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Ros release 2.22.0 #849

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merged 471 commits into from
Jun 15, 2023
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c95a06a
Merge pull request #660 from luxonis/nn_node_seq_num_fix
moratom Dec 12, 2022
80eefc8
WIP: Camera node
themarpe Dec 12, 2022
5e05ba8
Added capability to set XLink logging level via XLINK_LEVEL env var
themarpe Dec 13, 2022
f98f82c
Replace "_CMAKE_" variables with "_DEPTHAI_" (#662)
camblomquist Dec 13, 2022
4e324ba
Add comments
whoactuallycares Dec 14, 2022
3bac6a8
Update FW: Add missing python bindings for boundingBoxMapping
SzabolcsGergely Dec 14, 2022
0afad8f
Updated NETWORK Bootloader with dual protocol capabilities
themarpe Dec 16, 2022
7446745
[FW] Fixed a bug in board downselection. OAK-D S2/Pro camera enumerat…
themarpe Dec 17, 2022
26ba300
Merge remote-tracking branch 'origin/develop' into camera_node
themarpe Dec 17, 2022
de4db9a
[FW] Added support for Mono video/preview in Camera node
themarpe Dec 17, 2022
e8d263c
CI - Fixed style & tidy jobs
themarpe Dec 17, 2022
56cb5b2
Updated dual BL to v0.0.23 temporary build
themarpe Dec 19, 2022
5ebfc2e
Merge branch 'develop' into bootloader_dual_protocol
themarpe Dec 19, 2022
401e411
Added OAK-D-LR support. WIP: Orientation capability
themarpe Dec 19, 2022
df976c6
Merge branch 'trace_event' into develop
themarpe Dec 19, 2022
6e945e4
Merge remote-tracking branch 'origin/frame-event' into develop
themarpe Dec 19, 2022
e30a8b9
[FW/XLink] Explicitly limited to single connection
themarpe Dec 19, 2022
bc8dce6
Merge remote-tracking branch 'origin/ov9282_full_res_120fps' into dev…
themarpe Dec 19, 2022
89665e3
ImageManip added colormap capability. TODO min/max range selection
themarpe Dec 21, 2022
9e199d5
Add option to override baseline and/or focal length for disparity to …
SzabolcsGergely Dec 22, 2022
1eb0124
[FW] OAK-D-LR - Fixed default image orientation
themarpe Dec 23, 2022
731793e
Updated brief description that affects docs of the DetectionParser node.
Erol444 Dec 27, 2022
eb97b9a
Merge pull request #669 from luxonis/detection_parser_docs_fix
Erol444 Dec 27, 2022
cc30c04
Merge pull request #659 from luxonis/grammar_fix
Erol444 Dec 27, 2022
b8f5e36
Modified API of Camera a bit
themarpe Dec 28, 2022
baa24ce
Updated FW with Camera changes and warp capabilities
themarpe Dec 29, 2022
cba0cda
Updated FW with Camera warp capabilities
themarpe Dec 30, 2022
f93fcc2
Added dai::span
themarpe Jan 2, 2023
4dedea1
Added undistort/warp API to Camera node
themarpe Jan 2, 2023
cea13d6
Merge remote-tracking branch 'origin/develop' into stereo_baseline_fo…
SzabolcsGergely Jan 3, 2023
84e163d
Merge pull request #668 from luxonis/stereo_baseline_focal_length_ove…
SzabolcsGergely Jan 3, 2023
b2da508
FW - Modifed watchdog to do a graceful reset instead
themarpe Jan 5, 2023
5d3bc13
Merge branch 'develop' into gen2_uvc
themarpe Jan 7, 2023
06b7bef
Added additional API to retrieve timestamps at various exposure points
themarpe Jan 8, 2023
10d8f49
Merge branch 'develop' into camera_node
themarpe Jan 9, 2023
2ee9ebf
Fixed documentation on ObjectTracker::setMaxObjectsToTrack
themarpe Jan 10, 2023
2dfba8f
Merge branch 'bootloader_dual_protocol' into develop
themarpe Jan 11, 2023
d607861
Merge branch 'fw_wd_fix' into develop
themarpe Jan 11, 2023
fec218e
WIP: mockIsp capabilities
themarpe Jan 12, 2023
efb3f4d
[FW] Fix for CAM_C not being detected
themarpe Jan 12, 2023
85e90cc
Device - Added non exclusive boot option
themarpe Jan 13, 2023
66c8065
Slight Colormap API improvements
themarpe Jan 15, 2023
76f1780
[FW] Added OpenVINO version 'universal'
themarpe Jan 17, 2023
dfecb75
Added DeviceBase convinience constructors taking name or deviceid as …
themarpe Jan 17, 2023
7cb60d4
Merge branch 'develop' of github.com:luxonis/depthai-core into develop
themarpe Jan 17, 2023
3dfe7ce
Add mode and median support to SLC
SzabolcsGergely Jan 17, 2023
1e9d212
Disabled some of the functionality for now
themarpe Jan 18, 2023
c12ce33
Tweaked getTimestamp & exposure offset API
themarpe Jan 20, 2023
4031f85
Merge branch 'camera_node' into develop
themarpe Jan 20, 2023
de8136f
FW: IMX296 support, added THE_1440x1080 resolution
alex-luxonis Dec 13, 2022
34c4b2f
FW: IMX296 Camera node, IMX378 1080p limited to 60fps
alex-luxonis Jan 20, 2023
48484a5
Bump version to 2.20.0
themarpe Jan 20, 2023
c29449b
Applied formatting
themarpe Jan 20, 2023
cb86d14
Merge branch 'main' into release_2.20.0
themarpe Jan 20, 2023
d84f65b
Merge branch 'release_2.20.0' into main
themarpe Jan 21, 2023
35a8aa8
Merge branch 'main' into develop
themarpe Jan 21, 2023
49a0364
Temporary revert to macos-11 for CI due to Catch2 issues
themarpe Jan 21, 2023
4f9efc9
Merge remote-tracking branch 'origin/develop' into slc_mode_median
SzabolcsGergely Jan 23, 2023
4fbedf1
Update FW, API
SzabolcsGergely Jan 23, 2023
b4f49e4
Update FW
SzabolcsGergely Jan 23, 2023
b4cb537
Modified OpenVINO::VERSION_UNIVERSAL
themarpe Jan 24, 2023
d8a1f3b
Updated Bootloader to 0.0.24
themarpe Jan 24, 2023
774763d
Bump version and FW to 2.20.1 (Status LEDs improvement)
themarpe Jan 24, 2023
01fdd7d
calibration_flash example fix
themarpe Jan 24, 2023
fb87348
Merge branch 'release_2.20.1' into main
themarpe Jan 24, 2023
7dbae8b
Fixed api docs for Warp HW ids
Erol444 Jan 25, 2023
07a811f
FW: fix crash with ColorCamera at high resolution and certain ISP sca…
alex-luxonis Jan 25, 2023
b9b32ce
FW: fix crash with ColorCamera at high resolution and certain ISP sca…
alex-luxonis Jan 25, 2023
7a3ac31
Bump version to 2.20.2
themarpe Jan 26, 2023
1500889
Added an ColorCamera isp scale example, and modified test workflow
themarpe Jan 26, 2023
4b2e9da
Implement multi stereo support
SzabolcsGergely Jan 26, 2023
30ec84d
Merge remote-tracking branch 'origin/develop' into multi_stereo_support
SzabolcsGergely Jan 27, 2023
df25f93
Merge remote-tracking branch 'origin/release_2.20.2' into multi_stere…
SzabolcsGergely Jan 27, 2023
75f7607
Merge remote-tracking branch 'origin/main' into HEAD
SzabolcsGergely Jan 27, 2023
5fd6e2e
Implement brightness filter
SzabolcsGergely Jan 27, 2023
e73cf4c
FW: fix OV9282 SW-sync on devices with OV9782 RGB camera
alex-luxonis Jan 27, 2023
86956d3
Merge 'release_2.20.2' into develop
alex-luxonis Jan 27, 2023
1626eeb
Merge pull request #692 from luxonis/warp_api_docs_fix
Erol444 Jan 28, 2023
d17527f
Update FW: Fix OOM due to too many SIPP pipelines
SzabolcsGergely Jan 28, 2023
7026a59
Modified default device config OpenVINO version to universal
themarpe Jan 28, 2023
40cb005
Merge branch 'catch2_update'
themarpe Jan 28, 2023
36089a8
FW: handle EEPROM `boardOptions` bit 7 for separate I2C on L/R
alex-luxonis Jan 30, 2023
9eb556d
Merge remote-tracking branch 'origin/develop' into HEAD
SzabolcsGergely Jan 30, 2023
88af9a2
FW: fix for IMX378/477/577 on sockets other than RGB
alex-luxonis Jan 30, 2023
4ff8608
Merge branch 'release_2.20.2' into main
themarpe Jan 31, 2023
80727e4
Update FW: support for stereo alignment to original left or right inp…
SzabolcsGergely Feb 1, 2023
856d479
Merge 'origin/main' into develop
alex-luxonis Feb 1, 2023
9cb42b6
Update FW: parsing optimization and improvements for Yolo v6, v6r2, v8
SzabolcsGergely Feb 1, 2023
8af255d
Merge remote-tracking branch 'origin/develop' into HEAD
SzabolcsGergely Feb 1, 2023
66420ce
Update FW w/ syncing stall fix
SzabolcsGergely Feb 2, 2023
d2a50d2
Update stereo with more robust frame sync
SzabolcsGergely Feb 2, 2023
84bc648
Update FW with optional override of spec translation for stereo algor…
SzabolcsGergely Feb 3, 2023
104c219
Correct type
SzabolcsGergely Feb 3, 2023
fed2d61
Update SPIOut.hpp
anonymous-1000 Feb 3, 2023
2e15fa3
Expose center alignment scale factor for debug purposes
SzabolcsGergely Feb 4, 2023
b694610
Merge pull request #713 from anonymous-1000/patch-1
themarpe Feb 4, 2023
f9d9534
Expose SIPP mempool configurable sizes
SzabolcsGergely Feb 4, 2023
4cfdafb
Update FW
SzabolcsGergely Feb 6, 2023
9a75541
Merge remote-tracking branch 'origin/develop' into HEAD
SzabolcsGergely Feb 6, 2023
cf497be
Fixed usage of DeviceBootloader with incomplete DeviceInfo and added …
themarpe Feb 6, 2023
87928ce
Closes: #714
themarpe Feb 6, 2023
f22f558
Merge pull request #717 from luxonis/android_readme
themarpe Feb 6, 2023
57c8e7c
Add alpha scaling option for StereoDepth
SzabolcsGergely Feb 6, 2023
e08025e
Update FW before merge
SzabolcsGergely Feb 7, 2023
9f1de69
Update FW with RGB alignment fix
SzabolcsGergely Feb 7, 2023
ec72ea8
Update FW with performance metrics when DEPTHAI_LEVEL=info is enabled…
SzabolcsGergely Feb 7, 2023
25bacff
Improve spatial calculation X and Y accuracy; fix RGB alignment when …
SzabolcsGergely Feb 8, 2023
62c276f
[XLink] Increased max number of links from 32 to 64
themarpe Feb 8, 2023
a1febd3
Add crash dump functionality
SzabolcsGergely Feb 10, 2023
846433d
Change API to return just crash dump
SzabolcsGergely Feb 10, 2023
b7a4cb7
Update FW with commit hash attached to crash dump
SzabolcsGergely Feb 10, 2023
3fc14d5
Update FW with fix for serialization of thread name
SzabolcsGergely Feb 10, 2023
80af184
Add hasCrashDump API
SzabolcsGergely Feb 13, 2023
f747c2f
Update FW
SzabolcsGergely Feb 13, 2023
de15c27
Update FW, crash dump contains device ID
SzabolcsGergely Feb 14, 2023
1a542a3
Merge remote-tracking branch 'origin/crash_dump' into HEAD
SzabolcsGergely Feb 14, 2023
11d175b
Merge remote-tracking branch 'origin/develop' into HEAD
SzabolcsGergely Feb 14, 2023
6059098
Enable MEDAIN spatial calculation method for SpatialDetectionNetwork
SzabolcsGergely Feb 14, 2023
9e4af24
Update FW
SzabolcsGergely Feb 14, 2023
708d9a8
Update docs
SzabolcsGergely Feb 15, 2023
47d6fff
FW: HW sync (trigger mode) enabled for OAK-D-LR, for cameras with mat…
alex-luxonis Feb 19, 2023
244ffba
Change default SIPP buffer sizes
SzabolcsGergely Feb 21, 2023
0b6e484
Add 3A skipping option to reduce CPU usage
SzabolcsGergely Feb 23, 2023
69a99c6
Change API to be able to configure isp 3A FPS
SzabolcsGergely Feb 25, 2023
6526e93
Update BoarConfig with limits
SzabolcsGergely Feb 27, 2023
d34f74c
Update script node python bindings
SzabolcsGergely Feb 27, 2023
b62967c
Merge remote-tracking branch 'origin/develop' into HEAD
SzabolcsGergely Feb 28, 2023
37b1cc5
Update FW: Add workaround for BNO sequence number limit of 256 (senso…
SzabolcsGergely Mar 1, 2023
ae75d72
FW: camera sensor improvements:
alex-luxonis Mar 2, 2023
9cc8b36
Update stereo_depth_video.cpp
Erol444 Mar 3, 2023
fb57ecb
Merge pull request #746 from luxonis/stereo-depth-video-patch
SzabolcsGergely Mar 3, 2023
0a7956b
Enable interrupt mode: Update BMI driver with fixes from: https://git…
SzabolcsGergely Mar 3, 2023
c8cb7ca
Update ObjectTracker with improvements from rvc3
SzabolcsGergely Mar 3, 2023
f6c6f00
Add API to set trackingPerClass in ObjectTracker node
SzabolcsGergely Mar 3, 2023
2687c4c
Update FW before merge
SzabolcsGergely Mar 5, 2023
2bc8c15
Merge remote-tracking branch 'origin/develop' into HEAD
SzabolcsGergely Mar 5, 2023
0bf416d
Merge pull request #747 from luxonis/bmi270_interrupt_mode
SzabolcsGergely Mar 5, 2023
14fed3c
Update FW with IMU fix for BNO
SzabolcsGergely Mar 5, 2023
6489b1e
Add IMU versioning; firmware versioning, firmware update status callb…
SzabolcsGergely Mar 6, 2023
0655df1
Update FW with fix for BMI timestamp
SzabolcsGergely Mar 6, 2023
e316468
Update FW: IMU support for OAK-D-SR
SzabolcsGergely Mar 6, 2023
560b753
Fix 'default constrictible' error on some compilers
SzabolcsGergely Mar 7, 2023
4ed3413
Update FW
SzabolcsGergely Mar 7, 2023
49aaf1d
Add IMU FW update RPC
SzabolcsGergely Mar 7, 2023
1555805
Update IMU FW update example
SzabolcsGergely Mar 7, 2023
80880f5
Updated yolo description
Erol444 Mar 8, 2023
b519def
Update FW; API
SzabolcsGergely Mar 8, 2023
5ead66c
Merge pull request #755 from luxonis/yolo_update
SzabolcsGergely Mar 8, 2023
53dfa7e
Update examples
SzabolcsGergely Mar 8, 2023
12b198a
Update FW with deprecation warning for enableFirmwareUpdate
SzabolcsGergely Mar 8, 2023
f319dc8
Change imu version to imu type
SzabolcsGergely Mar 8, 2023
0c433c7
Update FW before merge
SzabolcsGergely Mar 9, 2023
60e7ee5
Merge pull request #752 from luxonis/imu_version_query
SzabolcsGergely Mar 9, 2023
bce1444
Added C++14 requirement to examples & tests
themarpe Mar 12, 2023
8440a90
Tweaked crash_report example
themarpe Mar 12, 2023
ddca0b2
Merge branch 'cpp14_examples_tests' into develop
themarpe Mar 12, 2023
e5dae8f
[FW] Added missing bindings for CameraControl and ImgFrame
themarpe Mar 13, 2023
0c3d6be
Update FW with fix for calibration load example
SzabolcsGergely Mar 16, 2023
c2b96c8
Merge remote-tracking branch 'origin/develop' into HEAD
SzabolcsGergely Mar 16, 2023
1e3cbb8
fix stability_stress_test fail to link on ubuntu
diablodale Mar 16, 2023
8c9912c
fix isClosed/checkClosed threading, rpcClient exceptions
diablodale Mar 13, 2023
9e56b82
Merge pull request #771 from diablodale/fix769-stability-fail-link
themarpe Mar 18, 2023
5db9896
fix var hides class member, this-> in constructors
diablodale Mar 18, 2023
af2b8c9
Merge pull request #772 from diablodale/fix247-more-cleaning
themarpe Mar 19, 2023
ec37219
fix: stdexcept header added for std::runtime_error
onuralpszr Mar 19, 2023
9dab6fc
Merge pull request #775 from onuralpszr/std_except_fix
themarpe Mar 19, 2023
fc81e1b
[FW] Removed UTF-8 degree sign from temperature prints. Closes: #773
themarpe Mar 19, 2023
3b4c56d
Merge branch 'develop' of github.com:luxonis/depthai-core into develop
themarpe Mar 19, 2023
12d7f16
Merge pull request #764 from diablodale/fix520-close-threading
themarpe Mar 19, 2023
6b2963b
Move sipp buffer size from BoardConfig to GlobalProperties
SzabolcsGergely Mar 20, 2023
9a91f91
Merge remote-tracking branch 'origin/develop' into HEAD
SzabolcsGergely Mar 20, 2023
f74ce33
Update style
SzabolcsGergely Mar 20, 2023
23e86d6
Partially reverted bce144449056aa2a914bc70da526aebe2f359c32 - only ke…
themarpe Mar 22, 2023
9ad7109
[Stereo] Add option to invalidate edge pixels on disparity/depth frame
SzabolcsGergely Mar 27, 2023
26e65a3
Update FW: handle disparity flipping
SzabolcsGergely Mar 27, 2023
2097673
Update FW: support for stereo.setOutputSize when LEFT or RIGHT alignm…
SzabolcsGergely Mar 28, 2023
143f778
Merge remote-tracking branch 'origin/main' into HEAD
SzabolcsGergely Mar 28, 2023
4c2035b
Update FW: support for stereo between RGB and LEFT/RIGHT
SzabolcsGergely Mar 28, 2023
9987406
[FW] ImageManip CSC improvements, New boards and power cycle fix
themarpe Mar 30, 2023
f605e58
Merge remote-tracking branch 'origin/disparity_invalidation' into HEAD
SzabolcsGergely Mar 31, 2023
e67e1c3
FW: fix for UART0 / '/dev/ttyS0' init failure in Script node
alex-luxonis Mar 31, 2023
8ed944b
Update FW with fix for USB devices stuck after reboot
SzabolcsGergely Mar 31, 2023
a0def1f
Release v2.21.0
SzabolcsGergely Apr 1, 2023
f8c459e
Merge pull request #790 from luxonis/develop
SzabolcsGergely Apr 1, 2023
4b3c687
Fix device destructor
SzabolcsGergely Apr 4, 2023
3e4152a
Merge pull request #796 from luxonis/device_destructor
SzabolcsGergely Apr 4, 2023
b21dafa
Update FW: fix spatial location calculator for 400p/480p resolution
SzabolcsGergely Apr 4, 2023
0cd6c14
Release v2.21.1
SzabolcsGergely Apr 4, 2023
ffd0546
FW: Fix camera intrinsics when RGB alignment is used
SzabolcsGergely Apr 5, 2023
125feb8
Release v2.21.2
SzabolcsGergely Apr 5, 2023
c4af66c
FW: fix running 4 cameras with Ethernet,
alex-luxonis Apr 13, 2023
e03c037
prevent duplicate xlink stream names
diablodale Apr 14, 2023
8d35bac
[FW] Fix for OAK-D-SR camera enumeration
themarpe Apr 18, 2023
53198b3
[FW] OAK-D-LR R1 preparation
themarpe Apr 18, 2023
c03bfea
[FW / BL] Updated both FW & BL for OAK-D-LR R1. ETH fixes and moved t…
themarpe Apr 18, 2023
8a1316f
[BL] Updated to 0.0.25 release
themarpe Apr 19, 2023
664bad9
Deprecated misleading board socket aliases
themarpe Apr 23, 2023
a8935bf
[FW] Match shared
themarpe Apr 23, 2023
05fe811
Tweaked naming a bit more
themarpe Apr 23, 2023
6933082
WIP: Refactoring constructors
themarpe Apr 23, 2023
4257f31
Added 2 additional board socket enums
themarpe Apr 23, 2023
4c67a51
Removed ;
themarpe Apr 23, 2023
6e5c1d0
Updated FW and fixed Device constructors
themarpe Apr 23, 2023
dbb0f95
Merge branch 'camera_name_examples' into develop
themarpe Apr 23, 2023
a24e907
Added more checks when parsing message and a test
themarpe Apr 23, 2023
4f7160a
Merge pull request #811 from diablodale/fix469-deadlock-xlink-dup-names
themarpe Apr 23, 2023
cb80458
Add get/set to all config messages
SzabolcsGergely Apr 24, 2023
1e315d4
Refactored logging to use device logger and capability to modify log …
themarpe Apr 24, 2023
a5fbcbc
Added custom spdlog logger library usage and exposed profiling data g…
themarpe Apr 26, 2023
771f5d3
Updated XLink with new functionality and increased PoE search time
themarpe Apr 26, 2023
d27ad1e
Added means of grabbing global profiling data as well
themarpe Apr 26, 2023
870f194
Merge remote-tracking branch 'origin/logging_improvements' into develop
themarpe May 2, 2023
a3dad2b
Merge remote-tracking branch 'origin/stream_message_parser_bugfix' in…
themarpe May 2, 2023
d7ee0f7
Updated XLink with 255.255.255.255 discovery added
themarpe May 2, 2023
c8187b5
Applied formatting
themarpe May 2, 2023
8ed7b6a
[Stereo] Fix auto distortion correction for 400p
SzabolcsGergely May 2, 2023
9096d62
[Stereo] Fix temporal filter crash on startup
SzabolcsGergely May 2, 2023
4168149
Add missing info log level
SzabolcsGergely May 5, 2023
1d990f9
Logging: fixed `DEPTHAI_DEBUG=1` causing a crash at init,
alex-luxonis May 6, 2023
c116e42
Merge 'origin/develop' into gen2_uvc
alex-luxonis May 6, 2023
bdbbf82
CrashDump: add optional clear of crash dump, enabled by default
SzabolcsGergely May 10, 2023
88c16dc
Color/Mono/Camera: add `setRawOutputPacked` config
alex-luxonis Mar 17, 2023
e1197f7
ImgFrame: handle RAW10/12/14 (unpacked) like RAW16
alex-luxonis Mar 17, 2023
9d554e5
ToF node with ToFConfig
FlorinBuica-luxonis Apr 21, 2023
b7de293
`make clangformat`
alex-luxonis May 12, 2023
e58b85b
Merge pull request #826 from luxonis/tof_vga
alex-luxonis May 12, 2023
7bf36cd
Merge 'origin/develop' into gen2_uvc
alex-luxonis May 12, 2023
5056dee
FW: UVC: H.264 with `ImgFrame::Type::BITSTREAM`, few more config checks
alex-luxonis May 15, 2023
4a452a9
Device: fix some constructors to forward pipeline DeviceConfig
alex-luxonis May 15, 2023
4bb0f83
Merge pull request #825 from luxonis/gen2_uvc
alex-luxonis May 15, 2023
cc8edba
Modified XLink to a temporary branch
themarpe May 15, 2023
1defb67
Updated XLink with fixed winusb mxid retrieval
themarpe May 16, 2023
a33f90b
Merge branch 'xlink_get_win_usb_mx_id_fix' into develop
themarpe May 16, 2023
75b93d6
FW: Stereo: handle queue blocking settings
SzabolcsGergely May 18, 2023
2bd6419
[FW] Updated for some devices and ToF
themarpe May 24, 2023
c732289
Added filter by device name
themarpe May 25, 2023
14dd92b
[FW] WIP for S2 PoE boards
themarpe May 29, 2023
be9c9d9
[FW] WIP for new SoMs
themarpe May 30, 2023
7c07d7c
Fixed build
themarpe May 30, 2023
ceb954c
[FW] Fixed camera orientation
themarpe Jun 2, 2023
5f75ae7
Updated bootloader to 0.0.26. Includes some stability improvements. U…
themarpe Jun 5, 2023
ae03794
Bump version to v2.22.0
themarpe Jun 7, 2023
830fa4c
Merge branch 'device_name_list' into release_v2.22.0
themarpe Jun 8, 2023
0435b50
FW: update IMX296 tuning
alex-luxonis Jun 12, 2023
2facab6
[FW] Fixed OAK-D-SR and OV9782 issues
themarpe Jun 13, 2023
82ab07d
Merge branch 'release_v2.22.0'
themarpe Jun 13, 2023
1ab68be
merged with main
saching13 Jun 15, 2023
73d4d0a
updated the version in package.xml
saching13 Jun 15, 2023
afa09b4
updated the changelog
saching13 Jun 15, 2023
e5a5c5f
merge bugs fix
saching13 Jun 15, 2023
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ToF node with ToFConfig
-- cherry-picked and squashed
FlorinBuica-luxonis authored and alex-luxonis committed May 12, 2023
commit 9d554e5c7edb6aeb88677c4163a514a73c1492d3
2 changes: 2 additions & 0 deletions CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -204,6 +204,7 @@ add_library(${TARGET_CORE_NAME}
src/pipeline/node/XLinkOut.cpp
src/pipeline/node/ColorCamera.cpp
src/pipeline/node/Camera.cpp
src/pipeline/node/ToF.cpp
src/pipeline/node/MonoCamera.cpp
src/pipeline/node/StereoDepth.cpp
src/pipeline/node/NeuralNetwork.cpp
@@ -241,6 +242,7 @@ add_library(${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
2 changes: 1 addition & 1 deletion cmake/Depthai/DepthaiDeviceSideConfig.cmake
Original file line number Diff line number Diff line change
@@ -2,7 +2,7 @@
set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")

# "full commit hash of device side binary"
set(DEPTHAI_DEVICE_SIDE_COMMIT "a30f307db9c7879e660037697e18bf6c90456847")
set(DEPTHAI_DEVICE_SIDE_COMMIT "87ae3a9e26b9b658b786e953d828debdc07b5351")

# "version if applicable"
set(DEPTHAI_DEVICE_SIDE_VERSION "")
48 changes: 48 additions & 0 deletions include/depthai/pipeline/datatype/ToFConfig.hpp
Original file line number Diff line number Diff line change
@@ -0,0 +1,48 @@
#pragma once

#include <unordered_map>
#include <vector>

#include "depthai-shared/datatype/RawToFConfig.hpp"
#include "depthai/pipeline/datatype/Buffer.hpp"

namespace dai {

/**
* ToFConfig message. Carries config for feature tracking algorithm
*/
class ToFConfig : public Buffer {
std::shared_ptr<RawBuffer> serialize() const override;
RawToFConfig& cfg;

public:
// Raw* mirror
using DepthParams = RawToFConfig::DepthParams;

/**
* Construct ToFConfig message.
*/
ToFConfig();
explicit ToFConfig(std::shared_ptr<RawToFConfig> ptr);
virtual ~ToFConfig() = default;


ToFConfig& setDepthParams(dai::ToFConfig::DepthParams config);
ToFConfig& setFreqModUsed(dai::ToFConfig::DepthParams::TypeFMod fmod);
ToFConfig& setAvgPhaseShuffle(bool enable);
ToFConfig& setMinAmplitude(float minamp);

/**
* Set explicit configuration.
* @param config Explicit configuration
*/
ToFConfig& set(dai::RawToFConfig config);

/**
* Retrieve configuration data for ToF.
* @returns config for feature tracking algorithm
*/
dai::RawToFConfig get() const;
};

} // namespace dai
1 change: 1 addition & 0 deletions include/depthai/pipeline/datatypes.hpp
Original file line number Diff line number Diff line change
@@ -8,6 +8,7 @@
#include "datatype/CameraControl.hpp"
#include "datatype/EdgeDetectorConfig.hpp"
#include "datatype/FeatureTrackerConfig.hpp"
#include "datatype/ToFConfig.hpp"
#include "datatype/IMUData.hpp"
#include "datatype/ImageManipConfig.hpp"
#include "datatype/ImgDetections.hpp"
54 changes: 54 additions & 0 deletions include/depthai/pipeline/node/ToF.hpp
Original file line number Diff line number Diff line change
@@ -0,0 +1,54 @@
#pragma once

#include "depthai/pipeline/Node.hpp"

// shared
#include <depthai-shared/properties/ToFProperties.hpp>
#include "depthai/pipeline/datatype/ToFConfig.hpp"

namespace dai {
namespace node {

/**
* @brief ToF node
*/
class ToF : public NodeCRTP<Node, ToF, ToFProperties> {
public:
constexpr static const char* NAME = "ToF";

protected:
Properties& getProperties();

private:
std::shared_ptr<RawToFConfig> rawConfig;

/**
* Constructs ToF node.
*/
public:
ToF(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
ToF(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);

/**
* Initial config to use for depth calculation.
*/
ToFConfig initialConfig;

/**
* Input ToF message with ability to modify parameters in runtime.
* Default queue is non-blocking with size 4.
*/
Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::ToFConfig, false}}};

Input input{*this, "input", Input::Type::SReceiver, true, 8, {{DatatypeEnum::ImgFrame, true}}};

/**
* Outputs ImgFrame message that carries modified image.
*/
Output depth{*this, "depth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
Output amplitude{*this, "amplitude", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
Output error{*this, "error", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
};

} // namespace node
} // namespace dai
2 changes: 2 additions & 0 deletions include/depthai/pipeline/nodes.hpp
Original file line number Diff line number Diff line change
@@ -2,6 +2,7 @@

// all the nodes
#include "node/AprilTag.hpp"
#include "node/Camera.hpp"
#include "node/ColorCamera.hpp"
#include "node/DetectionNetwork.hpp"
#include "node/DetectionParser.hpp"
@@ -19,6 +20,7 @@
#include "node/SpatialLocationCalculator.hpp"
#include "node/StereoDepth.hpp"
#include "node/SystemLogger.hpp"
#include "node/ToF.hpp"
#include "node/VideoEncoder.hpp"
#include "node/Warp.hpp"
#include "node/XLinkIn.hpp"
10 changes: 10 additions & 0 deletions src/pipeline/datatype/StreamMessageParser.cpp
Original file line number Diff line number Diff line change
@@ -16,6 +16,7 @@
#include "depthai/pipeline/datatype/CameraControl.hpp"
#include "depthai/pipeline/datatype/EdgeDetectorConfig.hpp"
#include "depthai/pipeline/datatype/FeatureTrackerConfig.hpp"
#include "depthai/pipeline/datatype/ToFConfig.hpp"
#include "depthai/pipeline/datatype/IMUData.hpp"
#include "depthai/pipeline/datatype/ImageManipConfig.hpp"
#include "depthai/pipeline/datatype/ImgDetections.hpp"
@@ -37,6 +38,7 @@
#include "depthai-shared/datatype/RawCameraControl.hpp"
#include "depthai-shared/datatype/RawEdgeDetectorConfig.hpp"
#include "depthai-shared/datatype/RawFeatureTrackerConfig.hpp"
#include "depthai-shared/datatype/RawToFConfig.hpp"
#include "depthai-shared/datatype/RawIMUData.hpp"
#include "depthai-shared/datatype/RawImageManipConfig.hpp"
#include "depthai-shared/datatype/RawImgDetections.hpp"
@@ -187,6 +189,10 @@ std::shared_ptr<RawBuffer> StreamMessageParser::parseMessage(streamPacketDesc_t*
case DatatypeEnum::FeatureTrackerConfig:
return parseDatatype<RawFeatureTrackerConfig>(metadataStart, serializedObjectSize, data);
break;

case DatatypeEnum::ToFConfig:
return parseDatatype<RawToFConfig>(metadataStart, serializedObjectSize, data);
break;
}

throw std::runtime_error("Bad packet, couldn't parse");
@@ -278,6 +284,10 @@ std::shared_ptr<ADatatype> StreamMessageParser::parseMessageToADatatype(streamPa
case DatatypeEnum::FeatureTrackerConfig:
return std::make_shared<FeatureTrackerConfig>(parseDatatype<RawFeatureTrackerConfig>(metadataStart, serializedObjectSize, data));
break;

case DatatypeEnum::ToFConfig:
return std::make_shared<ToFConfig>(parseDatatype<RawToFConfig>(metadataStart, serializedObjectSize, data));
break;
}

throw std::runtime_error("Bad packet, couldn't parse (invalid message type)");
42 changes: 42 additions & 0 deletions src/pipeline/datatype/ToFConfig.cpp
Original file line number Diff line number Diff line change
@@ -0,0 +1,42 @@
#include "depthai/pipeline/datatype/ToFConfig.hpp"

namespace dai {

std::shared_ptr<RawBuffer> ToFConfig::serialize() const {
return raw;
}

ToFConfig::ToFConfig() : Buffer(std::make_shared<RawToFConfig>()), cfg(*dynamic_cast<RawToFConfig*>(raw.get())) {}
ToFConfig::ToFConfig(std::shared_ptr<RawToFConfig> ptr)
: Buffer(std::move(ptr)), cfg(*dynamic_cast<RawToFConfig*>(raw.get())) {}

dai::RawToFConfig ToFConfig::get() const {
return cfg;
}

ToFConfig& ToFConfig::setDepthParams(dai::ToFConfig::DepthParams config) {
cfg.depthParams = config;
return *this;
}

ToFConfig& ToFConfig::setFreqModUsed(dai::ToFConfig::DepthParams::TypeFMod fmod) {
cfg.depthParams.freqModUsed = fmod;
return *this;
}

ToFConfig& ToFConfig::setAvgPhaseShuffle(bool enable) {
cfg.depthParams.avgPhaseShuffle = enable;
return *this;
}

ToFConfig& ToFConfig::set(dai::RawToFConfig config) {
cfg = config;
return *this;
}

ToFConfig& ToFConfig::setMinAmplitude(float minamp) {
cfg.depthParams.minimumAmplitude = minamp;
return *this;
}

} // namespace dai
22 changes: 22 additions & 0 deletions src/pipeline/node/ToF.cpp
Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
#include "depthai/pipeline/node/ToF.hpp"

namespace dai {
namespace node {


ToF::ToF(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : ToF(par, nodeId, std::make_unique<ToF::Properties>()) {}
ToF::ToF(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
: NodeCRTP<Node, ToF, ToFProperties>(par, nodeId, std::move(props)),
rawConfig(std::make_shared<RawToFConfig>()),
initialConfig(rawConfig) {
setInputRefs({ &inputConfig, &input });
setOutputRefs({&depth, &amplitude, &error});
}

ToF::Properties& ToF::getProperties() {
properties.initialConfig = *rawConfig;
return properties;
}

}
}