Merge branch 'develop' into neuralnetwork_multiple_inputs

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 "b9caa598c028d53ffaa2abcf4082c8bf04f660bd")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "83ae88bed547aec394e94480df562740e5f3d77b")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

examples/src/bootloader_version.cpp

@@ -4,11 +4,10 @@ int main(int argc, char** argv) {
     bool res = false;
     dai::DeviceInfo info;
     std::tie(res, info) = dai::DeviceBootloader::getFirstAvailableDevice();
-    std::string path;
 
     if(res) {
         std::cout << "Found device with name: " << info.desc.name << std::endl;
-        dai::DeviceBootloader bl(info, path);
+        dai::DeviceBootloader bl(info);
         std::cout << "Version: " << bl.getVersion().toString() << std::endl;
     } else {
         std::cout << "No devices found" << std::endl;

examples/src/calibration_reader.cpp

@@ -7,6 +7,18 @@
 #include "depthai-shared/common/EepromData.hpp"
 #include "depthai/depthai.hpp"
 
+void printMatrix(std::vector<std::vector<float>> matrix) {
+    using namespace std;
+    std::string out = "[";
+    for(auto row : matrix) {
+        out += "[";
+        for(auto val : row) out += to_string(val) + ", ";
+        out = out.substr(0, out.size() - 2) + "]\n";
+    }
+    out = out.substr(0, out.size() - 1) + "]\n\n";
+    cout << out;
+}
+
 int main(int argc, char** argv) {
     using namespace std;
 
@@ -18,92 +30,55 @@ int main(int argc, char** argv) {
     std::vector<std::vector<float>> intrinsics;
     int width, height;
 
-    cout << "Intrinsics from defaultIntrinsics function" << endl;
+    cout << "Intrinsics from defaultIntrinsics function:" << endl;
     std::tie(intrinsics, width, height) = calibData.getDefaultIntrinsics(dai::CameraBoardSocket::RIGHT);
+    printMatrix(intrinsics);
 
-    for(auto row : intrinsics) {
-        for(auto val : row) cout << val << "  ";
-        cout << endl;
-    }
+    cout << "Width: " << width << endl;
+    cout << "Height: " << height << endl;
 
-    cout << "Width -> " << width << endl;
-    cout << "Height -> " << height << endl;
+    cout << "Stereo baseline distance: " << calibData.getBaselineDistance() << " cm" << endl;
 
-    cout << "Stereo baseline distance -> " << calibData.getBaselineDistance() << " cm" << endl;
+    cout << "Mono FOV from camera specs: " << calibData.getFov(dai::CameraBoardSocket::LEFT)
+         << ", calculated FOV: " << calibData.getFov(dai::CameraBoardSocket::LEFT, false) << endl;
 
-    cout << "Intrinsics from getCameraIntrinsics function full resolution ->" << endl;
+    cout << "Intrinsics from getCameraIntrinsics function full resolution:" << endl;
     intrinsics = calibData.getCameraIntrinsics(dai::CameraBoardSocket::RIGHT);
+    printMatrix(intrinsics);
 
-    for(auto row : intrinsics) {
-        for(auto val : row) cout << val << "  ";
-        cout << endl;
-    }
-
-    cout << "Intrinsics from getCameraIntrinsics function 1280 x 720  ->" << endl;
+    cout << "Intrinsics from getCameraIntrinsics function 1280 x 720:" << endl;
     intrinsics = calibData.getCameraIntrinsics(dai::CameraBoardSocket::RIGHT, 1280, 720);
+    printMatrix(intrinsics);
 
-    for(auto row : intrinsics) {
-        for(auto val : row) cout << val << "  ";
-        cout << endl;
-    }
-
-    cout << "Intrinsics from getCameraIntrinsics function 720 x 450 ->" << endl;
+    cout << "Intrinsics from getCameraIntrinsics function 720 x 450:" << endl;
     intrinsics = calibData.getCameraIntrinsics(dai::CameraBoardSocket::RIGHT, 720);
+    printMatrix(intrinsics);
 
-    for(auto row : intrinsics) {
-        for(auto val : row) cout << val << "  ";
-        cout << endl;
-    }
-
-    cout << "Intrinsics from getCameraIntrinsics function 600 x 1280 ->" << endl;
+    cout << "Intrinsics from getCameraIntrinsics function 600 x 1280:" << endl;
     intrinsics = calibData.getCameraIntrinsics(dai::CameraBoardSocket::RIGHT, 600, 1280);
-
-    for(auto row : intrinsics) {
-        for(auto val : row) cout << val << "  ";
-        cout << endl;
-    }
+    printMatrix(intrinsics);
 
     std::vector<std::vector<float>> extrinsics;
 
-    cout << "Extrinsics from left->right test ->" << endl;
+    cout << "Extrinsics from left->right test:" << endl;
     extrinsics = calibData.getCameraExtrinsics(dai::CameraBoardSocket::LEFT, dai::CameraBoardSocket::RIGHT);
+    printMatrix(extrinsics);
 
-    for(auto row : extrinsics) {
-        for(auto val : row) cout << val << "  ";
-        cout << endl;
-    }
-
-    cout << "Extrinsics from right->left test ->" << endl;
+    cout << "Extrinsics from right->left test:" << endl;
     extrinsics = calibData.getCameraExtrinsics(dai::CameraBoardSocket::RIGHT, dai::CameraBoardSocket::LEFT);
+    printMatrix(extrinsics);
 
-    for(auto row : extrinsics) {
-        for(auto val : row) cout << val << "  ";
-        cout << endl;
-    }
-
-    cout << "Extrinsics from right->rgb test ->" << endl;
+    cout << "Extrinsics from right->rgb test:" << endl;
     extrinsics = calibData.getCameraExtrinsics(dai::CameraBoardSocket::RIGHT, dai::CameraBoardSocket::RGB);
+    printMatrix(extrinsics);
 
-    for(auto row : extrinsics) {
-        for(auto val : row) cout << val << "  ";
-        cout << endl;
-    }
-
-    cout << "Extrinsics from rgb->right test ->" << endl;
+    cout << "Extrinsics from rgb->right test:" << endl;
     extrinsics = calibData.getCameraExtrinsics(dai::CameraBoardSocket::RGB, dai::CameraBoardSocket::RIGHT);
+    printMatrix(extrinsics);
 
-    for(auto row : extrinsics) {
-        for(auto val : row) cout << val << "  ";
-        cout << endl;
-    }
-
-    cout << "Extrinsics from left->rgb test ->" << endl;
+    cout << "Extrinsics from left->rgb test:" << endl;
     extrinsics = calibData.getCameraExtrinsics(dai::CameraBoardSocket::LEFT, dai::CameraBoardSocket::RGB);
-
-    for(auto row : extrinsics) {
-        for(auto val : row) cout << val << "  ";
-        cout << endl;
-    }
+    printMatrix(extrinsics);
 
     return 0;
 }

examples/src/depth_preview.cpp

@@ -51,7 +51,7 @@ int main() {
         auto inDepth = q->get<dai::ImgFrame>();
         auto frame = inDepth->getFrame();
         // Normalization for better visualization
-        frame.convertTo(frame, CV_8UC1, 255 / depth->getMaxDisparity());
+        frame.convertTo(frame, CV_8UC1, 255 / depth->initialConfig.getMaxDisparity());
 
         cv::imshow("disparity", frame);
 

examples/src/flash_bootloader.cpp

@@ -2,6 +2,7 @@
 #include <string>
 
 #include "depthai/depthai.hpp"
+#include "depthai/xlink/XLinkConnection.hpp"
 
 int main(int argc, char** argv) {
     using namespace std::chrono;
@@ -19,14 +20,6 @@ int main(int argc, char** argv) {
         }
     }
 
-    std::cout << "Warning! Flashing bootloader can potentially soft brick your device and should be done with caution." << std::endl;
-    std::cout << "Do not unplug your device while the bootloader is flashing." << std::endl;
-    std::cout << "Type 'y' and press enter to proceed, otherwise exits: ";
-    if(std::cin.get() != 'y') {
-        std::cout << "Prompt declined, exiting..." << std::endl;
-        return -1;
-    }
-
     bool found = false;
     dai::DeviceInfo info;
     std::tie(found, info) = dai::DeviceBootloader::getFirstAvailableDevice();
@@ -35,13 +28,28 @@ int main(int argc, char** argv) {
         return -1;
     }
 
+    bool hasBootloader = (info.state == X_LINK_BOOTLOADER);
+    if(hasBootloader) {
+        std::cout << "Warning! Flashing bootloader can potentially soft brick your device and should be done with caution." << std::endl;
+        std::cout << "Do not unplug your device while the bootloader is flashing." << std::endl;
+        std::cout << "Type 'y' and press enter to proceed, otherwise exits: ";
+        if(std::cin.get() != 'y') {
+            std::cout << "Prompt declined, exiting..." << std::endl;
+            return -1;
+        }
+    }
+
     // Open DeviceBootloader and allow flashing bootloader
     std::cout << "Booting latest bootloader first, will take a tad longer..." << std::endl;
     dai::DeviceBootloader bl(info, true);
     auto currentBlType = bl.getType();
 
-    // Check if bootloader type is the same
-    if(blType != dai::DeviceBootloader::Type::AUTO && currentBlType != blType) {
+    if(blType == dai::DeviceBootloader::Type::AUTO) {
+        blType = currentBlType;
+    }
+
+    // Check if bootloader type is the same, if already booted by bootloader (not in USB recovery mode)
+    if(currentBlType != blType && hasBootloader) {
         std::cout << "Are you sure you want to flash '" << blType << "' bootloader over current '" << currentBlType << "' bootloader?" << std::endl;
         std::cout << "Type 'y' and press enter to proceed, otherwise exits: ";
         std::cin.ignore();
@@ -54,11 +62,11 @@ int main(int argc, char** argv) {
     // Create a progress callback lambda
     auto progress = [](float p) { std::cout << "Flashing Progress..." << p * 100 << "%" << std::endl; };
 
-    std::cout << "Flashing " << currentBlType << " bootloader..." << std::endl;
+    std::cout << "Flashing " << blType << " bootloader..." << std::endl;
     auto t1 = steady_clock::now();
     bool success = false;
     std::string message;
-    std::tie(success, message) = bl.flashBootloader(dai::DeviceBootloader::Memory::FLASH, currentBlType, progress);
+    std::tie(success, message) = bl.flashBootloader(dai::DeviceBootloader::Memory::FLASH, blType, progress);
     if(success) {
         std::cout << "Flashing successful. Took " << duration_cast<milliseconds>(steady_clock::now() - t1).count() << "ms" << std::endl;
     } else {

examples/src/mono_depth_mobilenetssd.cpp

@@ -8,8 +8,6 @@ static const std::vector<std::string> labelMap = {"background", "aeroplane", "bi
                                                   "car",        "cat",       "chair",       "cow",   "diningtable", "dog",    "horse",
                                                   "motorbike",  "person",    "pottedplant", "sheep", "sofa",        "train",  "tvmonitor"};
 
-static std::atomic<bool> flipRectified{true};
-
 int main(int argc, char** argv) {
     using namespace std;
     // Default blob path provided by Hunter private data download
@@ -107,32 +105,14 @@ int main(int argc, char** argv) {
         cv::imshow(name, frame);
     };
 
-    float disparityMultiplier = 255 / stereo->getMaxDisparity();
+    float disparityMultiplier = 255 / stereo->initialConfig.getMaxDisparity();
 
     while(true) {
         // Instead of get (blocking), we use tryGet (nonblocking) which will return the available data or None otherwise
         auto inRight = qRight->tryGet<dai::ImgFrame>();
         auto inDet = qDet->tryGet<dai::ImgDetections>();
         auto inDisparity = qDisparity->tryGet<dai::ImgFrame>();
 
-        if(inRight) {
-            rightFrame = inRight->getCvFrame();
-            if(flipRectified) {
-                cv::flip(rightFrame, rightFrame, 1);
-            }
-        }
-
-        if(inDet) {
-            detections = inDet->detections;
-            if(flipRectified) {
-                for(auto& detection : detections) {
-                    auto swap = detection.xmin;
-                    detection.xmin = 1 - detection.xmax;
-                    detection.xmax = 1 - swap;
-                }
-            }
-        }
-
         if(inDisparity) {
             // Frame is transformed, normalized, and color map will be applied to highlight the depth info
             disparityFrame = inDisparity->getFrame();

examples/src/rgb_depth_aligned.cpp

@@ -87,7 +87,7 @@ int main() {
             if(latestPacket.find(name) != latestPacket.end()) {
                 if(name == "depth") {
                     frame[name] = latestPacket[name]->getFrame();
-                    auto maxDisparity = stereo->getMaxDisparity();
+                    auto maxDisparity = stereo->initialConfig.getMaxDisparity();
                     // Optional, extend range 0..95 -> 0..255, for a better visualisation
                     if(1) frame[name].convertTo(frame[name], CV_8UC1, 255. / maxDisparity);
                     // Optional, apply false colorization

examples/src/rgb_encoding_mono_mobilenet_depth.cpp

@@ -9,8 +9,6 @@ static const std::vector<std::string> labelMap = {"background", "aeroplane", "bi
                                                   "car",        "cat",       "chair",       "cow",   "diningtable", "dog",    "horse",
                                                   "motorbike",  "person",    "pottedplant", "sheep", "sofa",        "train",  "tvmonitor"};
 
-static std::atomic<bool> flipRectified{true};
-
 int main(int argc, char** argv) {
     using namespace std;
     // Default blob path provided by Hunter private data download
@@ -58,9 +56,7 @@ int main(int argc, char** argv) {
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
     videoEncoder->setDefaultProfilePreset(1920, 1080, 30, dai::VideoEncoderProperties::Profile::H265_MAIN);
 
-    // Note: the rectified streams are horizontally mirrored by default
     depth->initialConfig.setConfidenceThreshold(255);
-    depth->setRectifyMirrorFrame(false);
     depth->setRectifyEdgeFillColor(0);  // Black, to better see the cutout
 
     nn->setConfidenceThreshold(0.5);
@@ -85,7 +81,7 @@ int main(int argc, char** argv) {
     nn->out.link(nnOut->input);
 
     // Disparity range is used for normalization
-    float disparityMultiplier = 255 / depth->getMaxDisparity();
+    float disparityMultiplier = 255 / depth->initialConfig.getMaxDisparity();
 
     // Connect to device and start pipeline
     dai::Device device(pipeline);
@@ -128,9 +124,6 @@ int main(int argc, char** argv) {
 
         if(inDisparity) {
             frameDisparity = inDisparity->getCvFrame();
-            if(flipRectified) {
-                cv::flip(frameDisparity, frameDisparity, 1);
-            }
             frameDisparity.convertTo(frameDisparity, CV_8UC1, disparityMultiplier);
             cv::applyColorMap(frameDisparity, frameDisparity, cv::COLORMAP_JET);
         }

examples/src/spatial_mobilenet_mono.cpp

@@ -9,7 +9,6 @@ static const std::vector<std::string> labelMap = {"background", "aeroplane", "bi
                                                   "motorbike",  "person",    "pottedplant", "sheep", "sofa",        "train",  "tvmonitor"};
 
 static std::atomic<bool> syncNN{true};
-static std::atomic<bool> flipRectified{true};
 
 int main(int argc, char** argv) {
     using namespace std;
@@ -112,7 +111,6 @@ int main(int argc, char** argv) {
         }
 
         cv::Mat rectifiedRight = inRectified->getCvFrame();
-        if(flipRectified) cv::flip(rectifiedRight, rectifiedRight, 1);
 
         cv::Mat depthFrame = inDepth->getFrame();
         cv::Mat depthFrameColor;
@@ -139,11 +137,6 @@ int main(int argc, char** argv) {
         }
 
         for(auto& detection : detections) {
-            if(flipRectified) {
-                auto swap = detection.xmin;
-                detection.xmin = 1 - detection.xmax;
-                detection.xmax = 1 - swap;
-            }
             int x1 = detection.xmin * rectifiedRight.cols;
             int y1 = detection.ymin * rectifiedRight.rows;
             int x2 = detection.xmax * rectifiedRight.cols;

examples/src/stereo_depth_video.cpp

@@ -47,12 +47,10 @@ int main() {
 
     if(withDepth) {
         // StereoDepth
-        stereo->initialConfig.setConfidenceThreshold(200);
+        stereo->initialConfig.setConfidenceThreshold(230);
         stereo->setRectifyEdgeFillColor(0);  // black, to better see the cutout
-        // stereo->loadCalibrationFile("../../../../depthai/resources/depthai.calib");
         // stereo->setInputResolution(1280, 720);
-        // TODO: median filtering is disabled on device with (lrcheck || extended || subpixel)
-        stereo->initialConfig.setMedianFilter(dai::MedianFilter::MEDIAN_OFF);
+        stereo->initialConfig.setMedianFilter(dai::MedianFilter::KERNEL_5x5);
         stereo->setLeftRightCheck(lrcheck);
         stereo->setExtendedDisparity(extended);
         stereo->setSubpixel(subpixel);
@@ -91,7 +89,7 @@ int main() {
     auto rectifRightQueue = withDepth ? device.getOutputQueue("rectified_right", 8, false) : nullptr;
 
     // Disparity range is used for normalization
-    float disparityMultiplier = withDepth ? 255 / stereo->getMaxDisparity() : 0;
+    float disparityMultiplier = withDepth ? 255 / stereo->initialConfig.getMaxDisparity() : 0;
 
     while(true) {
         auto left = leftQueue->get<dai::ImgFrame>();
@@ -111,16 +109,14 @@ int main() {
 
             if(outputDepth) {
                 auto depth = depthQueue->get<dai::ImgFrame>();
-                cv::imshow("depth", cv::Mat(depth->getHeight(), depth->getWidth(), CV_16UC1, depth->getData().data()));
+                cv::imshow("depth", depth->getCvFrame());
             }
 
             if(outputRectified) {
                 auto rectifL = rectifLeftQueue->get<dai::ImgFrame>();
-                // cv::flip(rectifiedLeftFrame, rectifiedLeftFrame, 1);
                 cv::imshow("rectified_left", rectifL->getFrame());
 
                 auto rectifR = rectifRightQueue->get<dai::ImgFrame>();
-                // cv::flip(rectifiedRightFrame, rectifiedRightFrame, 1);
                 cv::imshow("rectified_right", rectifR->getFrame());
             }
         }