Release 2.25.1 (#1005)

* fix finding jsoncpp

* FW: fix fsync for OAK-D-SR

* Change IMU fw update status to int

* Add tilt projection support

* Introduced `DeviceBootloader::getFlashedVersion` to retrieve the bootloader version flashed on the device. Fixed `isUserBootloaderSupported` - thereby fixed user bootloader flashing. (#997)

* Introduced DeviceBootloader::getFlashedVersion to retrieve the bootloader version flashed on the device. Fixed isUserBootloaderSupported - thereby fixed user bootloader flashing.

* Applied the suggestions

* Fix sensor configs for ov9282/ov9782 (differentiate between color/mono when possible)

* FW: fixes for IMX378 and IMX582:
fix concurrent run,
fix scaling with IMX378 THE_1352X1012 resolution,
change Camera node best sensor config select to prioritize matching aspect ratio

* Add jsoncpp with hunter

* Make PCL include optional

* Fixed booting issue on OAK D SR POE and OAK T. (#1002)

* Fail loudly if PCL enabled, README changes

* Conditionally add jsoncpp package

* FW: fix default fsync GPIO state for OAK-FFC-4P R7,
FSIN_4LANE GPIO42 = input, pull-down

* Bumped version to 2.25.1

* Fix FFC3P - not found after booting if ov9282 is connected.

* Make getAllConnectedDevices consistent when no devices are found

---------

Co-authored-by: Serafadam <serafadam@gmail.com>
Co-authored-by: alex-luxonis <alex@luxonis.com>
Co-authored-by: asahtik <asahtik@gmail.com>
Co-authored-by: SzabolcsGergely <szabi@luxonis.com>
Co-authored-by: asahtik <38485424+asahtik@users.noreply.github.com>
Co-authored-by: Matevz Morato <matevz.morato@gmail.com>
Co-authored-by: moratom <47612463+moratom@users.noreply.github.com>

CMakeLists.txt

@@ -46,7 +46,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.25.0" LANGUAGES CXX C)
+project(depthai VERSION "2.25.1" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)
@@ -302,7 +302,7 @@ option(DEPTHAI_BUILD_TESTS "Build tests" OFF)
 option(DEPTHAI_BUILD_EXAMPLES "Build examples - Requires OpenCV library to be installed" OFF)
 option(DEPTHAI_BUILD_DOCS "Build documentation - requires doxygen to be installed" OFF)
 option(DEPTHAI_OPENCV_SUPPORT "Enable optional OpenCV support" ON)
-option(DEPTHAI_PCL_SUPPORT "Enable optional PCL support" ON)
+option(DEPTHAI_PCL_SUPPORT "Enable optional PCL support" OFF)
 
 
 option(DEPTHAI_BINARIES_RESOURCE_COMPILE "Compile Depthai device side binaries into library" ON)

README.md

@@ -194,6 +194,7 @@ 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. |
 
 ## Running tests
 

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 "0.0.26")
+set(DEPTHAI_BOOTLOADER_VERSION "0.0.27")
 # 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 "7665aed8712bb941958660a0103868908726eb56")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "c7127782f2da45aac89d5b5b816d04cc45ae40be")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

cmake/depthaiDependencies.cmake

@@ -22,6 +22,9 @@ else()
         hunter_add_package(Backward)
     endif()
     hunter_add_package(libnop)
+    if(DEPTHAI_PCL_SUPPORT)
+        hunter_add_package(jsoncpp)
+    endif()
 endif()
 
 # If library was build as static, find all dependencies
@@ -76,13 +79,16 @@ endif()
 
 # OpenCV 4 - (optional, quiet always)
 find_package(OpenCV 4 QUIET CONFIG)
-
-find_package(jsoncpp QUIET)
+if(DEPTHAI_PCL_SUPPORT AND NOT TARGET JsonCpp::JsonCpp)
+    find_package(jsoncpp)
+endif()
 set(MODULE_TEMP ${CMAKE_MODULE_PATH})
 set(PREFIX_TEMP ${CMAKE_PREFIX_PATH})
 set(CMAKE_MODULE_PATH ${_DEPTHAI_MODULE_PATH_ORIGINAL})
 set(CMAKE_PREFIX_PATH ${_DEPTHAI_PREFIX_PATH_ORIGINAL})
-find_package(PCL QUIET CONFIG COMPONENTS common visualization)
+if(DEPTHAI_PCL_SUPPORT)
+    find_package(PCL CONFIG COMPONENTS common visualization)
+endif()
 set(CMAKE_MODULE_PATH ${MODULE_TEMP})
 set(CMAKE_PREFIX_PATH ${PREFIX_TEMP})
 

examples/IMU/imu_firmware_update.cpp

@@ -36,7 +36,7 @@ int main() {
 
     while(true) {
         bool fwUpdateFinished;
-        float percentage;
+        unsigned int percentage;
         std::tie(fwUpdateFinished, percentage) = device.getIMUFirmwareUpdateStatus();
         std::cout << "IMU FW update status: " << std::setprecision(1) << percentage << std::endl;
         if(fwUpdateFinished) {

include/depthai/device/DeviceBase.hpp

@@ -673,7 +673,7 @@ class DeviceBase {
      * return value true and 100 means that the update was successful
      * return value true and other than 100 means that the update failed
      */
-    std::tuple<bool, float> getIMUFirmwareUpdateStatus();
+    std::tuple<bool, unsigned int> getIMUFirmwareUpdateStatus();
 
     /**
      * Retrieves current DDR memory information from device

include/depthai/device/DeviceBootloader.hpp

@@ -441,6 +441,12 @@ class DeviceBootloader {
      */
     Version getVersion() const;
 
+    /**
+     * @return Version of the bootloader that is flashed on the device.
+     * Nullopt when the version could not be retrieved because the device was in X_LINK_UNBOOTED state before booting the bootloader.
+     */
+    tl::optional<Version> getFlashedVersion() const;
+
     /**
      * @returns True when bootloader was booted using latest bootloader integrated in the library.
      * False when bootloader is already running on the device and just connected to.
@@ -504,6 +510,7 @@ class DeviceBootloader {
 
     bool isEmbedded = false;
     Type bootloaderType;
+    tl::optional<Version> flashedVersion;
 
     // closed
     std::atomic<bool> closed{false};
@@ -586,4 +593,4 @@ inline std::ostream& operator<<(std::ostream& out, const dai::DeviceBootloader::
 
 inline std::ostream& operator<<(std::ostream& out, const dai::DeviceBootloader::Version& v) {
     return out << v.toString();
-}
+}

src/device/DeviceBase.cpp

@@ -1158,8 +1158,8 @@ bool DeviceBase::startIMUFirmwareUpdate(bool forceUpdate) {
     return pimpl->rpcClient->call("startIMUFirmwareUpdate", forceUpdate).as<bool>();
 }
 
-std::tuple<bool, float> DeviceBase::getIMUFirmwareUpdateStatus() {
-    return pimpl->rpcClient->call("getIMUFirmwareUpdateStatus").as<std::tuple<bool, float>>();
+std::tuple<bool, unsigned int> DeviceBase::getIMUFirmwareUpdateStatus() {
+    return pimpl->rpcClient->call("getIMUFirmwareUpdateStatus").as<std::tuple<bool, unsigned int>>();
 }
 
 // Convenience functions for querying current system information

src/device/DeviceBootloader.cpp

@@ -416,6 +416,7 @@ void DeviceBootloader::init(bool embeddedMvcmd, const dai::Path& pathToMvcmd, tl
 
             // Retrieve bootloader version
             version = requestVersion();
+            flashedVersion = version;
             if(version >= Version(0, 0, 12)) {
                 // If version is adequate, do an in memory boot.
 
@@ -586,6 +587,10 @@ DeviceBootloader::Version DeviceBootloader::getVersion() const {
     return version;
 }
 
+tl::optional<DeviceBootloader::Version> DeviceBootloader::getFlashedVersion() const {
+    return flashedVersion;
+}
+
 DeviceBootloader::Version DeviceBootloader::requestVersion() {
     // Send request to retrieve bootloader version
     if(!sendRequest(Request::GetBootloaderVersion{})) {
@@ -696,8 +701,12 @@ bool DeviceBootloader::isUserBootloaderSupported() {
         return false;
     }
 
+    if(!getFlashedVersion()) {
+        return false;
+    }
+
     // Check if bootloader version is adequate
-    if(getVersion().getSemver() < Version(Request::IsUserBootloader::VERSION)) {
+    if(getFlashedVersion().value().getSemver() < Version(Request::IsUserBootloader::VERSION)) {
         return false;
     }
 
@@ -725,7 +734,10 @@ std::tuple<bool, std::string> DeviceBootloader::flashDepthaiApplicationPackage(s
                                                                                std::vector<uint8_t> package,
                                                                                Memory memory) {
     // Bug in NETWORK bootloader in version 0.0.12 < 0.0.14 - flashing can cause a soft brick
-    auto bootloaderVersion = getVersion();
+    if(!getFlashedVersion()) {
+        return {false, "Can't flash DepthAI application package without knowing flashed bootloader version."};
+    }
+    auto bootloaderVersion = *getFlashedVersion();
     if(bootloaderType == Type::NETWORK && bootloaderVersion < Version(0, 0, 14)) {
         throw std::invalid_argument("Network bootloader requires version 0.0.14 or higher to flash applications. Current version: "
                                     + bootloaderVersion.toString());
@@ -925,8 +937,14 @@ std::tuple<bool, std::string> DeviceBootloader::flashUserBootloader(std::functio
     // }
 
     // Check if bootloader version is adequate
-    if(getVersion().getSemver() < Version(Request::IsUserBootloader::VERSION)) {
-        throw std::runtime_error("Current bootloader version doesn't support User Bootloader");
+    if(!getFlashedVersion()) {
+        throw std::runtime_error(
+            "Couldn't retrieve version of the flashed bootloader. Make sure you have a factory bootloader flashed and the device is booted to bootloader.");
+    }
+    if(getFlashedVersion().value().getSemver() < Version(Request::IsUserBootloader::VERSION)) {
+        throw std::runtime_error(fmt::format("Current bootloader version doesn't support User Bootloader. Current version: {}, minimum required version: {}",
+                                             getFlashedVersion().value().toStringSemver(),
+                                             Version(Request::IsUserBootloader::VERSION).toStringSemver()));
     }
 
     // Retrieve bootloader

src/xlink/XLinkConnection.cpp

@@ -127,7 +127,7 @@ std::vector<DeviceInfo> XLinkConnection::getAllConnectedDevices(XLinkDeviceState
     auto allowedDeviceNames = utility::getEnv("DEPTHAI_DEVICE_NAME_LIST");
 
     auto status = XLinkFindAllSuitableDevices(suitableDevice, deviceDescAll.data(), static_cast<unsigned int>(deviceDescAll.size()), &numdev);
-    if(status != X_LINK_SUCCESS) throw std::runtime_error("Couldn't retrieve all connected devices");
+    if(status != X_LINK_SUCCESS && status != X_LINK_DEVICE_NOT_FOUND) throw std::runtime_error("Couldn't retrieve all connected devices");
 
     for(unsigned i = 0; i < numdev; i++) {
         DeviceInfo info(deviceDescAll.at(i));