Merge remote-tracking branch 'origin/v3_develop' into python-type-mis…

…match
luxonis · Sep 18, 2024 · 3eb3d25 · 3eb3d25
2 parents 0e3daa6 + d29b922
commit 3eb3d25
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diff --git a/.github/workflows/python-main.yml b/.github/workflows/python-main.yml
@@ -44,6 +44,7 @@ jobs:
           python-version: 3.8
       - name: Install dependencies
         run: |
+          sudo apt update
           python -m pip install --upgrade pip
           sudo apt install libusb-1.0-0-dev libopencv-dev libpcl-dev
           python -m pip install -r bindings/python/docs/requirements_mkdoc.txt
@@ -59,70 +60,81 @@ jobs:
           retention-days: 1
 
 
-# TODO(Morato) - re-enable
-  # # Build and test bindings
-  # pytest:
-  #   needs: build-docstrings
-  #   strategy:
-  #     matrix:
-  #       os: [ubuntu-latest, windows-latest, macos-latest]
-  #   runs-on: ${{ matrix.os }}
-  #   steps:
-  #     - name: Print home directory
-  #       run: echo Home directory inside container $HOME
+  # Build and test bindings
+  pytest:
+    needs: build-docstrings
+    strategy:
+      matrix:
+        # os: [ubuntu-latest, windows-latest, macos-latest]
+        os: [ubuntu-latest] # TODO(Morato) - re-enable windows & macos
+    runs-on: ${{ matrix.os }}
+    steps:
+      - name: Print home directory
+        run: echo Home directory inside container $HOME
 
-  #     - name: Cache .hunter folder
-  #       if: matrix.os != 'windows-latest'
-  #       uses: actions/cache@v3
-  #       with:
-  #         path: ~/.hunter/
-  #         key: hunter-pytest-${{ matrix.os }}-v3-develop
-  #     - name: Cache .hunter folder
-  #       if: matrix.os == 'windows-latest'
-  #       uses: actions/cache@v3
-  #       with:
-  #         path: C:/.hunter/
-  #         key: hunter-pytest-${{ matrix.os }}-v3-develop
+      - name: Cache .hunter folder
+        if: matrix.os != 'windows-latest'
+        uses: actions/cache@v3
+        with:
+          path: ~/.hunter/
+          key: hunter-pytest-${{ matrix.os }}-v3-develop
+      - name: Cache .hunter folder
+        if: matrix.os == 'windows-latest'
+        uses: actions/cache@v3
+        with:
+          path: C:/.hunter/
+          key: hunter-pytest-${{ matrix.os }}-v3-develop
 
-  #     - uses: actions/checkout@v3
-  #       with:
-  #         submodules: 'recursive'
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
 
-  #     - uses: actions/download-artifact@v3
-  #       with:
-  #         name: 'docstrings'
-  #         path: bindings/python/docstrings
-  #     - name: Specify docstring to use while building the wheel
-  #       run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV
+      - uses: actions/download-artifact@v3
+        with:
+          name: 'docstrings'
+          path: bindings/python/docstrings
+      - name: Specify docstring to use while building the wheel
+        run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV
 
-  #     - name: Set up Python ${{ matrix.python-version }}
-  #       uses: actions/setup-python@v4
-  #       with:
-  #         python-version: "3.10"
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: "3.10"
 
-  #     - name: Install dependencies (Ubuntu)
-  #       if: matrix.os == 'ubuntu-latest'
-  #       run: |
-  #         python -m pip install --upgrade pip
-  #         sudo apt install libusb-1.0-0-dev
+      - name: Install dependencies (Ubuntu)
+        if: matrix.os == 'ubuntu-latest'
+        run: |
+          python -m pip install --upgrade pip
+          sudo apt install libusb-1.0-0-dev libopencv-dev
 
-  #     - name: Install dependencies (MacOS)
-  #       if: matrix.os == 'macos-latest'
-  #       run: |
-  #         python -m pip install --upgrade pip
-  #         brew install libusb
+      - name: Install dependencies (MacOS)
+        if: matrix.os == 'macos-latest'
+        run: |
+          python -m pip install --upgrade pip
+          brew install libusb
+          brew install opencv
 
-  #     - name: Install pytest
-  #       run: |
-  #         python -m pip install pytest numpy
+      - name: Setup cmake
+        if: matrix.os == 'macos-latest'
+        uses: jwlawson/actions-setup-cmake@v1.13
 
-  #     - name: Compile
-  #       run: |
-  #         cmake -S . -B build -DDEPTHAI_BUILD_PYTHON=ON -D CMAKE_BUILD_TYPE=Release -D DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp -D DEPTHAI_PYTHON_ENABLE_TESTS=ON
-  #         cmake --build build --parallel 4
-  #     - name: Test
-  #       run: |
-  #         cmake --build build --target pytest --config Release
+      - name: Install dependencies (Windows)
+        if: matrix.os == 'windows-latest'
+        run: |
+          choco install opencv
+          echo "OpenCV_DIR=C:\tools\opencv\build" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+
+      - name: Install pytest
+        run: |
+          python -m pip install pytest numpy opencv-python
+
+      - name: Compile
+        run: |
+          cmake -S . -B build -DDEPTHAI_BUILD_PYTHON=ON -D CMAKE_BUILD_TYPE=Release -D DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp -D DEPTHAI_PYTHON_ENABLE_TESTS=ON
+          cmake --build build --parallel 4
+      - name: Test
+        run: |
+          cmake --build build --target pytest --config Release
 
 
   # # This job builds wheels for armhf arch (RPi)
@@ -380,6 +392,9 @@ jobs:
       image: mmorato/depthai-manylinux2014:0.4 # TODO(mmorato) temporary location, push to luxonis namespace
       env:
         PLAT: manylinux2014_x86_64
+    strategy:
+      matrix:
+        python-set: ["7..9", "10..12"]
     env:
       # workaround required for cache@v3, https://github.com/actions/cache/issues/1428
       # to be removed when upgrading the manylinux image
@@ -429,7 +444,7 @@ jobs:
           /opt/python/cp38-cp38/bin/python3.8 setup.py sdist --formats=gztar
           mv dist/* wheelhouse/audited/
       - name: Build wheels
-        run: cd bindings/python && for PYBIN in /opt/python/cp3{7..12}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
+        run: cd bindings/python && for PYBIN in /opt/python/cp3{${{ matrix.python-set }}}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
       - name: Audit wheels
         run: cd bindings/python && for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
       - name: Archive wheel artifacts
@@ -457,6 +472,9 @@ jobs:
       # Mount local hunter cache directory, instead of transfering to Github and back
       volumes:
         - /.hunter:/github/home/.hunter
+    strategy:
+      matrix:
+        python-set: ["7..9", "10..12"]
     env:
       # workaround required for cache@v3, https://github.com/actions/cache/issues/1428
       # to be removed when upgrading the manylinux image
@@ -495,7 +513,7 @@ jobs:
         if: startsWith(github.ref, 'refs/tags/v') != true
         run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
       - name: Building wheels
-        run: cd bindings/python && for PYBIN in /opt/python/cp3{7..12}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
+        run: cd bindings/python && for PYBIN in /opt/python/cp3{${{ matrix.python-set }}}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
       - name: Auditing wheels
         run: cd bindings/python && for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
       - name: Archive wheel artifacts

diff --git a/.gitmodules b/.gitmodules
@@ -10,3 +10,6 @@
 [submodule "bindings/python/external/xtensor-python"]
 	path = bindings/python/external/xtensor-python
 	url = https://github.com/xtensor-stack/xtensor-python.git
+[submodule "3rdparty/pybind11_opencv_numpy"]
+	path = bindings/python/external/pybind11_opencv_numpy
+	url = https://github.com/luxonis/pybind11_opencv_numpy.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -57,7 +57,7 @@ endif()
 # Create depthai project
 project(depthai VERSION "3.0.0" LANGUAGES CXX C)
 set(DEPTHAI_PRE_RELEASE_TYPE "alpha") # Valid options are "alpha", "beta", "rc", ""
-set(DEPTHAI_PRE_RELEASE_VERSION "0")
+set(DEPTHAI_PRE_RELEASE_VERSION "2")
 
 # Set DEPTHAI_VERSION universally, not conditionally
 set(DEPTHAI_VERSION ${PROJECT_VERSION}-${DEPTHAI_PRE_RELEASE_TYPE}.${DEPTHAI_PRE_RELEASE_VERSION})
@@ -266,6 +266,7 @@ set(TARGET_CORE_SOURCES
     # depthai-bootloader-shared sources
     "${DEPTHAI_BOOTLOADER_SHARED_SOURCES}"
     # sources
+    src/common/ModelType.cpp
     src/device/Device.cpp
     src/device/DeviceBase.cpp
     src/device/DeviceBootloader.cpp
@@ -290,6 +291,7 @@ set(TARGET_CORE_SOURCES
     src/pipeline/node/Sync.cpp
     src/pipeline/node/NeuralNetwork.cpp
     src/pipeline/node/ImageManip.cpp
+    src/pipeline/node/ImageManipV2.cpp
     src/pipeline/node/Warp.cpp
     src/pipeline/node/VideoEncoder.cpp
     src/pipeline/node/DetectionNetwork.cpp
@@ -320,6 +322,7 @@ set(TARGET_CORE_SOURCES
     src/pipeline/datatype/ImgTransformations.cpp
     src/pipeline/datatype/EncodedFrame.cpp
     src/pipeline/datatype/ImageManipConfig.cpp
+    src/pipeline/datatype/ImageManipConfigV2.cpp
     src/pipeline/datatype/CameraControl.cpp
     src/pipeline/datatype/NNData.cpp
     src/pipeline/datatype/ImgDetections.cpp
@@ -344,6 +347,7 @@ set(TARGET_CORE_SOURCES
     src/pipeline/datatype/MessageGroup.cpp
     src/pipeline/datatype/TransformData.cpp
     src/utility/H26xParsers.cpp
+    src/utility/ImageManipV2Impl.cpp
     src/utility/Initialization.cpp
     src/utility/Resources.cpp
     src/utility/Path.cpp
@@ -368,8 +372,6 @@ set(TARGET_CORE_SOURCES
     src/utility/ArchiveUtil.cpp
     src/nn_archive/NNArchive.cpp
     src/nn_archive/NNArchiveConfig.cpp
-    src/nn_archive/NNArchiveBlob.cpp
-    src/nn_archive/NNArchiveConfigHelper.cpp
     src/modelzoo/NNModelDescription.cpp
     src/modelzoo/Zoo.cpp
 )
@@ -655,6 +657,7 @@ target_link_libraries(${TARGET_CORE_NAME}
         httplib::httplib
         mp4v2::mp4v2
         semver::semver
+        apriltag::apriltag
 )
 
 if(DEPTHAI_ENABLE_CURL)

diff --git a/README.md b/README.md
@@ -174,6 +174,7 @@ The following environment variables can be set to alter default behavior of the
 | DEPTHAI_SEARCH_TIMEOUT | Specifies timeout in milliseconds for device searching in blocking functions. |
 | 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_RECONNECT_TIMEOUT | Specifies timeout in milliseconds for reconnecting to a device after a connection loss. |
 | DEPTHAI_PROTOCOL | Restricts default search to the specified protocol. Options: `any`, `usb`, `tcpip`, `tcpshd`. |
 | DEPTHAI_PLATFORM | Restricts default search to the specified platform. Options: `any`, `rvc2`, `rvc3`, `rvc4`. |
 | 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" |
@@ -187,6 +188,7 @@ The following environment variables can be set to alter default behavior of the
 | 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_DISABLE_FEEDBACK | Disables crash dump and pipeline schema collection used to improve the library |
+| DEPTHAI_HUB_API_KEY | (Default) API key for the Luxonis Hub |
 
 
 ## Running tests

diff --git a/bindings/js/bindings.cpp b/bindings/js/bindings.cpp
@@ -58,6 +58,7 @@ EMSCRIPTEN_BINDINGS(depthai_js) {
         .value("EncodedFrame", dai::DatatypeEnum::EncodedFrame)
         .value("NNData", dai::DatatypeEnum::NNData)
         .value("ImageManipConfig", dai::DatatypeEnum::ImageManipConfig)
+        .value("ImageManipConfigV2", dai::DatatypeEnum::ImageManipConfig)
         .value("CameraControl", dai::DatatypeEnum::CameraControl)
         .value("ImgDetections", dai::DatatypeEnum::ImgDetections)
         .value("SpatialImgDetections", dai::DatatypeEnum::SpatialImgDetections)

diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
@@ -72,6 +72,7 @@ set(SOURCE_LIST
     src/nn_archive/NNArchiveBindings.cpp
     src/log/LogBindings.cpp
     src/VersionBindings.cpp
+    src/common/ModelTypeBindings.cpp
 
     src/pipeline/node/NodeBindings.cpp
 
@@ -84,6 +85,7 @@ set(SOURCE_LIST
     src/pipeline/node/NeuralNetworkBindings.cpp
     src/pipeline/node/VideoEncoderBindings.cpp
     src/pipeline/node/ImageManipBindings.cpp
+    src/pipeline/node/ImageManipV2Bindings.cpp
     src/pipeline/node/SPIOutBindings.cpp
     src/pipeline/node/SPIInBindings.cpp
     src/pipeline/node/DetectionNetworkBindings.cpp
@@ -119,6 +121,7 @@ set(SOURCE_LIST
     src/pipeline/datatype/FeatureTrackerConfigBindings.cpp
     src/pipeline/datatype/ToFConfigBindings.cpp
     src/pipeline/datatype/ImageManipConfigBindings.cpp
+    src/pipeline/datatype/ImageManipConfigV2Bindings.cpp
     src/pipeline/datatype/ImgDetectionsBindings.cpp
     src/pipeline/datatype/ImgFrameBindings.cpp
     src/pipeline/datatype/EncodedFrameBindings.cpp
@@ -144,6 +147,11 @@ set(SOURCE_LIST
     src/modelzoo/NNModelDescriptionBindings.cpp
     src/modelzoo/ZooBindings.cpp
 )
+if(DEPTHAI_MERGED_TARGET)
+    list(APPEND SOURCE_LIST
+        external/pybind11_opencv_numpy/ndarray_converter.cpp
+    )
+endif()
 
 if(DEPTHAI_BASALT_SUPPORT)
     list(APPEND SOURCE_LIST
@@ -260,6 +268,9 @@ endif()
 
 # Add include directory
 target_include_directories(${TARGET_NAME} PRIVATE src ${DOCSTRINGS_INCLUDE_PLACEHOLDER_DIR})
+if(DEPTHAI_MERGED_TARGET)
+    target_include_directories(${TARGET_NAME} PRIVATE external/pybind11_opencv_numpy)
+endif()
 
 set(DEPTHAI_LINK_TARGET depthai::core)
 if(NOT DEPTHAI_MERGED_TARGET)

diff --git a/bindings/python/external/pybind11_opencv_numpy b/bindings/python/external/pybind11_opencv_numpy
diff --git a/bindings/python/src/DatatypeBindings.cpp b/bindings/python/src/DatatypeBindings.cpp
@@ -12,6 +12,7 @@ void bind_edgedetectorconfig(pybind11::module& m, void* pCallstack);
 void bind_featuretrackerconfig(pybind11::module& m, void* pCallstack);
 void bind_tofconfig(pybind11::module& m, void* pCallstack);
 void bind_imagemanipconfig(pybind11::module& m, void* pCallstack);
+void bind_imagemanipconfigv2(pybind11::module& m, void* pCallstack);
 void bind_imgdetections(pybind11::module& m, void* pCallstack);
 void bind_imgframe(pybind11::module& m, void* pCallstack);
 void bind_encodedframe(pybind11::module& m, void* pCallstack);
@@ -45,6 +46,7 @@ void DatatypeBindings::addToCallstack(std::deque<StackFunction>& callstack) {
     callstack.push_front(bind_featuretrackerconfig);
     callstack.push_front(bind_tofconfig);
     callstack.push_front(bind_imagemanipconfig);
+    callstack.push_front(bind_imagemanipconfigv2);
     callstack.push_front(bind_imgdetections);
     callstack.push_front(bind_imgframe);
     callstack.push_front(bind_encodedframe);
@@ -91,6 +93,7 @@ void DatatypeBindings::bind(pybind11::module& m, void* pCallstack){
         .value("EncodedFrame", DatatypeEnum::EncodedFrame)
         .value("NNData", DatatypeEnum::NNData)
         .value("ImageManipConfig", DatatypeEnum::ImageManipConfig)
+        .value("ImageManipConfigV2", DatatypeEnum::ImageManipConfigV2)
         .value("CameraControl", DatatypeEnum::CameraControl)
         .value("ImgDetections", DatatypeEnum::ImgDetections)
         .value("SpatialImgDetections", DatatypeEnum::SpatialImgDetections)

diff --git a/bindings/python/src/DeviceBindings.cpp b/bindings/python/src/DeviceBindings.cpp
@@ -15,6 +15,7 @@
 // hedley
 #include <hedley/hedley.h>
 // STL Bind
+#include <pybind11/pytypes.h>
 #include <pybind11/stl_bind.h>
 
 PYBIND11_MAKE_OPAQUE(std::unordered_map<std::int8_t, dai::BoardConfig::GPIO>);
@@ -201,6 +202,7 @@ void DeviceBindings::bind(pybind11::module& m, void* pCallstack){
     py::class_<BoardConfig::USB> boardConfigUsb(boardConfig, "USB", DOC(dai, BoardConfig, USB));
     py::class_<BoardConfig::Network> boardConfigNetwork(boardConfig, "Network", DOC(dai, BoardConfig, Network));
     py::class_<BoardConfig::GPIO> boardConfigGpio(boardConfig, "GPIO", DOC(dai, BoardConfig, GPIO));
+    py::enum_<dai::Device::ReconnectionStatus> enumReconnectionStatus(device, "ReconnectionStatus", DOC(dai, DeviceBase, ReconnectionStatus));
     py::enum_<BoardConfig::GPIO::Mode> boardConfigGpioMode(boardConfigGpio, "Mode", DOC(dai, BoardConfig, GPIO, Mode));
     py::enum_<BoardConfig::GPIO::Direction> boardConfigGpioDirection(boardConfigGpio, "Direction", DOC(dai, BoardConfig, GPIO, Direction));
     py::enum_<BoardConfig::GPIO::Level> boardConfigGpioLevel(boardConfigGpio, "Level", DOC(dai, BoardConfig, GPIO, Level));
@@ -335,11 +337,14 @@ void DeviceBindings::bind(pybind11::module& m, void* pCallstack){
     ;
 
     // Bind Platform
-    platform
-        .value("RVC2", Platform::RVC2, DOC(dai, Platform, RVC2))
+    platform.value("RVC2", Platform::RVC2, DOC(dai, Platform, RVC2))
         .value("RVC3", Platform::RVC3, DOC(dai, Platform, RVC3))
-        .value("RVC4", Platform::RVC4, DOC(dai, Platform, RVC4))
-    ;
+        .value("RVC4", Platform::RVC4, DOC(dai, Platform, RVC4));
+
+    // Bind Device::ReconnectionStatus
+    enumReconnectionStatus.value("RECONNECT_FAILED", Device::ReconnectionStatus::RECONNECT_FAILED);
+    enumReconnectionStatus.value("RECONNECTED", Device::ReconnectionStatus::RECONNECTED);
+    enumReconnectionStatus.value("RECONNECTING", Device::ReconnectionStatus::RECONNECTING);
 
     // Platform - string conversion
     m.def("platform2string", &platform2string, DOC(dai, platform2string));
@@ -447,6 +452,7 @@ void DeviceBindings::bind(pybind11::module& m, void* pCallstack){
         })
         .def("close", [](DeviceBase& d) { py::gil_scoped_release release; d.close(); }, "Closes the connection to device. Better alternative is the usage of context manager: `with depthai.Device(pipeline) as device:`")
         .def("isClosed", [](DeviceBase& d) { py::gil_scoped_release release; return d.isClosed(); }, DOC(dai, DeviceBase, isClosed))
+        .def("setMaxReconnectionAttempts", &DeviceBase::setMaxReconnectionAttempts, py::arg("maxAttempts"), py::arg("callback") = py::none(), DOC(dai, DeviceBase, setMaxReconnectionAttempts))
 
         //dai::Device methods
         //static