Merge remote-tracking branch 'origin/develop' into HEAD

.github/workflows/main.yml

@@ -75,6 +75,8 @@ jobs:
       - name: Setup cmake
         if: matrix.os == 'macos-latest'
         uses: jwlawson/[email protected]
+        with:
+          cmake-version: '3.29.x'
       - name: Cache .hunter folder
         if: matrix.os != 'windows-latest'
         uses: actions/cache@v3
@@ -136,6 +138,10 @@ jobs:
       matrix:
         rpi-os: [rpi-buster, rpi-bullseye, rpi-bookworm]
     runs-on: ${{ matrix.rpi-os }}
+    env:
+      # workaround required for cache@v3, https://github.com/actions/cache/issues/1428
+      # to be removed when upgrading the manylinux image
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     steps:
       - name: Print home directory
         run: echo Home directory inside container $HOME
@@ -182,7 +188,7 @@ jobs:
     runs-on: windows-latest
     strategy:
       matrix:
-        python-version: [3.6, 3.7, 3.8, 3.9, '3.10', '3.11', '3.12']
+        python-version: [3.7, 3.8, 3.9, '3.10', '3.11', '3.12']
         python-architecture: [x64, x86]
       fail-fast: false
     steps:
@@ -298,8 +304,12 @@ jobs:
   build-linux-x86_64:
     needs: build-docstrings
     runs-on: ubuntu-latest
+    env:
+      # workaround required for cache@v3, https://github.com/actions/cache/issues/1428
+      # to be removed when upgrading the manylinux image
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     container:
-      image: quay.io/pypa/manylinux2014_x86_64:2024-01-08-eb135ed
+      image: quay.io/pypa/manylinux2014_x86_64:latest
       env:
         PLAT: manylinux2014_x86_64
     steps:
@@ -342,7 +352,7 @@ jobs:
           /opt/python/cp38-cp38/bin/python3.8 setup.py sdist --formats=gztar
           mv dist/* wheelhouse/audited/
       - name: Build wheels
-        run: for PYBIN in /opt/python/cp3{6..12}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
+        run: for PYBIN in /opt/python/cp3{7..12}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
       - name: Audit wheels
         run: for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
       - name: Archive wheel artifacts
@@ -362,8 +372,12 @@ jobs:
   build-linux-arm64:
     needs: build-docstrings
     runs-on: [self-hosted, linux, ARM64]
+    env:
+      # workaround required for cache@v3, https://github.com/actions/cache/issues/1428
+      # to be removed when upgrading the manylinux image
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     container:
-      image: quay.io/pypa/manylinux2014_aarch64:2024-01-08-eb135ed
+      image: quay.io/pypa/manylinux2014_aarch64:latest
       env:
         PLAT: manylinux2014_aarch64
       # Mount local hunter cache directory, instead of transfering to Github and back
@@ -399,7 +413,7 @@ jobs:
         if: startsWith(github.ref, 'refs/tags/v') != true
         run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
       - name: Building wheels
-        run: for PYBIN in /opt/python/cp3{6..12}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
+        run: for PYBIN in /opt/python/cp3{7..12}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
       - name: Auditing wheels
         run: for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
       - name: Archive wheel artifacts

.github/workflows/test-install-dependencies.yml

@@ -48,7 +48,7 @@
    test_macos:
       strategy:
         matrix:
-          os: ["macos-11", "macos-12", "macos-13", "macos-14"]
+          os: ["macos-12", "macos-13", "macos-14"]
       runs-on: ${{ matrix.os }}
       steps:
        - uses: actions/checkout@v3

CMakeLists.txt

@@ -23,8 +23,8 @@ file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/generated/Hunter/config.cmake ${final_hun
 
 include("cmake/HunterGate.cmake")
 HunterGate(
-    URL "https://github.com/cpp-pm/hunter/archive/v0.25.5.tar.gz"
-    SHA1 "a20151e4c0740ee7d0f9994476856d813cdead29"
+    URL "https://github.com/cpp-pm/hunter/archive/9d9242b60d5236269f894efd3ddd60a9ca83dd7f.tar.gz"
+    SHA1 "16cc954aa723bccd16ea45fc91a858d0c5246376"
     FILEPATH ${CMAKE_CURRENT_BINARY_DIR}/generated/Hunter/config.cmake # Combined config
 )
 

README.md

@@ -2,7 +2,7 @@
 
 [![License: MIT](https://img.shields.io/badge/License-MIT-green.svg)](https://opensource.org/licenses/MIT)
 [![](https://img.shields.io/pypi/v/depthai.svg)](https://pypi.org/project/depthai/)
-[![Python Wheel CI](https://github.com/luxonis/depthai-python/actions/workflows/main.yml/badge.svg?branch=gen2_develop)](https://github.com/luxonis/depthai-python/actions/workflows/main.yml)
+[![Python Wheel CI](https://github.com/luxonis/depthai-python/actions/workflows/main.yml/badge.svg?branch=main)](https://github.com/luxonis/depthai-python/actions/workflows/main.yml)
 
 Python bindings for C++ depthai-core library
 

cmake/Hunter/config.cmake

@@ -1,7 +1,7 @@
-# Pybind11 2.9.2
+# Pybind11 2.12.0
 hunter_config(
     pybind11
-    VERSION "2.9.2"
-    URL "https://github.com/pybind/pybind11/archive/refs/tags/v2.9.2.tar.gz"
-    SHA1 "5e05583a210282c3251281b6ee5677915f0cbf95"
+    VERSION "2.12.0"
+    URL "https://github.com/pybind/pybind11/archive/refs/tags/v2.12.0.tar.gz"
+    SHA1 "e70610cba7b6b7d7a57827d5357c016ad2155c0f"
 )

examples/ImageAlign/depth_align.py

@@ -68,7 +68,7 @@ def getFps(self):
 
 out.setStreamName("out")
 
-sync.setSyncThreshold(timedelta(seconds=(1 / FPS) * 0.5))
+sync.setSyncThreshold(timedelta(seconds=0.5 / FPS))
 
 # Linking
 camRgb.isp.link(sync.inputs["rgb"])

examples/ImageAlign/image_align.py

@@ -7,7 +7,6 @@
 
 RGB_SOCKET = dai.CameraBoardSocket.CAM_A
 LEFT_SOCKET = dai.CameraBoardSocket.CAM_B
-RIGHT_SOCKET = dai.CameraBoardSocket.CAM_C
 ALIGN_SOCKET = LEFT_SOCKET
 
 COLOR_RESOLUTION = dai.ColorCameraProperties.SensorResolution.THE_1080_P
@@ -19,7 +18,6 @@
 # Define sources and outputs
 camRgb = pipeline.create(dai.node.ColorCamera)
 left = pipeline.create(dai.node.MonoCamera)
-right = pipeline.create(dai.node.MonoCamera)
 sync = pipeline.create(dai.node.Sync)
 out = pipeline.create(dai.node.XLinkOut)
 align = pipeline.create(dai.node.ImageAlign)
@@ -29,18 +27,14 @@
 left.setBoardSocket(LEFT_SOCKET)
 left.setFps(FPS)
 
-right.setResolution(LEFT_RIGHT_RESOLUTION)
-right.setBoardSocket(RIGHT_SOCKET)
-right.setFps(FPS)
-
 camRgb.setBoardSocket(RGB_SOCKET)
 camRgb.setResolution(COLOR_RESOLUTION)
 camRgb.setFps(FPS)
 camRgb.setIspScale(1, 3)
 
 out.setStreamName("out")
 
-sync.setSyncThreshold(timedelta(seconds=(1 / FPS) * 0.5))
+sync.setSyncThreshold(timedelta(seconds=0.5 / FPS))
 
 cfgIn.setStreamName("config")
 
@@ -57,19 +51,19 @@
 
 
 rgbWeight = 0.4
-depthWeight = 0.6
+leftWeight = 0.6
 
 
 def updateBlendWeights(percentRgb):
     """
-    Update the rgb and depth weights used to blend depth/rgb image
+    Update the rgb and left weights used to blend rgb/left image
 
     @param[in] percent_rgb The rgb weight expressed as a percentage (0..100)
     """
-    global depthWeight
+    global leftWeight
     global rgbWeight
     rgbWeight = float(percentRgb) / 100.0
-    depthWeight = 1.0 - rgbWeight
+    leftWeight = 1.0 - rgbWeight
 
 def updateDepthPlane(depth):
     global staticDepthPlane
@@ -118,7 +112,7 @@ def updateDepthPlane(depth):
         if leftCv.shape != frameRgbCv.shape:
             leftCv = cv2.resize(leftCv, (frameRgbCv.shape[1], frameRgbCv.shape[0]))
 
-        blended = cv2.addWeighted(frameRgbCv, rgbWeight, leftCv, depthWeight, 0)
+        blended = cv2.addWeighted(frameRgbCv, rgbWeight, leftCv, leftWeight, 0)
         cv2.imshow(windowName, blended)
 
         key = cv2.waitKey(1)

examples/ImageAlign/thermal_align.py

@@ -59,7 +59,7 @@ def getFps(self):
 
 out.setStreamName("out")
 
-sync.setSyncThreshold(timedelta(seconds=1/FPS * 0.5))
+sync.setSyncThreshold(timedelta(seconds=0.5 / FPS))
 
 cfgIn.setStreamName("config")
 

examples/ImageAlign/tof_align.py

@@ -50,7 +50,7 @@ def getFps(self):
 
 out.setStreamName("out")
 
-sync.setSyncThreshold(timedelta(seconds=(1 / FPS)))
+sync.setSyncThreshold(timedelta(seconds=0.5 / FPS))
 
 # Linking
 camRgb.isp.link(sync.inputs["rgb"])

examples/Sync/sync_all_cameras.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+with dai.Device() as device:
+    pipeline = dai.Pipeline()
+    cams = device.getConnectedCameraFeatures()
+    sync = pipeline.create(dai.node.Sync)
+    for cam in cams:
+        print(str(cam), str(cam.socket), cam.socket)
+        cam_node = pipeline.create(dai.node.Camera)
+        cam_node.setBoardSocket(cam.socket)
+        cam_node.isp.link(sync.inputs[str(cam.socket)])
+
+    xout = pipeline.create(dai.node.XLinkOut)
+    xout.setStreamName('sync')
+    sync.out.link(xout.input)
+
+    # Start pipeline
+    device.startPipeline(pipeline)
+    q = device.getOutputQueue('sync', maxSize=10, blocking=False)
+    while not device.isClosed():
+        msgs = q.get()
+        for (name, imgFrame) in msgs:
+            print(f'Cam {name}, seq {imgFrame.getSequenceNum()}, tiemstamp {imgFrame.getTimestamp()}')
+            cv2.imshow(name, imgFrame.getCvFrame())
+        print('----')
+
+        if cv2.waitKey(1) == ord('q'):
+            break

examples/install_requirements.py

@@ -55,12 +55,12 @@ def hasWhitespace(string):
         requireOpenCv = True
 
 if requireOpenCv:
-    DEPENDENCIES.append('numpy')
+    DEPENDENCIES.append('numpy<3.0')
     # 4.5.4.58 package is broken for python 3.9
     if sys.version_info[0] == 3 and sys.version_info[1] == 9:
         DEPENDENCIES.append('opencv-python!=4.5.4.58')
     else:
-        DEPENDENCIES.append('opencv-python')
+        DEPENDENCIES.append('opencv-python<5.0')
 
 
 

setup.py

@@ -238,7 +238,6 @@ def build_extension(self, ext):
         "Operating System :: Unix",
         "Programming Language :: Python",
         "Programming Language :: Python :: 3",
-        "Programming Language :: Python :: 3.6",
         "Programming Language :: Python :: 3.7",
         "Programming Language :: Python :: 3.8",
         "Programming Language :: Python :: 3.9",
@@ -250,7 +249,7 @@ def build_extension(self, ext):
         "Topic :: Scientific/Engineering",
         "Topic :: Software Development",
     ],
-    python_requires='>=3.6',
+    python_requires='>=3.7',
     entry_points={
         "console_scripts": [
             f'depthai={DEPTHAI_CLI_MODULE_NAME}.depthai_cli:cli'