL # Local config for dependencies
 )
 
@@ -50,7 +62,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.26.1" LANGUAGES CXX C)
+project(depthai VERSION "2.28.0" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)
@@ -115,6 +127,16 @@ else()
     endif()
 endif()
 
+# Check if on 32 bit linux - default without CURL support
+if(CMAKE_SIZEOF_VOID_P EQUAL 4 AND UNIX)
+    set(DEPTHAI_DEFAULT_CURL_SUPPORT OFF)
+else()
+    set(DEPTHAI_DEFAULT_CURL_SUPPORT ON)
+endif()
+
+option(DEPTHAI_ENABLE_CURL "Enable CURL support" ${DEPTHAI_DEFAULT_CURL_SUPPORT})
+message(STATUS "CURL support: ${DEPTHAI_ENABLE_CURL}")
+
 # Force Colored output when using Ninja
 # Global option - affects all targets
 option(FORCE_COLORED_OUTPUT "Always produce ANSI-colored output (GNU/Clang only)" OFF)
@@ -271,6 +293,7 @@ add_library(${TARGET_CORE_NAME}
     src/utility/XLinkGlobalProfilingLogger.cpp
     src/utility/Logging.cpp
     src/utility/EepromDataParser.cpp
+    src/utility/LogCollection.cpp
     src/xlink/XLinkConnection.cpp
     src/xlink/XLinkStream.cpp
     src/openvino/OpenVINO.cpp
@@ -461,8 +484,17 @@ target_link_libraries(${TARGET_CORE_NAME}
         archive_static
         spdlog::spdlog
         ZLIB::zlib
+        ghcFilesystem::ghc_filesystem
 )
 
+if(DEPTHAI_ENABLE_CURL)
+    target_link_libraries(${TARGET_CORE_NAME} PRIVATE
+        CURL::libcurl
+        cpr::cpr
+    )
+    target_compile_definitions(${TARGET_CORE_NAME} PRIVATE DEPTHAI_ENABLE_CURL)
+endif()
+
 # Add compile & CMake definitions
 set(DEPTHAI_DEVICE_VERSION "${DEPTHAI_DEVICE_SIDE_COMMIT}")
 target_compile_definitions(${TARGET_CORE_NAME}

README.md

@@ -27,6 +27,15 @@ To install PCL:
 MacOS: `brew install pcl`
 Linux: `sudo apt install libpcl-dev`
 
+> ℹ️ On Linux distributions based on RPMs, you need to install `perl-core` required by OpenSSL dependency.
+>```
+>sudo yum install perl-core
+>```
+>
+> Another option is to disable CURL support by setting `DEPTHAI_ENABLE_CURL=OFF` when configuring CMake.
+> ```
+> cmake -S. -Bbuild -D'DEPTHAI_ENABLE_CURL=OFF'
+> ```
 ## Building
 
 Make sure submodules are updated
@@ -194,7 +203,8 @@ The following environment variables can be set to alter default behavior of the
 | DEPTHAI_LIBUSB_ANDROID_JAVAVM | JavaVM pointer that is passed to libusb for rootless Android interaction with devices. Interpreted as decimal value of uintptr_t |
 | DEPTHAI_CRASHDUMP | Directory in which to save the crash dump. |
 | DEPTHAI_CRASHDUMP_TIMEOUT | Specifies the duration in seconds to wait for device reboot when obtaining a crash dump. Crash dump retrieval disabled if 0. |
-| DEPTHAI_PCL_SUPPORT | Enables PCL support. |
+| DEPTHAI_ENABLE_ANALYTICS_COLLECTION | Enables automatic analytics collection (pipeline schemas) used to improve the library |
+| DEPTHAI_DISABLE_CRASHDUMP_COLLECTION | Disables automatic crash dump collection used to improve the library |
 
 ## Running tests
 

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 "24a3b465b979de3f69410cd225914d8bd029f3ba")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "9ed7c9ae4c232ff93a3500a585a6b1c00650e22c")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

cmake/Hunter/config.cmake

@@ -1,15 +1,13 @@
 hunter_config(
     nlohmann_json
     VERSION "3.9.1"
-    URL "https://github.com/nlohmann/json/archive/v3.9.1.tar.gz"
-    SHA1 "f8a20a7e19227906d77de0ede97468fbcfea03e7"
 )
 
 hunter_config(
     XLink
-    VERSION "luxonis-2021.4.2-xlink-linkid-race-fix"
-    URL "https://github.com/luxonis/XLink/archive/e9eb1ef38030176ad70cddd3b545d5e6c509f1e1.tar.gz"
-    SHA1 "b1e4ded41cd7b9c37189468e2aaddbb10cbda9f6"
+    VERSION "luxonis-2021.4.2-master"
+    URL "https://github.com/luxonis/XLink/archive/2b517e1cb1ca77bea17679f9fdeb739812431174.tar.gz"
+    SHA1 "fa7eeb46abeb97626dad923b7733899198284587"
     CMAKE_ARGS
         XLINK_ENABLE_LIBUSB=${DEPTHAI_ENABLE_LIBUSB}
 )
@@ -126,3 +124,36 @@ hunter_config(
         # Build shared libs by default to not cause licensing issues
         BUILD_SHARED_LIBS=ON
 )
+
+hunter_config(
+    CURL
+    VERSION "7.88.1-p0-custom"
+    URL "https://github.com/cpp-pm/curl/archive/25d45e89d140d6ab27103cd7f8f6d7d6cf548d47.tar.gz"
+    SHA1 "db96d87e078e529a90dfb74de8d360a785c053aa"
+    CMAKE_ARGS
+        BUILD_CURL_TESTS=OFF
+        BUILD_CURL_EXE=OFF
+        CURL_USE_SCHANNEL=${DEPTHAI_CURL_USE_SCHANNEL}
+        CURL_USE_OPENSSL=${DEPTHAI_CURL_USE_OPENSSL} # Override hunter flags - no OpenSSL needed on Windows
+        BUILD_STATIC_CURL=ON
+        BUILD_SHARED_LIBS=OFF
+        BUILD_STATIC_LIBS=ON
+)
+
+# A hunterized and patched version of cpr- see https://github.com/luxonis/cpr/pull/1
+hunter_config(
+    cpr
+    VERSION "1.4.0"
+    URL "https://github.com/luxonis/cpr/archive/50a1321738554e0152b0a6f1b0ca24e4fdecff5c.tar.gz"
+    SHA1 "2e2ba9920ed99c19887592ca89d9be5ffce4722b"
+)
+
+hunter_config(
+    ghc_filesystem
+    VERSION "1.5.14-luxonis"
+    URL "https://github.com/luxonis/filesystem/archive/d29630953f3526b61842d937764f012503a79ec3.tar.gz"
+    SHA1 "1cee5c95b53e014710970c920230ad1d3f3b5055"
+    CMAKE_ARGS
+        GHC_FILESYSTEM_BUILD_EXAMPLES=OFF
+        GHC_FILESYSTEM_BUILD_TESTING=OFF
+)

cmake/depthaiConfig.cmake.in

@@ -4,6 +4,8 @@ set(DEPTHAI_SHARED_LIBS @BUILD_SHARED_LIBS@)
 # Get whether library was build with Backward or not
 set(DEPTHAI_ENABLE_BACKWARD @DEPTHAI_ENABLE_BACKWARD@)
 
+set(DEPTHAI_ENABLE_CURL @DEPTHAI_ENABLE_CURL@)
+
 # Specify that this is config mode (Called by find_package)
 set(CONFIG_MODE TRUE)
 

cmake/depthaiDependencies.cmake

@@ -29,6 +29,12 @@ else()
     if(DEPTHAI_PCL_SUPPORT)
         hunter_add_package(jsoncpp)
     endif()
+
+    if(DEPTHAI_ENABLE_CURL)
+        hunter_add_package(CURL)
+        hunter_add_package(cpr)
+    endif()
+    hunter_add_package(ghc_filesystem)
 endif()
 
 # If library was build as static, find all dependencies
@@ -58,6 +64,12 @@ if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT DEPTHAI_SHARED_LIBS))
         unset(STACK_DETAILS_AUTO_DETECT)
     endif()
 
+    # Log collection dependencies
+    if(DEPTHAI_ENABLE_CURL)
+        find_package(CURL ${_QUIET} CONFIG REQUIRED)
+        find_package(cpr ${_QUIET} CONFIG REQUIRED)
+    endif()
+    find_package(ghc_filesystem ${_QUIET} CONFIG REQUIRED)
 endif()
 
 # Add threads (c++)

examples/CMakeLists.txt

@@ -287,7 +287,6 @@ dai_add_example(rgb_encoding_mono_mobilenet mixed/rgb_encoding_mono_mobilenet.cp
 dai_add_example(rgb_encoding_mono_mobilenet_depth mixed/rgb_encoding_mono_mobilenet_depth.cpp ON OFF)
 dai_add_example(rgb_encoding_mobilenet mixed/rgb_encoding_mobilenet.cpp ON OFF)
 dai_add_example(multiple_devices mixed/multiple_devices.cpp OFF OFF)
-dai_add_example(frame_sync mixed/frame_sync.cpp ON OFF)
 
 target_compile_definitions(mono_depth_mobilenetssd PRIVATE BLOB_PATH="${mobilenet_blob}")
 target_compile_definitions(rgb_encoding_mono_mobilenet PRIVATE BLOB_PATH="${mobilenet_blob}")
@@ -410,15 +409,15 @@ dai_add_example(thermal_align ImageAlign/thermal_align.cpp OFF OFF)
 dai_add_example(depth_align ImageAlign/depth_align.cpp ON OFF)
 
 # Cast
-dai_add_example(blur Cast/blur.cpp ON OFF)
-target_compile_definitions(blur PRIVATE BLOB_PATH="${blur_model}")
-dai_add_example(concat Cast/concat.cpp ON OFF)
-target_compile_definitions(concat PRIVATE BLOB_PATH="${concat_model}")
-dai_add_example(diff Cast/diff.cpp ON OFF)
-target_compile_definitions(diff PRIVATE BLOB_PATH="${diff_model}")
+dai_add_example(cast_blur Cast/cast_blur.cpp ON OFF)
+target_compile_definitions(cast_blur PRIVATE BLOB_PATH="${blur_model}")
+dai_add_example(cast_concat Cast/cast_concat.cpp ON OFF)
+target_compile_definitions(cast_concat PRIVATE BLOB_PATH="${concat_model}")
+dai_add_example(cast_diff Cast/cast_diff.cpp ON OFF)
+target_compile_definitions(cast_diff PRIVATE BLOB_PATH="${diff_model}")
+
 
 # ToF
 dai_add_example(spatial_tiny_yolo_tof_v3 SpatialDetection/spatial_tiny_yolo_tof.cpp OFF OFF)
 dai_add_example(spatial_tiny_yolo_tof_v4 SpatialDetection/spatial_tiny_yolo_tof.cpp OFF OFF)
 target_compile_definitions(spatial_tiny_yolo_tof_v3 PRIVATE BLOB_PATH="${tiny_yolo_v3_blob}")
-target_compile_definitions(spatial_tiny_yolo_tof_v4 PRIVATE BLOB_PATH="${tiny_yolo_v4_blob}")

examples/Cast/cast_blur.cpp

@@ -0,0 +1,50 @@
+#include <depthai/depthai.hpp>
+#include <opencv2/opencv.hpp>
+
+constexpr int SHAPE = 300;
+
+int main() {
+    dai::Pipeline p;
+
+    auto camRgb = p.create<dai::node::ColorCamera>();
+    auto nn = p.create<dai::node::NeuralNetwork>();
+    auto rgbOut = p.create<dai::node::XLinkOut>();
+    auto cast = p.create<dai::node::Cast>();
+    auto castXout = p.create<dai::node::XLinkOut>();
+
+    camRgb->setPreviewSize(SHAPE, SHAPE);
+    camRgb->setInterleaved(false);
+
+    nn->setBlobPath(BLOB_PATH);
+
+    rgbOut->setStreamName("rgb");
+    castXout->setStreamName("cast");
+
+    cast->setOutputFrameType(dai::ImgFrame::Type::BGR888p);
+
+    // Linking
+    camRgb->preview.link(nn->input);
+    camRgb->preview.link(rgbOut->input);
+    nn->out.link(cast->input);
+    cast->output.link(castXout->input);
+
+    dai::Device device(p);
+    auto qCam = device.getOutputQueue("rgb", 4, false);
+    auto qCast = device.getOutputQueue("cast", 4, false);
+
+    while(true) {
+        auto inCast = qCast->get<dai::ImgFrame>();
+        auto inRgb = qCam->get<dai::ImgFrame>();
+
+        if(inCast && inRgb) {
+            cv::imshow("Blur", inCast->getCvFrame());
+            cv::imshow("Original", inRgb->getCvFrame());
+        }
+
+        if(cv::waitKey(1) == 'q') {
+            break;
+        }
+    }
+
+    return 0;
+}