Merge pull request #1168 from luxonis/release_v2.29.0

Release v2.29.0

CMakeLists.txt

@@ -55,7 +55,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.28.0" LANGUAGES CXX C)
+project(depthai VERSION "2.29.0" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)

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 "9ed7c9ae4c232ff93a3500a585a6b1c00650e22c")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "4d360b5c56225f23e9a3d3a3999ce46c90cfdeaf")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

include/depthai/device/DeviceBase.hpp

@@ -758,6 +758,23 @@ class DeviceBase {
      */
     void flashCalibration2(CalibrationHandler calibrationDataHandler);
 
+    /**
+     * Sets the Calibration at runtime. This is not persistent and will be lost after device reset.
+     *
+     * @throws std::runtime_exception if failed to set the calibration
+     * @param calibrationObj CalibrationHandler object which is loaded with calibration information.
+     *
+     */
+    void setCalibration(CalibrationHandler calibrationDataHandler);
+
+    /**
+     * Retrieves the CalibrationHandler object containing the non-persistent calibration
+     *
+     * @throws std::runtime_exception if failed to get the calibration
+     * @returns The CalibrationHandler object containing the non-persistent calibration
+     */
+    CalibrationHandler getCalibration();
+
     /**
      * Fetches the EEPROM data from the device and loads it into CalibrationHandler object
      * If no calibration is flashed, it returns default

include/depthai/pipeline/datatype/CameraControl.hpp

@@ -292,6 +292,41 @@ class CameraControl : public Buffer {
      */
     CameraControl& setCaptureIntent(CaptureIntent mode);
 
+    /**
+     * Set a miscellaneous control. The controls set by this function get appended
+     * to a list, processed after the standard controls
+     * @param control Control name
+     * @param value Value as a string
+     */
+    CameraControl& setMisc(std::string control, std::string value);
+
+    /**
+     * Set a miscellaneous control. The controls set by this function get appended
+     * to a list, processed after the standard controls
+     * @param control Control name
+     * @param value Value as an integer number
+     */
+    CameraControl& setMisc(std::string control, int value);
+
+    /**
+     * Set a miscellaneous control. The controls set by this function get appended
+     * to a list, processed after the standard controls
+     * @param control Control name
+     * @param value Value as a floating point number
+     */
+    CameraControl& setMisc(std::string control, float value);
+
+    /**
+     * Clear the list of miscellaneous controls set by `setControl`
+     */
+    void clearMiscControls();
+
+    /**
+     * Get the list of miscellaneous controls set by `setControl`
+     * @returns A list of <key, value> pairs as strings
+     */
+    std::vector<std::pair<std::string, std::string>> getMiscControls();
+
     // Functions to retrieve properties
     /**
      * Check whether command to capture a still is set

include/depthai/pipeline/datatype/EncodedFrame.hpp

@@ -36,6 +36,15 @@ class EncodedFrame : public Buffer {
      * Retrieves instance number
      */
     unsigned int getInstanceNum() const;
+    /**
+     * Retrieves image width in pixels
+     */
+    unsigned int getWidth() const;
+
+    /**
+     * Retrieves image height in pixels
+     */
+    unsigned int getHeight() const;
     /**
      * Retrieves exposure time
      */
@@ -111,6 +120,20 @@ class EncodedFrame : public Buffer {
      */
     EncodedFrame& setInstanceNum(unsigned int instance);
 
+    /**
+     * Specifies frame width
+     *
+     * @param width frame width
+     */
+    EncodedFrame& setWidth(unsigned int width);
+
+    /**
+     * Specifies frame height
+     *
+     * @param height frame height
+     */
+    EncodedFrame& setHeight(unsigned int height);
+
     /**
      * Specifies the encoding quality
      *

include/depthai/pipeline/node/StereoDepth.hpp

@@ -23,11 +23,16 @@ class StereoDepth : public NodeCRTP<Node, StereoDepth, StereoDepthProperties> {
         /**
          * Prefers accuracy over density. More invalid depth values, but less outliers.
          */
-        HIGH_ACCURACY,
+        HIGH_ACCURACY [[deprecated("Will be removed in future releases and replaced with DEFAULT")]],
         /**
          * Prefers density over accuracy. Less invalid depth values, but more outliers.
          */
-        HIGH_DENSITY
+        HIGH_DENSITY [[deprecated("Will be removed in future releases and replaced with DEFAULT")]],
+
+        DEFAULT,
+        FACE,
+        HIGH_DETAIL,
+        ROBOTICS
     };
 
    protected:

src/device/DeviceBase.cpp

@@ -1349,6 +1349,26 @@ void DeviceBase::flashCalibration2(CalibrationHandler calibrationDataHandler) {
     }
 }
 
+void DeviceBase::setCalibration(CalibrationHandler calibrationDataHandler) {
+    bool success;
+    std::string errorMsg;
+    std::tie(success, errorMsg) = pimpl->rpcClient->call("setCalibration", calibrationDataHandler.getEepromData()).as<std::tuple<bool, std::string>>();
+    if(!success) {
+        throw std::runtime_error(errorMsg);
+    }
+}
+
+CalibrationHandler DeviceBase::getCalibration() {
+    bool success;
+    std::string errorMsg;
+    dai::EepromData eepromData;
+    std::tie(success, errorMsg, eepromData) = pimpl->rpcClient->call("getCalibration").as<std::tuple<bool, std::string, dai::EepromData>>();
+    if(!success) {
+        throw EepromError(errorMsg);
+    }
+    return CalibrationHandler(eepromData);
+}
+
 CalibrationHandler DeviceBase::readCalibration() {
     dai::EepromData eepromData{};
     try {

src/pipeline/datatype/CameraControl.cpp

@@ -215,6 +215,23 @@ CameraControl& CameraControl::setCaptureIntent(CaptureIntent mode) {
     return *this;
 }
 
+CameraControl& CameraControl::setMisc(std::string control, std::string value) {
+    cfg.miscControls.push_back(std::make_pair(control, value));
+    return *this;
+}
+CameraControl& CameraControl::setMisc(std::string control, int value) {
+    return setMisc(control, std::to_string(value));
+}
+CameraControl& CameraControl::setMisc(std::string control, float value) {
+    return setMisc(control, std::to_string(value));
+}
+void CameraControl::clearMiscControls() {
+    cfg.miscControls.clear();
+}
+std::vector<std::pair<std::string, std::string>> CameraControl::getMiscControls() {
+    return cfg.miscControls;
+}
+
 bool CameraControl::getCaptureStill() const {
     return cfg.getCommand(RawCameraControl::Command::STILL_CAPTURE);
 }

src/pipeline/datatype/EncodedFrame.cpp

@@ -18,6 +18,12 @@ EncodedFrame::EncodedFrame(std::shared_ptr<RawEncodedFrame> ptr) : Buffer(std::m
 unsigned int EncodedFrame::getInstanceNum() const {
     return frame.instanceNum;
 }
+unsigned int EncodedFrame::getWidth() const {
+    return frame.width;
+}
+unsigned int EncodedFrame::getHeight() const {
+    return frame.height;
+}
 std::chrono::microseconds EncodedFrame::getExposureTime() const {
     return std::chrono::microseconds(frame.cam.exposureTimeUs);
 }
@@ -99,6 +105,14 @@ EncodedFrame& EncodedFrame::setInstanceNum(unsigned int instanceNum) {
     frame.instanceNum = instanceNum;
     return *this;
 }
+EncodedFrame& EncodedFrame::setWidth(unsigned int width) {
+    frame.width = width;
+    return *this;
+}
+EncodedFrame& EncodedFrame::setHeight(unsigned int height) {
+    frame.height = height;
+    return *this;
+}
 EncodedFrame& EncodedFrame::setQuality(unsigned int quality) {
     frame.quality = quality;
     return *this;

src/pipeline/datatype/StereoDepthConfig.cpp

@@ -99,6 +99,48 @@ float StereoDepthConfig::getMaxDisparity() const {
     maxDisp += cfg.algorithmControl.disparityShift;
     if(cfg.algorithmControl.enableExtended) maxDisp *= 2;
     if(cfg.algorithmControl.enableSubpixel) maxDisp *= (1 << cfg.algorithmControl.subpixelFractionalBits);
+
+    std::vector<dai::StereoDepthConfig::PostProcessing::Filter> filtersToExecute;
+    for(auto filter : cfg.postProcessing.filteringOrder) {
+        switch(filter) {
+            case RawStereoDepthConfig::PostProcessing::Filter::SPECKLE:
+                if(cfg.postProcessing.speckleFilter.enable) {
+                    filtersToExecute.push_back(filter);
+                }
+                break;
+            case RawStereoDepthConfig::PostProcessing::Filter::TEMPORAL:
+                if(cfg.postProcessing.temporalFilter.enable) {
+                    filtersToExecute.push_back(filter);
+                }
+                break;
+            case RawStereoDepthConfig::PostProcessing::Filter::SPATIAL:
+                if(cfg.postProcessing.spatialFilter.enable) {
+                    filtersToExecute.push_back(filter);
+                }
+                break;
+            case RawStereoDepthConfig::PostProcessing::Filter::DECIMATION:
+                if(cfg.postProcessing.decimationFilter.decimationFactor > 1) {
+                    filtersToExecute.push_back(filter);
+                }
+                break;
+            case RawStereoDepthConfig::PostProcessing::Filter::MEDIAN:
+                if(cfg.postProcessing.median != dai::MedianFilter::MEDIAN_OFF) {
+                    filtersToExecute.push_back(filter);
+                }
+                break;
+            case RawStereoDepthConfig::PostProcessing::Filter::NONE:
+                break;
+            default:
+                break;
+        }
+    }
+
+    if(filtersToExecute.size() != 0) {
+        if(filtersToExecute.back() != RawStereoDepthConfig::PostProcessing::Filter::MEDIAN) {
+            maxDisp = 1 << 13;
+        }
+    }
+
     return maxDisp;
 }