Merge branch 'develop' into main

Author: themarpe

.github/workflows/main.yml

@@ -108,7 +108,7 @@ jobs:
     runs-on: windows-latest
     strategy:
       matrix:
-        python-version: [3.5, 3.6, 3.7, 3.8, 3.9]
+        python-version: [3.6, 3.7, 3.8, 3.9, '3.10']
         python-architecture: [x64, x86]
     steps:
       - name: Cache .hunter folder
@@ -159,7 +159,7 @@ jobs:
     runs-on: macos-latest
     strategy:
       matrix:
-        python-version: [3.5, 3.6, 3.7, 3.8, 3.9]
+        python-version: [3.6, 3.7, 3.8, 3.9, '3.10']
     steps:
       - name: Cache .hunter folder
         uses: actions/cache@v2
@@ -259,7 +259,7 @@ jobs:
           /opt/python/cp38-cp38/bin/python3.8 setup.py sdist --formats=gztar
           mv dist/* wheelhouse/audited/
       - name: Build wheels
-        run: for PYBIN in /opt/python/cp3*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
+        run: for PYBIN in /opt/python/cp3{6..10}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
       - name: Audit wheels
         run: for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
       - name: Archive wheel artifacts
@@ -316,7 +316,7 @@ jobs:
         if: startsWith(github.ref, 'refs/tags/v') != true
         run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
       - name: Building wheels
-        run: for PYBIN in /opt/python/cp3*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
+        run: for PYBIN in /opt/python/cp3{6..10}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
       - name: Auditing wheels
         run: for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
       - name: Archive wheel artifacts

CMakeLists.txt

@@ -83,7 +83,7 @@ find_package(pybind11 CONFIG REQUIRED)
 # Add files for python module
 pybind11_add_module(${TARGET_NAME}
     src/py_bindings.cpp
-    src/XLinkConnectionBindings.cpp
+    src/XLinkBindings.cpp
     src/DeviceBindings.cpp
     src/CalibrationHandlerBindings.cpp
     src/DeviceBootloaderBindings.cpp
@@ -157,6 +157,7 @@ target_link_libraries(${TARGET_NAME}
         pybind11::pybind11
         depthai::core # Use non-opencv target as we use opencv-python in bindings
         hedley
+        pybind11_json
 )
 
 # Find Git

ci/build-wheels.sh

@@ -7,7 +7,7 @@ yum install -y libusb1-devel
 #yum remove -y libusb1
 
 # Compile wheels
-for PYBIN in /opt/python/cp3*/bin; do
+for PYBIN in /opt/python/cp3{6..10}*/bin; do
     #"${PYBIN}/pip" install -r /io/requirements.txt
     "${PYBIN}/pip" wheel /io/ -w wheelhouse/
 done

depthai-core

@@ -91,15 +91,34 @@ Usage
 Interfacing with GPIOs
 ######################
 
-In the script node you can interface with GPIOs of the VPU. Currently supported functions are:
+In the script node you can interface with GPIOs of the VPU using module GPIO. Currently supported functions are:
 
 .. code-block:: python
 
-  import GPIO # module
-  GPIO.read(pin)
-  GPIO.write(pin, value)
-  GPIO.setPwm(pin, highCount, lowCount, repeat=0) # repeat == 0 means indefinite
-  GPIO.enablePwm(pin, enable)
+  # Module
+  import GPIO
+
+  # General
+  GPIO.setup(gpio, dir, pud, exclusive)
+  GPIO.release(gpio)
+  GPIO.write(gpio, value)
+  GPIO.read(gpio)
+
+  # Interrupts
+  GPIO.waitInterruptEvent(gpio = -1) # blocks until any interrupt or interrupt by specified gpio is fired. Interrupts with callbacks are ignored here
+  GPIO.hasInterruptEvent(gpio = -1) # returns whether interrupt happened on any or specfied gpio. Interrupts with callbacks are ignored here
+  GPIO.setInterrupt(gpio, edge, priority, callback = None) # adds interrupt to specified pin
+  GPIO.clearInterrupt(gpio) # clears interrupt of specified pin
+
+  # PWM
+  GPIO.setPwm(gpio, highCount, lowCount, repeat=0) # repeat == 0 means indefinite
+  GPIO.enablePwm(gpio, enable)
+
+  # Enumerations
+  GPIO.Direction: GPIO.IN, GPIO.OUT
+  GPIO.State: GPIO.LOW, GPIO.HIGH
+  GPIO.PullDownUp: GPIO.PULL_NONE, GPIO.PULL_DOWN, GPIO.PULL_UP
+  GPIO.Edge: GPIO.RISING, GPIO.FALLING, GPIO.LEVEL_HIGH, GPIO.LEVEL_LOW
 
 Using DepthAI :ref:`Messages <components_messages>`
 ###################################################

docs/source/components/nodes/script.rst

@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+import sys
+
+usage = False
+read = True
+clear = False
+path = ''
+if len(sys.argv) >= 2:
+    op = sys.argv[1]
+    if op == 'read':
+        read = True
+    elif op == 'flash':
+        read = False
+        if len(sys.argv) >= 3:
+            path = sys.argv[2]
+    elif op == 'clear':
+        clear = True
+        read = False
+    else:
+        usage = True
+else:
+    usage = True
+
+if usage:
+    print(f'Usage: {sys.argv[0]} [read/flash/clear] [flash: path/to/config/json]')
+    exit(-1)
+
+(res, info) = dai.DeviceBootloader.getFirstAvailableDevice()
+
+if res:
+    print(f'Found device with name: {info.desc.name}');
+    with dai.DeviceBootloader(info) as bl:
+        if read:
+            print('Current flashed configuration')
+            print(f'{bl.readConfigData()}')
+        else:
+            success = None
+            error = None
+            if clear:
+                (success, error) = bl.flashConfigClear()
+            else:
+                if path == '':
+                    (success, error) = bl.flashConfig(dai.DeviceBootloader.Config())
+                else:
+                    (success, error) = bl.flashConfigFile(path)
+            if success:
+                print('Successfully flashed bootloader configuration')
+            else:
+                print(f'Error flashing bootloader configuration: {error}')
+else:
+    print('No devices found')

examples/bootloader_config.py

@@ -5,8 +5,8 @@
 (res, info) = dai.DeviceBootloader.getFirstAvailableDevice()
 
 if res == True:
-    print(f'Found device with name: {info.desc.name}');
+    print(f'Found device with name: {info.desc.name}')
     bl = dai.DeviceBootloader(info)
-    print(f'Version: {bl.getVersion()}');
+    print(f'Version: {bl.getVersion()}')
 else:
     print('No devices found')

examples/bootloader_version.py

@@ -51,7 +51,7 @@
         inDepth = q.get()  # blocking call, will wait until a new data has arrived
         frame = inDepth.getFrame()
         # Normalization for better visualization
-        frame = (frame * (255 / depth.getMaxDisparity())).astype(np.uint8)
+        frame = (frame * (255 / depth.initialConfig.getMaxDisparity())).astype(np.uint8)
 
         cv2.imshow("disparity", frame)
 

examples/depth_preview.py

@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+import sys
+import time
+
+blType = dai.DeviceBootloader.Type.AUTO
+if len(sys.argv) > 1:
+    if sys.argv[1] == 'usb':
+        blType = dai.DeviceBootloader.Type.USB
+    elif sys.argv[1] == 'network':
+        blType = dai.DeviceBootloader.Type.NETWORK
+    else:
+        print("Specify either 'usb' or 'network' bootloader type")
+        exit()
+
+(found, info) = dai.DeviceBootloader.getFirstAvailableDevice()
+if not found:
+    print("No device found to flash. Exiting.")
+    exit(-1)
+
+hasBootloader = (info.state == dai.XLinkDeviceState.X_LINK_BOOTLOADER)
+if hasBootloader:
+    print("Warning! Flashing bootloader can potentially soft brick your device and should be done with caution.")
+    print("Do not unplug your device while the bootloader is flashing.")
+    print("Type 'y' and press enter to proceed, otherwise exits: ")
+    if input() != 'y':
+        print("Prompt declined, exiting...")
+        exit(-1)
+
+# Open DeviceBootloader and allow flashing bootloader
+print(f"Booting latest bootloader first, will take a tad longer...")
+with dai.DeviceBootloader(info, allowFlashingBootloader=True) as bl:
+    currentBlType = bl.getType()
+
+    if blType == dai.DeviceBootloader.Type.AUTO:
+        blType = currentBlType
+
+    # Check if bootloader type is the same, if already booted by bootloader (not in USB recovery mode)
+    if currentBlType != blType and hasBootloader:
+        print(f"Are you sure you want to flash '{blType.name}' bootloader over current '{currentBlType.name}' bootloader?")
+        print(f"Type 'y' and press enter to proceed, otherwise exits: ")
+        if input() != 'y':
+            print("Prompt declined, exiting...")
+            exit(-1)
+
+    # Create a progress callback lambda
+    progress = lambda p : print(f'Flashing progress: {p*100:.1f}%')
+
+    print(f"Flashing {blType.name} bootloader...")
+    startTime = time.monotonic()
+    (res, message) = bl.flashBootloader(dai.DeviceBootloader.Memory.FLASH, blType, progress)
+    if res:
+        print("Flashing successful. Took", time.monotonic() - startTime, "seconds")
+    else:
+        print("Flashing failed:", message)

examples/flash_bootloader.py

@@ -19,8 +19,6 @@
 labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
             "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
 
-flipRectified = True
-
 # Create pipeline
 pipeline = dai.Pipeline()
 
@@ -97,7 +95,7 @@ def show(name, frame):
         # Show the frame
         cv2.imshow(name, frame)
 
-    disparityMultiplier = 255 / stereo.getMaxDisparity()
+    disparityMultiplier = 255 / stereo.initialConfig.getMaxDisparity()
 
     while True:
         # Instead of get (blocking), we use tryGet (nonblocking) which will return the available data or None otherwise
@@ -107,16 +105,6 @@ def show(name, frame):
 
         if inRight is not None:
             rightFrame = inRight.getCvFrame()
-            if flipRectified:
-                rightFrame = cv2.flip(rightFrame, 1)
-
-        if inDet is not None:
-            detections = inDet.detections
-            if flipRectified:
-                for detection in detections:
-                    swap = detection.xmin
-                    detection.xmin = 1 - detection.xmax
-                    detection.xmax = 1 - swap
 
         if inDisparity is not None:
             # Frame is transformed, normalized, and color map will be applied to highlight the depth info

examples/mono_depth_mobilenetssd.py

@@ -82,7 +82,7 @@
 
         if latestPacket["depth"] is not None:
             frameDepth = latestPacket["depth"].getFrame()
-            maxDisparity = stereo.getMaxDisparity()
+            maxDisparity = stereo.initialConfig.getMaxDisparity()
             # Optional, extend range 0..95 -> 0..255, for a better visualisation
             if 1: frameDepth = (frameDepth * 255. / maxDisparity).astype(np.uint8)
             # Optional, apply false colorization

examples/rgb_depth_aligned.py

@@ -19,8 +19,6 @@
 labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
             "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
 
-flipRectified = True
-
 # Create pipeline
 pipeline = dai.Pipeline()
 
@@ -54,9 +52,7 @@
 monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
 videoEncoder.setDefaultProfilePreset(1920, 1080, 30, dai.VideoEncoderProperties.Profile.H265_MAIN)
 
-# Note: the rectified streams are horizontally mirrored by default
 depth.initialConfig.setConfidenceThreshold(255)
-depth.setRectifyMirrorFrame(False)
 depth.setRectifyEdgeFillColor(0) # Black, to better see the cutout
 
 nn.setConfidenceThreshold(0.5)
@@ -81,7 +77,7 @@
 nn.out.link(nnOut.input)
 
 # Disparity range is used for normalization
-disparityMultiplier = 255 / depth.getMaxDisparity()
+disparityMultiplier = 255 / depth.initialConfig.getMaxDisparity()
 
 # Connect to device and start pipeline
 with dai.Device(pipeline) as device:
@@ -126,10 +122,8 @@ def frameNorm(frame, bbox):
             frameManip = inManip.getCvFrame()
 
         if inDisparity is not None:
-            # Flip disparity frame, normalize it and apply color map for better visualization
+            # Apply color map for better visualization
             frameDisparity = inDisparity.getCvFrame()
-            if flipRectified:
-                frameDisparity = cv2.flip(frameDisparity, 1)
             frameDisparity = (frameDisparity*disparityMultiplier).astype(np.uint8)
             frameDisparity = cv2.applyColorMap(frameDisparity, cv2.COLORMAP_JET)
 

examples/rgb_encoding_mono_mobilenet_depth.py

@@ -20,9 +20,9 @@
 # Linking
 camRgb.preview.link(xoutRgb.input)
 
-# Connect to device and start pipeline
-with dai.Device(pipeline) as device:
-
+# Connect to the device
+with dai.Device(pipeline, dai.UsbSpeed.SUPER) as device:
+    # Print out available cameras
     print('Connected cameras: ', device.getConnectedCameras())
     # Print out usb speed
     print('Usb speed: ', device.getUsbSpeed().name)
@@ -31,7 +31,7 @@
     qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
 
     while True:
-        inRgb = qRgb.get()  # blocking call, will wait until a new data has arrived
+        inRgb = qRgb.get() # blocking call, will wait until a new data has arrived
 
         # Retrieve 'bgr' (opencv format) frame
         cv2.imshow("rgb", inRgb.getCvFrame())

examples/rgb_preview.py

@@ -125,6 +125,7 @@
 
         if newConfig:
             config.roi = dai.Rect(topLeft, bottomRight)
+            config.calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.AVERAGE
             cfg = dai.SpatialLocationCalculatorConfig()
             cfg.addROI(config)
             spatialCalcConfigInQueue.send(cfg)

examples/spatial_location_calculator.py

@@ -28,7 +28,6 @@
             "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
 
 syncNN = True
-flipRectified = True
 
 # Create pipeline
 pipeline = dai.Pipeline()
@@ -118,8 +117,6 @@
             startTime = currentTime
 
         rectifiedRight = inRectified.getCvFrame()
-        if flipRectified:
-            rectifiedRight = cv2.flip(rectifiedRight, 1)
 
         depthFrame = inDepth.getFrame()
         depthFrameColor = cv2.normalize(depthFrame, None, 255, 0, cv2.NORM_INF, cv2.CV_8UC1)
@@ -146,10 +143,6 @@
         height = rectifiedRight.shape[0]
         width = rectifiedRight.shape[1]
         for detection in detections:
-            if flipRectified:
-                swap = detection.xmin
-                detection.xmin = 1 - detection.xmax
-                detection.xmax = 1 - swap
             # Denormalize bounding box
             x1 = int(detection.xmin * width)
             x2 = int(detection.xmax * width)