Merge 'origin/develop' into image_manip_refactor

.github/workflows/main.workflow.yml

@@ -224,21 +224,21 @@ jobs:
         cmake -S tests/integration/ -B tests/integration/build_add_subdirectory -D TEST_FIND_PACKAGE=OFF ${{ env.CMAKE_ARGS }}
         cmake --build tests/integration/build_add_subdirectory --config ${{ matrix.build-type }} --parallel 4
         cd tests/integration/build_add_subdirectory
-        ctest -C ${{ matrix.build-type }}
+        ctest -C ${{ matrix.build-type }} --output-on-failure
 
     - name: Build and test find_package (installed)
       run: |
         cmake -S tests/integration/ -B tests/integration/build_find_package -D TEST_FIND_PACKAGE=ON -D depthai_DIR=$GITHUB_WORKSPACE/depthai_install/lib/cmake/depthai ${{ env.CMAKE_ARGS }}
         cmake --build tests/integration/build_find_package --config ${{ matrix.build-type }} --parallel 4
         cd tests/integration/build_find_package
-        ctest -C ${{ matrix.build-type }}
+        ctest -C ${{ matrix.build-type }} --output-on-failure
 
     - name: Build and test find_package (build directory)
       run: |
         cmake -S tests/integration/ -B tests/integration/build_find_package_2 -D TEST_FIND_PACKAGE=ON -D depthai_DIR=$GITHUB_WORKSPACE/build ${{ env.CMAKE_ARGS }}
         cmake --build tests/integration/build_find_package_2 --config ${{ matrix.build-type }} --parallel 4
         cd tests/integration/build_find_package_2
-        ctest -C ${{ matrix.build-type }}
+        ctest -C ${{ matrix.build-type }} --output-on-failure
 
 
   release:

.github/workflows/test.workflow.yml

@@ -32,13 +32,13 @@ jobs:
             arch: 'x64'
             flavor: 'tsan'
       fail-fast: false
-    runs-on: ['self-hosted', '${{ matrix.os }}', '${{ matrix.arch }}']
+    runs-on: ['self-hosted', 'hil-test', '${{ matrix.os }}', '${{ matrix.arch }}']
 
     steps:
     - name: Cache .hunter folder
       uses: actions/cache@v2
       with:
-        path: $HOME/.hun_${{ matrix.flavor }}
+        path: $HOME/.hun2_${{ matrix.flavor }}
         key: hunter-${{ matrix.os }}-${{ matrix.cmake }}
     - uses: actions/checkout@v2
       with:
@@ -54,7 +54,7 @@ jobs:
     - name: Configure, Build and Test
       if: matrix.os != 'linux'
       run: |
-        cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun_${{ matrix.flavor }} -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_TEST_EXAMPLES=ON
+        cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun2_${{ matrix.flavor }} -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_TEST_EXAMPLES=ON
         cmake --build build --parallel 8 --config Release
         cd build
         ctest -C Release --output-on-failure -L usb
@@ -64,7 +64,7 @@ jobs:
       run: |
         export DISPLAY=:99
         xdpyinfo -display $DISPLAY >/dev/null 2>&1 || (Xvfb $DISPLAY &)
-        cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun_${{ matrix.flavor }} -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_TEST_EXAMPLES=ON
+        cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun2_${{ matrix.flavor }} -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_TEST_EXAMPLES=ON
         cmake --build build --parallel 8 --config Release
         cd build
         ctest -C Release --output-on-failure -L usb

CMakeLists.txt

@@ -40,7 +40,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.15.4" LANGUAGES CXX C)
+project(depthai VERSION "2.16.0" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)
@@ -81,7 +81,7 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake/")
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake/sanitizers")
 
 # Additional options
-option(DEPTHAI_CLANG_FORMAT "Enable clang-format target"                  ON )
+option(DEPTHAI_CLANG_FORMAT "Enable clang-format target"                  ON)
 option(DEPTHAI_CLANG_TIDY "Enable clang-tidy checks during compilation" OFF)
 option(DEPTHAI_SANITIZE "Enable Address and Undefined sanitizers for library, examples and tests" OFF)
 
@@ -207,6 +207,7 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/node/EdgeDetector.cpp
     src/pipeline/node/SPIIn.cpp
     src/pipeline/node/FeatureTracker.cpp
+    src/pipeline/node/DetectionParser.cpp
     src/pipeline/datatype/Buffer.cpp
     src/pipeline/datatype/ImgFrame.cpp
     src/pipeline/datatype/ImageManipConfig.cpp
@@ -409,9 +410,11 @@ endif()
 target_link_libraries(${TARGET_CORE_NAME}
     PUBLIC
         nlohmann_json::nlohmann_json
-        XLink
         libnop
+    INTERFACE
+        XLinkPublic
     PRIVATE
+        XLink
         Threads::Threads
         BZip2::bz2
         FP16::fp16

README.md

@@ -13,13 +13,12 @@ DepthAI library doesn't yet provide API stability guarantees. While we take care
 
 ## Dependencies
 - CMake >= 3.10
-- libusb1 development package (MacOS & Linux only)
 - C/C++14 compiler
 - [optional] OpenCV 4 (required if building examples)
 
-MacOS: `brew install libusb`, optionally with `brew install opencv`
+MacOS: Optional `brew install opencv`
 
-Linux: `sudo apt install libusb-1.0-0-dev`, optionally with `sudo apt install libopencv-dev`
+Linux: Optional `sudo apt install libopencv-dev`
 
 ## Building
 
@@ -123,9 +122,6 @@ In your non-CMake project (new Visual Studio project, ...)
     - `build/install/include` (library headers)
     - `build/install/include/depthai-shared/3rdparty` (shared 3rdparty headers)
     - `build/install/lib/cmake/depthai/dependencies/include` (dependency headers)
-3. Add the following defines
-    - `XLINK_USE_MX_ID_NAME=ON`
-    - `__PC__=ON`
 
 > ℹ️ Threading library might need to be linked to explicitly.
 
@@ -157,6 +153,7 @@ The following environment variables can be set to alter default behavior of the
 | 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_PROTOCOL | Restricts default search to the specified protocol. Options: any, usb, tcpip. |
+| DEPTHAI_DEVICE_MXID_LIST | Restricts default search to the specified MXIDs. Accepts comma separated list of MXIDs |
 | DEPTHAI_DEVICE_BINARY | Overrides device Firmware binary. Mostly for internal debugging purposes. |
 | DEPTHAI_BOOTLOADER_BINARY_USB | Overrides device USB Bootloader binary. Mostly for internal debugging purposes. |
 | DEPTHAI_BOOTLOADER_BINARY_ETH | Overrides device Network Bootloader binary. Mostly for internal debugging purposes. |

cmake/ClangFormat.cmake

@@ -10,7 +10,7 @@ function(clangformat_setup files target)
   endif()
 
   if(NOT EXISTS ${CLANG_FORMAT_BIN})
-    find_program(CLANG_FORMAT_BIN_tmp NAMES clang-format clang-format-10)
+    find_program(CLANG_FORMAT_BIN_tmp NAMES clang-format clang-format-10 clang-format-11 clang-format-12 clang-format-13 clang-format-14)
     if(CLANG_FORMAT_BIN_tmp)
       set(CLANG_FORMAT_BIN ${CLANG_FORMAT_BIN_tmp})
       unset(CLANG_FORMAT_BIN_tmp)
@@ -46,7 +46,7 @@ endfunction()
 
 
 macro(header_directories header_dirs return_list)
-  
+
   foreach(header_dir ${header_dirs})
     file(GLOB_RECURSE new_list "${header_dir}/*.hpp")
     set(file_list "")

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 "e483189a46ece011aca33e693eddddbce0236f50")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "2b90186f5479af3e3478326167df1daeaa30ca0c")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

cmake/Hunter/config.cmake

@@ -7,9 +7,9 @@ hunter_config(
 
 hunter_config(
     XLink
-    VERSION "luxonis-2021.4.2-develop-tcp_nodelay"
-    URL "https://github.com/luxonis/XLink/archive/b765883efc43ecbbbc1ede25403f933de6679d53.tar.gz"
-    SHA1 "c4e0d2d186b79227558b307b9f5a98b4c9a746f7"
+    VERSION "luxonis-2021.4.2-develop"
+    URL "https://github.com/luxonis/XLink/archive/9fcd6dc8b7d0f95d892b059c0c938c97bc9da6dc.tar.gz"
+    SHA1 "6a4187839a94b948db3d7cc94a7e8e8651573ef4"
 )
 
 hunter_config(
@@ -32,9 +32,9 @@ hunter_config(
 # libarchive, luxonis fork
 hunter_config(
     libarchive-luxonis
-    VERSION "3.4.2-p2"
-    URL "https://github.com/luxonis/libarchive/archive/cf2caf0588fc5e2af22cae37027d3ff6902e096f.tar.gz"
-    SHA1 "e99477d32ce14292fe652dc5f4f460d3af8fbc93"
+    VERSION "hunter-3.5.2"
+    URL "https://github.com/luxonis/libarchive/archive/45baa3a3e57104519e1165bcd5ac29c3bd8c9f3a.tar.gz"
+    SHA1 "ca5cd0f1c31b9c187d7119cb1aa7467f8c231d29"
     CMAKE_ARGS
         ENABLE_ACL=OFF
         ENABLE_BZip2=OFF
@@ -111,3 +111,16 @@ hunter_config(
     URL "https://github.com/luxonis/zlib/archive/refs/tags/v1.2.11-p2.tar.gz"
     SHA1 "fb8b6486183b13a86040f793a939b128f6d27095"
 )
+
+# TMP, could be read from XLink
+# libusb without udev
+hunter_config(
+    libusb-luxonis
+    VERSION "1.0.24-cmake"
+    URL "https://github.com/luxonis/libusb/archive/b7e4548958325b18feb73977163ad44398099534.tar.gz"
+    SHA1 "2d79573d57628fe56d2868d2f6ce756d40906cf4"
+    CMAKE_ARGS
+        WITH_UDEV=OFF
+        # Build shared libs by default to not cause licensing issues
+        BUILD_SHARED_LIBS=ON
+)

cmake/depthaiDependencies.cmake

@@ -1,5 +1,9 @@
 if(CONFIG_MODE)
     set(_CMAKE_PREFIX_PATH_ORIGINAL ${CMAKE_PREFIX_PATH})
+    set(_CMAKE_FIND_ROOT_PATH_MODE_PACKAGE_ORIGINAL ${CMAKE_FIND_ROOT_PATH_MODE_PACKAGE})
+    # Fixes Android NDK build, where prefix path is ignored as its not inside sysroot
+    set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE "BOTH")
+    # Sets where to search for packages about to follow
     set(CMAKE_PREFIX_PATH "${CMAKE_CURRENT_LIST_DIR}/${_IMPORT_PREFIX}" ${CMAKE_PREFIX_PATH})
     set(_QUIET "QUIET")
 else()
@@ -66,7 +70,7 @@ if(DEPTHAI_XLINK_LOCAL AND (NOT CONFIG_MODE))
     unset(_BUILD_SHARED_LIBS_SAVED)
     list(APPEND targets_to_export XLink)
 else()
-    find_package(XLink ${_QUIET} CONFIG REQUIRED)
+    find_package(XLink ${_QUIET} CONFIG REQUIRED HINTS "${CMAKE_CURRENT_LIST_DIR}/XLink" "${CMAKE_CURRENT_LIST_DIR}/../XLink")
 endif()
 
 # OpenCV 4 - (optional, quiet always)
@@ -81,6 +85,8 @@ endif()
 if(CONFIG_MODE)
     set(CMAKE_PREFIX_PATH ${_CMAKE_PREFIX_PATH_ORIGINAL})
     set(_CMAKE_PREFIX_PATH_ORIGINAL)
+    set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ${_CMAKE_FIND_ROOT_PATH_MODE_PACKAGE_ORIGINAL})
+    set(_CMAKE_FIND_ROOT_PATH_MODE_PACKAGE_ORIGINAL)
     set(_QUIET)
 else()
     set(DEPTHAI_SHARED_LIBS)

cmake/toolchain/asan.cmake

@@ -0,0 +1,12 @@
+set(_internal_flags_sanitizer "-fno-omit-frame-pointer -fsanitize=address")
+set(CMAKE_C_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_CXX_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_C_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_CXX_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_EXE_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_EXE_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_SHARED_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_SHARED_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_MODULE_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_MODULE_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(_internal_flags_sanitizer)

cmake/toolchain/ubsan.cmake

@@ -0,0 +1,12 @@
+set(_internal_flags_sanitizer "-fno-omit-frame-pointer -fsanitize=undefined")
+set(CMAKE_C_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_CXX_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_C_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_CXX_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_EXE_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_EXE_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_SHARED_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_SHARED_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_MODULE_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_MODULE_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(_internal_flags_sanitizer)

examples/CMakeLists.txt

@@ -11,6 +11,20 @@ target_include_directories(utility PUBLIC "utility")
 add_default_flags(utility LEAN)
 target_link_libraries(utility FP16::fp16 ${OpenCV_LIBS})
 
+# Create environments for usb & poe labels
+set(test_usb_env
+    # Misc
+    "UBSAN_OPTIONS=halt_on_error=1"
+    # DepthAI
+    "DEPTHAI_PROTOCOL=usb"
+)
+set(test_poe_env
+    # Misc
+    "UBSAN_OPTIONS=halt_on_error=1"
+    # DepthAI
+    "DEPTHAI_PROTOCOL=tcpip;DEPTHAI_SEARCH_TIMEOUT=15000"
+)
+
 # Helper for adding new examples
 function(dai_add_example example_name example_src enable_test)
 
@@ -43,17 +57,32 @@ function(dai_add_example example_name example_src enable_test)
         set_tests_properties(${example_name} PROPERTIES FAIL_REGULAR_EXPRESSION "\\[warning\\];\\[error\\];\\[critical\\]")
 
         # Add ubsan halt on error
-        set_tests_properties(${example_name} PROPERTIES ENVIRONMENT "UBSAN_OPTIONS=halt_on_error=1;DEPTHAI_PROTOCOL=usb" LABELS usb)
+        set_tests_properties(${example_name} PROPERTIES ENVIRONMENT "${test_usb_env}" LABELS usb)
 
         # Add PoE test variants
         add_test(NAME ${example_name}_poe COMMAND ${CMAKE_COMMAND}
             -DTIMEOUT_SECONDS=50
             -P ${CMAKE_CURRENT_LIST_DIR}/cmake/ExecuteTestTimeout.cmake $<TARGET_FILE:${example_name}> ${arguments}
         )
         # Add ubsan halt on error
-        set_tests_properties(${example_name}_poe PROPERTIES ENVIRONMENT "UBSAN_OPTIONS=halt_on_error=1;DEPTHAI_PROTOCOL=tcpip;DEPTHAI_SEARCH_TIMEOUT=15000" LABELS poe)
+        set_tests_properties(${example_name}_poe PROPERTIES ENVIRONMENT "${test_poe_env}" LABELS poe)
 
     endif()
+
+    # Copy over required DLLs (Windows)
+    if(WIN32)
+        # Copy dlls to target directory - Windows only
+        # TARGET_RUNTIME_DLLS generator expression available since CMake 3.21
+        if(CMAKE_VERSION VERSION_LESS "3.21")
+            file(GLOB depthai_dll_libraries "${HUNTER_INSTALL_PREFIX}/bin/*.dll")
+        else()
+            set(depthai_dll_libraries "$<TARGET_RUNTIME_DLLS:${example_name}>")
+        endif()
+        add_custom_command(TARGET ${example_name} POST_BUILD COMMAND
+            ${CMAKE_COMMAND} -E copy ${depthai_dll_libraries} $<TARGET_FILE_DIR:${example_name}>
+            COMMAND_EXPAND_LISTS
+        )
+    endif()
 endfunction()
 
 # Create a custom target which runs all examples for 10 seconds max, and check if they executed without errors
@@ -309,4 +338,8 @@ dai_add_example(tiny_yolo_v3_device_side_decoding Yolo/tiny_yolo.cpp  ON)
 target_compile_definitions(tiny_yolo_v4_device_side_decoding PRIVATE BLOB_PATH="${tiny_yolo_v4_blob}")
 target_compile_definitions(tiny_yolo_v3_device_side_decoding PRIVATE BLOB_PATH="${tiny_yolo_v3_blob}")
 dai_add_example(apriltag AprilTag/apriltag.cpp ON)
-dai_add_example(apriltag_rgb AprilTag/apriltag_rgb.cpp ON)
+dai_add_example(apriltag_rgb AprilTag/apriltag_rgb.cpp ON)
+
+# DetectionParser
+dai_add_example(detection_parser NeuralNetwork/detection_parser.cpp ON)
+target_compile_definitions(detection_parser PRIVATE BLOB_PATH="${mobilenet_blob}")