Merge branch 'device_improvements' into develop

.github/workflows/main.yml

@@ -26,27 +26,27 @@ jobs:
 
   # Job which builds docstrings for the rest of the wheel builds
   build-docstrings:
-    runs-on: macos-latest
+    runs-on: ubuntu-latest
     steps:
       - name: Cache .hunter folder
         uses: actions/cache@v2
         with:
           path: ~/.hunter
-          key: hunter-macos-latest
+          key: hunter-ubuntu-latest
       - name: List .hunter cache directory
         run: ls -a -l ~/.hunter/_Base/ || true
       - uses: actions/checkout@v2
         with:
           submodules: 'recursive'
       - name: Set up Python
         uses: actions/setup-python@v2
-        with: 
+        with:
           python-version: 3.8
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          brew install libusb
-          python -m pip install git+git://github.com/luxonis/pybind11_mkdoc.git@master
+          sudo apt install libusb-1.0-0-dev
+          python -m pip install -r docs/requirements_mkdoc.txt
       - name: Configure project
         run: cmake -S . -B build -DDEPTHAI_PYTHON_FORCE_DOCSTRINGS=ON -DDEPTHAI_PYTHON_DOCSTRINGS_OUTPUT="$PWD/docstrings/depthai_python_docstring.hpp"
       - name: Build target 'pybind11_mkdoc'
@@ -62,7 +62,7 @@ jobs:
   build-linux-armhf:
     needs: build-docstrings
     runs-on: luxonis-armhf
-    container: 
+    container:
       image: registry.gitlab.com/luxonis/depthai-crosscompile/debian-buster
       # Mount local hunter cache directory, instead of transfering to Github and back
       volumes:
@@ -73,7 +73,7 @@ jobs:
       - uses: actions/checkout@v2
         with:
           submodules: 'recursive'
-        
+
       - uses: actions/download-artifact@v2
         with:
           name: 'docstrings'
@@ -129,7 +129,7 @@ jobs:
 
       - name: Set up Python ${{ matrix.python-version }}
         uses: actions/setup-python@v2
-        with: 
+        with:
           python-version: ${{ matrix.python-version }}
           architecture: ${{ matrix.python-architecture }}
       - name: Append build hash if not a tagged commit
@@ -182,7 +182,7 @@ jobs:
 
       - name: Set up Python ${{ matrix.python-version }}
         uses: actions/setup-python@v2
-        with: 
+        with:
           python-version: ${{ matrix.python-version }}
       - name: Append build hash if not a tagged commit
         if: startsWith(github.ref, 'refs/tags/v') != true
@@ -197,7 +197,7 @@ jobs:
       - name: Building wheels
         run: python -m pip wheel . -w ./wheelhouse/ --verbose
       - name: Auditing wheels
-        run: ci/repair-whl-macos.sh `pwd`/wheelhouse/* `pwd`/wheelhouse/audited      
+        run: ci/repair-whl-macos.sh `pwd`/wheelhouse/* `pwd`/wheelhouse/audited
       - name: Archive wheel artifacts
         uses: actions/upload-artifact@v2
         with:
@@ -336,12 +336,12 @@ jobs:
     if: startsWith(github.ref, 'refs/tags/v')
     needs: [build-linux-armhf, build-windows-x86_64, build-macos-x86_64, build-linux-x86_64, build-linux-arm64]
     runs-on: ubuntu-latest
-    
+
     steps:
     - uses: actions/checkout@v2
       with:
         submodules: 'recursive'
-    
+
     - name: Get tag version
       id: tag
       uses: battila7/get-version-action@v2

CMakeLists.txt

@@ -75,13 +75,13 @@ endif()
 hunter_add_package(pybind11)
 
 # Disable LTO if MINGW compiler
-if(MINGW)   
+if(MINGW)
     set(PYBIND11_LTO_CXX_FLAGS "" CACHE STRING "" FORCE)
 endif()
 find_package(pybind11 CONFIG REQUIRED)
 
 # Add files for python module
-pybind11_add_module(${TARGET_NAME} 
+pybind11_add_module(${TARGET_NAME}
     src/py_bindings.cpp
     src/XLinkConnectionBindings.cpp
     src/DeviceBindings.cpp
@@ -104,8 +104,8 @@ endif()
 
 if(DEPTHAI_PYTHON_DOCSTRINGS_OUTPUT)
     # If output is specified set both input and output to same the path
-    set(docstring_input_path ${DEPTHAI_PYTHON_DOCSTRINGS_OUTPUT}) 
-    set(docstring_output_path ${DEPTHAI_PYTHON_DOCSTRINGS_OUTPUT}) 
+    set(docstring_input_path ${DEPTHAI_PYTHON_DOCSTRINGS_OUTPUT})
+    set(docstring_output_path ${DEPTHAI_PYTHON_DOCSTRINGS_OUTPUT})
 else()
     # If input docstrings explicitly specified, use those and disable building
     if(DEPTHAI_PYTHON_DOCSTRINGS_INPUT)
@@ -114,11 +114,11 @@ else()
         set(DEPTHAI_PYTHON_BUILD_DOCSTRINGS OFF CACHE BOOL "Generate docstrings from header files if module 'pybind11_mkdoc' available" FORCE)
     else()
         # Otherwise set default location as input
-        set(docstring_input_path ${DEFAULT_DOCSTRINGS_OUTPUT}) 
+        set(docstring_input_path ${DEFAULT_DOCSTRINGS_OUTPUT})
     endif()
 
     # Set default output location
-    set(docstring_output_path ${DEFAULT_DOCSTRINGS_OUTPUT}) 
+    set(docstring_output_path ${DEFAULT_DOCSTRINGS_OUTPUT})
 endif()
 
 if(DEPTHAI_PYTHON_BUILD_DOCSTRINGS)
@@ -130,11 +130,14 @@ configure_file(cmake/docstring.hpp.in ${DOCSTRINGS_INCLUDE_PLACEHOLDER_PATH})
 # Add target to generate docstrings
 if (DEPTHAI_PYTHON_BUILD_DOCSTRINGS)
     include(pybind11-mkdoc)
-    
+
     # Check if pybind11_mkdoc available and create target
     target_pybind11_mkdoc_setup(${docstring_output_path} depthai::core ${DEPTHAI_PYTHON_FORCE_DOCSTRINGS})
-
-    if(NOT TARGET pybind11_mkdoc)
+
+    if(TARGET pybind11_mkdoc)
+        # Add dependency to mkdoc target (makes sure that mkdoc is executed, and docstrings available)
+        add_dependencies(${TARGET_NAME} pybind11_mkdoc)
+    else()
         # Generate default docstrings to OUTPUT path
         configure_file(cmake/default_docstring.hpp.in ${docstring_output_path} COPYONLY)
     endif()
@@ -147,16 +150,16 @@ endif()
 target_include_directories(${TARGET_NAME} PRIVATE src ${DOCSTRINGS_INCLUDE_PLACEHOLDER_DIR})
 
 # Link with libraries
-target_link_libraries(${TARGET_NAME} 
-    PUBLIC 
+target_link_libraries(${TARGET_NAME}
+    PUBLIC
         # pybind11
         pybind11::pybind11
         depthai::core # Use non-opencv target as we use opencv-python in bindings
         hedley
 )
 
 # Add default commit hash ('dev') if not build by CI
-if(NOT DEFINED ENV{CI} AND NOT DEPTHAI_PYTHON_COMMIT_HASH)   
+if(NOT DEFINED ENV{CI} AND NOT DEPTHAI_PYTHON_COMMIT_HASH)
     set(DEPTHAI_PYTHON_COMMIT_HASH "dev")
 endif()
 

cmake/pybind11-mkdoc.cmake

@@ -80,7 +80,4 @@ function(pybind11_mkdoc_setup_internal target output_path mkdoc_headers enforce)
     # Force target build
     file(TOUCH_NOCREATE ${mkdoc_headers})
 
-    # Add dependency to mkdoc target (makes sure that mkdoc is executed, and docstrings available)
-    add_dependencies(${target} ${PYBIND11_MKDOC_TARGET_NAME})
-
 endfunction()

docs/ci.cmake

@@ -4,5 +4,16 @@ set(project_root "${CMAKE_CURRENT_LIST_DIR}/..")
 # Get buildCommitHash for non release build
 execute_process(COMMAND "git" "rev-parse" "HEAD" WORKING_DIRECTORY ${project_root} OUTPUT_VARIABLE buildCommitHash OUTPUT_STRIP_TRAILING_WHITESPACE)
 
-execute_process(COMMAND ${CMAKE_COMMAND} -D DEPTHAI_PYTHON_COMMIT_HASH:STRING=${buildCommitHash} -D DEPTHAI_PYTHON_BUILD_DOCS:BOOL=YES -D DEPTHAI_BUILD_DOCS:BOOL=YES -S . -B build WORKING_DIRECTORY ${project_root} COMMAND_ECHO STDOUT)
+# Configure
+execute_process(COMMAND ${CMAKE_COMMAND}
+    -D DEPTHAI_PYTHON_COMMIT_HASH:STRING=${buildCommitHash}
+    -D DEPTHAI_PYTHON_BUILD_DOCS:BOOL=YES
+    -D DEPTHAI_BUILD_DOCS:BOOL=YES
+    -D DEPTHAI_PYTHON_BUILD_DOCSTRINGS:BOOL=YES
+    -D DEPTHAI_PYTHON_FORCE_DOCSTRINGS:BOOL=YES
+    -S . -B build
+    WORKING_DIRECTORY ${project_root} COMMAND_ECHO STDOUT
+)
+
+# Build
 execute_process(COMMAND ${CMAKE_COMMAND} --build build --parallel 4 WORKING_DIRECTORY ${project_root} COMMAND_ECHO STDOUT)

docs/requirements.txt

@@ -3,8 +3,8 @@ sphinx-tabs==1.3.0
 sphinx-rtd-theme==0.5.2
 git+https://github.com/VanDavv/rtd-redirects.git@3e7333898acad533b37c9de426f1f2ef258d756b
 breathe==4.26.0
-git+https://github.com/luxonis/pybind11_mkdoc.git@master
 Sphinx-Substitution-Extensions==2020.9.30.0
 sphinx-autopackagesummary==1.3
 autodocsumm==0.2.2
 pathlib==1.0.1
+-r ./requirements_mkdoc.txt

docs/requirements_mkdoc.txt

@@ -0,0 +1 @@
+git+https://github.com/luxonis/pybind11_mkdoc.git@47a353ae22a3ca2fe1ca47f47b38613dcfb1043b

examples/01_rgb_preview.py

@@ -9,8 +9,6 @@
 # Define a source - color camera
 camRgb = pipeline.createColorCamera()
 camRgb.setPreviewSize(300, 300)
-camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
-camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
 camRgb.setInterleaved(False)
 camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
 
@@ -19,10 +17,12 @@
 xoutRgb.setStreamName("rgb")
 camRgb.preview.link(xoutRgb.input)
 
-# Pipeline is defined, now we can connect to the device
-with dai.Device(pipeline) as device:
+# Connect to the device
+with dai.Device() as device:
+    # Print out available cameras
+    print('Connected cameras: ', device.getConnectedCameras())
     # Start pipeline
-    device.startPipeline()
+    device.startPipeline(pipeline)
 
     # Output queue will be used to get the rgb frames from the output defined above
     qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)

examples/02_mono_preview.py

@@ -24,10 +24,8 @@
 xoutRight.setStreamName('right')
 camRight.out.link(xoutRight.input)
 
-# Pipeline is defined, now we can connect to the device
+# Connect and start the pipeline
 with dai.Device(pipeline) as device:
-    # Start pipeline
-    device.startPipeline()
 
     # Output queues will be used to get the grayscale frames from the outputs defined above
     qLeft = device.getOutputQueue(name="left", maxSize=4, blocking=False)

examples/03_depth_preview.py

@@ -64,10 +64,8 @@
 xout.setStreamName("disparity")
 depth.disparity.link(xout.input)
 
-# Pipeline is defined, now we can connect to the device
+# Connect and start the pipeline
 with dai.Device(pipeline) as device:
-    # Start pipeline
-    device.startPipeline()
 
     # Output queue will be used to get the disparity frames from the outputs defined above
     q = device.getOutputQueue(name="disparity", maxSize=4, blocking=False)

examples/04_rgb_encoding.py

@@ -20,10 +20,8 @@
 videoOut.setStreamName('h265')
 videoEncoder.bitstream.link(videoOut.input)
 
-# Pipeline is defined, now we can connect to the device
+# Connect and start the pipeline
 with dai.Device(pipeline) as device:
-    # Start pipeline
-    device.startPipeline()
 
     # Output queue will be used to get the encoded data from the output defined above
     q = device.getOutputQueue(name="h265", maxSize=30, blocking=True)

examples/05_rgb_mono_encoding.py

@@ -39,10 +39,8 @@
 ve3.bitstream.link(ve3Out.input)
 
 
-# Pipeline is defined, now we can connect to the device
+# Connect and start the pipeline
 with dai.Device(pipeline) as dev:
-    # Start pipeline
-    dev.startPipeline()
 
     # Output queues will be used to get the encoded data from the outputs defined above
     outQ1 = dev.getOutputQueue(name='ve1Out', maxSize=30, blocking=True)

examples/06_rgb_full_resolution_saver.py

@@ -29,10 +29,8 @@
 videoEnc.bitstream.link(xoutJpeg.input)
 
 
-# Pipeline is defined, now we can connect to the device
+# Connect and start the pipeline
 with dai.Device(pipeline) as device:
-    # Start pipeline
-    device.startPipeline()
 
     # Output queue will be used to get the rgb frames from the output defined above
     qRgb = device.getOutputQueue(name="rgb", maxSize=30, blocking=False)

examples/07_mono_full_resolution_saver.py

@@ -19,10 +19,8 @@
 xoutRight.setStreamName("right")
 camRight.out.link(xoutRight.input)
 
-# Pipeline is defined, now we can connect to the device
+# Connect and start the pipeline
 with dai.Device(pipeline) as device:
-    # Start pipeline
-    device.startPipeline()
 
     # Output queue will be used to get the grayscale frames from the output defined above
     qRight = device.getOutputQueue(name="right", maxSize=4, blocking=False)

examples/08_rgb_mobilenet.py

@@ -51,10 +51,8 @@
             "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
 
 
-# Pipeline is defined, now we can connect to the device
+# Connect and start the pipeline
 with dai.Device(pipeline) as device:
-    # Start pipeline
-    device.startPipeline()
 
     # Output queues will be used to get the rgb frames and nn data from the outputs defined above
     qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)

examples/09_mono_mobilenet.py

@@ -51,10 +51,8 @@
 labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
             "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
 
-# Pipeline is defined, now we can connect to the device
+# Connect and start the pipeline
 with dai.Device(pipeline) as device:
-    # Start pipeline
-    device.startPipeline()
 
     # Output queues will be used to get the grayscale frames and nn data from the outputs defined above
     qRight = device.getOutputQueue("right", maxSize=4, blocking=False)

examples/10_mono_depth_mobilenetssd.py

@@ -71,10 +71,8 @@
 labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
             "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
 
-# Pipeline is defined, now we can connect to the device
+# Connect and start the pipeline
 with dai.Device(pipeline) as device:
-    # Start pipeline
-    device.startPipeline()
 
     # Output queues will be used to get the grayscale / depth frames and nn data from the outputs defined above
     qRight = device.getOutputQueue("rectifiedRight", maxSize=4, blocking=False)

examples/11_rgb_encoding_mono_mobilenet.py

@@ -63,10 +63,8 @@
             "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
 
 
-# Pipeline is defined, now we can connect to the device
+# Connect and start the pipeline
 with dai.Device(pipeline) as device:
-    # Start pipeline
-    device.startPipeline()
 
     queue_size = 8
     qRight = device.getOutputQueue("right", queue_size)

examples/12_rgb_encoding_mono_mobilenet_depth.py

@@ -82,10 +82,8 @@
             "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
 
 
-# Pipeline is defined, now we can connect to the device
+# Connect and start the pipeline
 with dai.Device(pipeline) as device:
-    # Start pipeline
-    device.startPipeline()
 
     queueSize = 8
     qRight = device.getOutputQueue("right", queueSize)

examples/13_encoding_max_limit.py

@@ -39,17 +39,14 @@
 ve3.bitstream.link(ve3Out.input)
 
 
-# Pipeline is defined, now we can connect to the device
+# Connect and start the pipeline
 with dai.Device(pipeline) as dev:
 
     # Prepare data queues
     outQ1 = dev.getOutputQueue('ve1Out', maxSize=30, blocking=True)
     outQ2 = dev.getOutputQueue('ve2Out', maxSize=30, blocking=True)
     outQ3 = dev.getOutputQueue('ve3Out', maxSize=30, blocking=True)
 
-    # Start the pipeline
-    dev.startPipeline()
-
     # Processing loop
     with open('mono1.h264', 'wb') as fileMono1H264, open('color.h265', 'wb') as fileColorH265, open('mono2.h264', 'wb') as fileMono2H264:
         print("Press Ctrl+C to stop encoding...")