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CalibrationHandler missing const on member functions - cascades to apps #355

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diablodale opened this issue Jan 29, 2022 · 2 comments
Closed

CalibrationHandler missing const on member functions - cascades to apps #355

diablodale opened this issue Jan 29, 2022 · 2 comments
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@themarpe

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@diablodale
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diablodale commented Jan 29, 2022 •
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Throughout CalibrationHandler the member functions are not declared const which prevents apps from using const calibration handlers. This cascades up to app classes containing a CalibrationHandler to be non-const, and further up the chain. Or cascades sideways to force app member functions to be non-const so they can call these handler functions. It metastasizes.

The hope of related #10 didn't happen. 😢

Setup

  • all

Repro

Found while writing my app. And then depthai-core code review.
Here are four examples of errant functions in CalibrationHandler... there are substantially more.

dai::CameraBoardSocket CalibrationHandler::getStereoRightCameraId();
float CalibrationHandler::getBaselineDistance(...);
std::vector<std::vector<float>> CalibrationHandler::getCameraIntrinsics(...);
float CalibrationHandler::getFov(...);
...

Fix

Often just adding const to the end of the member function signatures. There maybe a small subset which need minor changes. This is less than a day's work.

Workaround

None pretty. It might include making things mutable and removing const from member functions from apps, which then makes the app's code harder to maintain. :-/
@diablodale diablodale mentioned this issue Jan 30, 2022
Closed
@themarpe themarpe self-assigned this Mar 28, 2022
@chengguizi
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This would be very helpful! Personally encountered this issue as well.

themarpe added a commit that referenced this issue Oct 18, 2022
@themarpe
Closes: #355
fe71aa2
@themarpe
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Addressed in latest develop:)

@themarpe themarpe mentioned this issue Oct 19, 2022
Merged
saching13 added a commit that referenced this issue Nov 3, 2022
@saching13 @alex-luxonis
@themarpe @SzabolcsGergely @moratom
Ros release 2.19 (#629)
65cc544 
* Update FW: allow OV9282/OV9782 on RGB socket
TODO: ColorISP

* Color/MonoCamera: add extra resolutions for OV9782 and OV7251 support

* Update FW: initial ColorCamera support for OV9782

* Update FW: improve OV9782 colors

* Update FW: OV9782 on RGB socket, working with OV9282 on L/R

* Update FW: fix OV9782 bayer order

* Update FW: improve OV9782 color saturation and sharpness

* TMP: OV9782(color) working on Left and/or Right sockets

* Update FW: initial support for LUX-D-LITE: IMX214 and OV7251

* Update FW: fix some OV7251 flickering, change stereo res to 480p,
improve IMX214 focusing

* Update FW: improved focus for IMX214, lowered range

* CameraControl: add `setExternalTrigger(numFramesBurst)`

* ImgFrame: add API to get camera settings:
getLensPosition(), getExposureTime(), getSensitivity()
Only the first is implemented for now

* setManualFocus auto-handles focus mode now, don't set

* Update FW: report exposure + iso too in ImgFrame for RGB,
(note: lens position may be reported one frame in advance),
fix black image when initial manual exposure was set with other controls,
fix switching from auto to manual exposure causing the lens to jump to zero
(note: the lens is directly set now with manual focus, bypassing 3A)

* CameraControl setExternalTrigger: add numFramesDiscard param

* CameraControl: add `setManualWhiteBalance(colorTemperatureK)`

* Update FW: reduce ColorCamera still pool: 4 -> 1 frame

* Update FW: support for up to 3x IMX378/IMX477 or 3x OV9782
color cameras. Note: configs for Left and Right sockets must be identical for now

* Fix FW, support for multiple IMX378/477

* Update FW (IMX214 multiple resolutions), add more camera sockets

* Update FW: CAM-D (4th socket) tested, AR0234 support. Note:
if AR0234 sensors are used, cannot be combined with other types at the moment (due to tuning blobs in use)

* Update FW: changes for IMX214/OV7251, other fixes

* Update FW: fix ColorCamera `preview`/`video`/`still` when multiple cameras use these outputs

* Update FW: change SIPP mem alloc to allow 4x ColorCamera to operate at the same time

* Update FW: StereoDepth: fix RGB alignment when running at calib resolution (OAK-D with 800_P or OAK-D-Lite)

* Update FW: fix for IMX378 still output at 12MP

* Update FW: OV9282/9782 img orientation per camera,
fix sync mode

* Update FW: - support for camera modules with IMX380 sensor id,
reusing IMX378 driver (some Arducam IMX577(?))
- soft-reset the sensor before config, to fix streaming with some Arducam modules

* Update FW: IMX577 proper support (0577 sensor ID)

* CameraControl: add setAutoFocusLensRange

* Add `CameraControl::setFrameSyncMode`,
controlling the FSIN pin I/O and camera sync behavior.
Implemented for OV9282/OV9782 for now.
Note: if one camera sets it to OUTPUT, and other(s) to INPUT, the hardware sync will work, but currently there's one frame de-sync in the sequence numbers (first frame is lost from the 'slave' cameras). This will be fixed

* changed spdlog visibility

* Add Device::getConnectedCameraProperties

* Add new predefined resolutions for ColorCamera: THE_1200_P, THE_13_MP

* Update FW: configurable FPS and fix enumeration issues with AR0234

* Added some getters to CameraControl and modified to use chrono where possible

* Update FW: populate `CameraProperties::hasAutofocus`

* OV5645 and 5MP resolution support

* Update FW: fixes for multiple IMX378/477

* Update FW: fixes for OV9282/9782 on CAM-D, fix stereo rectified frame type for color

* Update FW: allow `StereoDepth` to work with `ColorCamera`s,
without having to call `StereoDepth::setInputResolution`

* Add dot-projector/flood-illuminator brightness control for OAK-D-Pro-W, fix OV9782 slow AE due to missing AF

* Allow using AR0234/OV5645 (but at degraded image quality) with other sensors enabled at the same time

* Update FW with multiple fixes:
- properly handle manual/auto focus with multiple cameras
- fix potential init failure with same sensors (IMX378/477/214 / AR0234 / OV5645) on Left and Right sockets
- fix sensor name reporting for AR0234 / IMX378/380/477/577

* Fix CI build (not matching bootloader-shared commits)

* Script: add optional name parameter to `setScriptPath`,
might come handy if the path is long, to have a shorter identifier

* ColorCamera/MonoCamera: add `frameEvent` output, to be used for IR control, etc.

* Update FW: FSYNC for IMX378

* Update FW, add initial support for IMX582/IMX586

* Updates for IMX582 - full 48MP res, temporarily center cropped (5312x6000 out of 8000x6000)

* CameraControl: add STROBE MX-GPIO control, applicable for ext trig mode. AR0234 ext trig:

- `cam[c].initialControl.setExternalTrigger(1, 0)` for snapshot mode (exposure+readout following immediately after trigger)
- `cam[c].initialControl.setFrameSyncMode(dai.CameraControl.FrameSyncMode.INPUT)` for multiple devices sync (frame time is aligned, exposure could be different per device)

Note: sensor trigger pin reacts on rising edge signal, and keeping the line high will cause repeated triggering.

* Pipeline: add `setImageManipCmxSizeAdjust`

* FW: fixes for 48MP camera, FW build for previous commits

* Fix ColorCamera::getSensorCrop calculation for AUTO, was returning zero

* WIP - flashUserBootloader

* Updated Bootloader and added example

* Added monitor thread for DeviceBootloader

* Added explicit isUserBootloader call

* Updated Bootloader for better User Bootloader support

* MonoCamera: add frame pool size config API

* Removed device_information and multi_roi from tests

* Updated FW with ImageManip dynamic memory allocation

* Disabled LATEX generation for docs

* Added Warp node

* Applied style

* Set Yolo default iou threshold to 0.5

* Exposed Bootloader version available when booting a device in bootloader state

* [Warp] Exposed HW engines used and interpolation

* ImgFrame: add `getColorTemperature`. FW: fix exp/iso report for MonoCamera

* CameraControl: update API docs, specify some defaults

* Rename CameraProperties -> CameraFeatures

* Added a sign cast to max user bootloader size check

* Revert "Pipeline: add `setImageManipCmxSizeAdjust`"

This reverts commit 591a98b.

* Fix typo and add calibration_factory_reset example

* Don't use the example as a part of the testing suite

Co-authored-by: TheMarpe <[email protected]>

* DEPTHAI_DEBUG=1 env var to enable `logDevicePrints`, ColorCamera: THE_12P0_MP, THE_5312X6000

* Update FW, shared: clangformat

* `make clangformat`: calibration_factory_reset.cpp, depthai-shared,
FW: increase an internal queue size for frameEvent

* Exposed Timesync configurability

* Docs fixes

* Add support for yolov6r2 parsing

* Expand spatial image detections with original config

* Update CPP examples

* Add getTimestamp and getTimestampDevice getter to IMU packets

* Update IMU examples

* Add THE_1200_P for AR0234 MonoCamera

* Several FW updates:
- !!! For all sockets/cameras to be scanned, the EEPROM calib data boardName/productName should contain "FFC" or an FFC-related board name: 1090/2090/2088. Otherwise the behavior is to scan only for standard OAK devices sockets/cameras
- Some more checks for the LCM48 (on MAX) supported resolutions
- Fixes for RGB-mono SW-sync for standard OAK-D / OAK-D-Lite camera configs
- AR0234 monochrome support, however needs an OV9282 enabled at the same time for now

* Color/MonoCamera: handle some more cases for newly added resolutions/sockets

* Update shared/FW after merge, fix error log printed for MonoCamera AUTO socket

* Closes: #355

* Bump version to 2.18.0

* Updated FW with some Color/MonoCamera fixes

* stability test

* Update FW:
- fix for high system load crash, especially on PoE devices
- for for OV9282 as MonoCamera on RGB/CAM_A socket

* stability test

* Added a convinience setTimesync function

* Added isUserBootloaderSupported to DeviceBootloader

* Updated XLink with Windows improvements when scanning for already booted USB devices

* Updated FW with device time reset on boot

* Bump to v2.19.0

* Improved wording on unavailable devices

* Fix yolo v5 decoding when there is a single class

* FW: fixes for certain OV9782 and OV9282 permutations/configs,
fix for OV9782/OV9282 alone failing on RGB/CAM_A socket

* Update CI to Node16 compatible actions

* Update FW: fix image size when decimation filter is enabled

* added changelog and version update in package.xml

Co-authored-by: alex-luxonis <[email protected]>
Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: SzabolcsGergely <[email protected]>
Co-authored-by: szabi-luxonis <[email protected]>
Co-authored-by: Matevz Morato <[email protected]>
Co-authored-by: moratom <[email protected]>
Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: alex-luxonis <[email protected]>
Co-authored-by: sags <[email protected]>
saching13 added a commit that referenced this issue Nov 28, 2022
@saching13 @alex-luxonis
@themarpe @SzabolcsGergely @moratom
Ros release 2.19.1 (#649)
46de84b 
* Update FW: allow OV9282/OV9782 on RGB socket
TODO: ColorISP

* Color/MonoCamera: add extra resolutions for OV9782 and OV7251 support

* Update FW: initial ColorCamera support for OV9782

* Update FW: improve OV9782 colors

* Update FW: OV9782 on RGB socket, working with OV9282 on L/R

* Update FW: fix OV9782 bayer order

* Update FW: improve OV9782 color saturation and sharpness

* TMP: OV9782(color) working on Left and/or Right sockets

* Update FW: initial support for LUX-D-LITE: IMX214 and OV7251

* Update FW: fix some OV7251 flickering, change stereo res to 480p,
improve IMX214 focusing

* Update FW: improved focus for IMX214, lowered range

* CameraControl: add `setExternalTrigger(numFramesBurst)`

* ImgFrame: add API to get camera settings:
getLensPosition(), getExposureTime(), getSensitivity()
Only the first is implemented for now

* setManualFocus auto-handles focus mode now, don't set

* Update FW: report exposure + iso too in ImgFrame for RGB,
(note: lens position may be reported one frame in advance),
fix black image when initial manual exposure was set with other controls,
fix switching from auto to manual exposure causing the lens to jump to zero
(note: the lens is directly set now with manual focus, bypassing 3A)

* CameraControl setExternalTrigger: add numFramesDiscard param

* CameraControl: add `setManualWhiteBalance(colorTemperatureK)`

* Update FW: reduce ColorCamera still pool: 4 -> 1 frame

* Update FW: support for up to 3x IMX378/IMX477 or 3x OV9782
color cameras. Note: configs for Left and Right sockets must be identical for now

* Fix FW, support for multiple IMX378/477

* Update FW (IMX214 multiple resolutions), add more camera sockets

* Update FW: CAM-D (4th socket) tested, AR0234 support. Note:
if AR0234 sensors are used, cannot be combined with other types at the moment (due to tuning blobs in use)

* Update FW: changes for IMX214/OV7251, other fixes

* Update FW: fix ColorCamera `preview`/`video`/`still` when multiple cameras use these outputs

* Update FW: change SIPP mem alloc to allow 4x ColorCamera to operate at the same time

* Update FW: StereoDepth: fix RGB alignment when running at calib resolution (OAK-D with 800_P or OAK-D-Lite)

* Update FW: fix for IMX378 still output at 12MP

* Update FW: OV9282/9782 img orientation per camera,
fix sync mode

* Update FW: - support for camera modules with IMX380 sensor id,
reusing IMX378 driver (some Arducam IMX577(?))
- soft-reset the sensor before config, to fix streaming with some Arducam modules

* Update FW: IMX577 proper support (0577 sensor ID)

* CameraControl: add setAutoFocusLensRange

* Add `CameraControl::setFrameSyncMode`,
controlling the FSIN pin I/O and camera sync behavior.
Implemented for OV9282/OV9782 for now.
Note: if one camera sets it to OUTPUT, and other(s) to INPUT, the hardware sync will work, but currently there's one frame de-sync in the sequence numbers (first frame is lost from the 'slave' cameras). This will be fixed

* changed spdlog visibility

* Add Device::getConnectedCameraProperties

* Add new predefined resolutions for ColorCamera: THE_1200_P, THE_13_MP

* Update FW: configurable FPS and fix enumeration issues with AR0234

* Added some getters to CameraControl and modified to use chrono where possible

* Update FW: populate `CameraProperties::hasAutofocus`

* OV5645 and 5MP resolution support

* Update FW: fixes for multiple IMX378/477

* Update FW: fixes for OV9282/9782 on CAM-D, fix stereo rectified frame type for color

* Update FW: allow `StereoDepth` to work with `ColorCamera`s,
without having to call `StereoDepth::setInputResolution`

* Add dot-projector/flood-illuminator brightness control for OAK-D-Pro-W, fix OV9782 slow AE due to missing AF

* Allow using AR0234/OV5645 (but at degraded image quality) with other sensors enabled at the same time

* Update FW with multiple fixes:
- properly handle manual/auto focus with multiple cameras
- fix potential init failure with same sensors (IMX378/477/214 / AR0234 / OV5645) on Left and Right sockets
- fix sensor name reporting for AR0234 / IMX378/380/477/577

* Fix CI build (not matching bootloader-shared commits)

* Script: add optional name parameter to `setScriptPath`,
might come handy if the path is long, to have a shorter identifier

* ColorCamera/MonoCamera: add `frameEvent` output, to be used for IR control, etc.

* Update FW: FSYNC for IMX378

* Update FW, add initial support for IMX582/IMX586

* Updates for IMX582 - full 48MP res, temporarily center cropped (5312x6000 out of 8000x6000)

* CameraControl: add STROBE MX-GPIO control, applicable for ext trig mode. AR0234 ext trig:

- `cam[c].initialControl.setExternalTrigger(1, 0)` for snapshot mode (exposure+readout following immediately after trigger)
- `cam[c].initialControl.setFrameSyncMode(dai.CameraControl.FrameSyncMode.INPUT)` for multiple devices sync (frame time is aligned, exposure could be different per device)

Note: sensor trigger pin reacts on rising edge signal, and keeping the line high will cause repeated triggering.

* Pipeline: add `setImageManipCmxSizeAdjust`

* FW: fixes for 48MP camera, FW build for previous commits

* Fix ColorCamera::getSensorCrop calculation for AUTO, was returning zero

* WIP - flashUserBootloader

* Updated Bootloader and added example

* Added monitor thread for DeviceBootloader

* Added explicit isUserBootloader call

* Updated Bootloader for better User Bootloader support

* MonoCamera: add frame pool size config API

* Removed device_information and multi_roi from tests

* Updated FW with ImageManip dynamic memory allocation

* Disabled LATEX generation for docs

* Added Warp node

* Applied style

* Set Yolo default iou threshold to 0.5

* Exposed Bootloader version available when booting a device in bootloader state

* [Warp] Exposed HW engines used and interpolation

* ImgFrame: add `getColorTemperature`. FW: fix exp/iso report for MonoCamera

* CameraControl: update API docs, specify some defaults

* Rename CameraProperties -> CameraFeatures

* Added a sign cast to max user bootloader size check

* Revert "Pipeline: add `setImageManipCmxSizeAdjust`"

This reverts commit 591a98b.

* Fix typo and add calibration_factory_reset example

* Don't use the example as a part of the testing suite

Co-authored-by: TheMarpe <[email protected]>

* DEPTHAI_DEBUG=1 env var to enable `logDevicePrints`, ColorCamera: THE_12P0_MP, THE_5312X6000

* Update FW, shared: clangformat

* `make clangformat`: calibration_factory_reset.cpp, depthai-shared,
FW: increase an internal queue size for frameEvent

* Exposed Timesync configurability

* Docs fixes

* Add support for yolov6r2 parsing

* Expand spatial image detections with original config

* Update CPP examples

* Add getTimestamp and getTimestampDevice getter to IMU packets

* Update IMU examples

* Add THE_1200_P for AR0234 MonoCamera

* Several FW updates:
- !!! For all sockets/cameras to be scanned, the EEPROM calib data boardName/productName should contain "FFC" or an FFC-related board name: 1090/2090/2088. Otherwise the behavior is to scan only for standard OAK devices sockets/cameras
- Some more checks for the LCM48 (on MAX) supported resolutions
- Fixes for RGB-mono SW-sync for standard OAK-D / OAK-D-Lite camera configs
- AR0234 monochrome support, however needs an OV9282 enabled at the same time for now

* Color/MonoCamera: handle some more cases for newly added resolutions/sockets

* Update shared/FW after merge, fix error log printed for MonoCamera AUTO socket

* Closes: #355

* Bump version to 2.18.0

* Updated FW with some Color/MonoCamera fixes

* stability test

* Update FW:
- fix for high system load crash, especially on PoE devices
- for for OV9282 as MonoCamera on RGB/CAM_A socket

* stability test

* Added a convinience setTimesync function

* Added isUserBootloaderSupported to DeviceBootloader

* Updated XLink with Windows improvements when scanning for already booted USB devices

* Updated FW with device time reset on boot

* Bump to v2.19.0

* Improved wording on unavailable devices

* Fix yolo v5 decoding when there is a single class

* FW: fixes for certain OV9782 and OV9282 permutations/configs,
fix for OV9782/OV9282 alone failing on RGB/CAM_A socket

* Update CI to Node16 compatible actions

* Update FW: fix image size when decimation filter is enabled

* Stability test - limit FPS (#633)

* Print CPU usage

* Limit the FPS so POE devices aren't maxed out

* Increase FPS

* Reverse changes to the system logger example

Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: Matevz Morato <[email protected]>

* Added getProductName

* Renamed to getDeviceName and added some legacy handling

* Updated FW with productName as protected field and ImageManip behavior revert

* Updated style

* Added IR driver support for new OAK-FFC 4P

* FW: bugfix for device bootup with default static IP

* OAK-FFC 4P R5M1E5 IR/Dot support

* Bump to v2.19.1

* changed version and updated changelog

Co-authored-by: alex-luxonis <[email protected]>
Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: SzabolcsGergely <[email protected]>
Co-authored-by: szabi-luxonis <[email protected]>
Co-authored-by: Matevz Morato <[email protected]>
Co-authored-by: moratom <[email protected]>
Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: alex-luxonis <[email protected]>
saching13 added a commit that referenced this issue Jan 29, 2023
@saching13 @alex-luxonis
@themarpe @SzabolcsGergely @moratom @camblomquist @whoactuallycares @diablodale @Erol444
Ros release 2.20.1 (#706)
c8bf70b 
* Update FW: report exposure + iso too in ImgFrame for RGB,
(note: lens position may be reported one frame in advance),
fix black image when initial manual exposure was set with other controls,
fix switching from auto to manual exposure causing the lens to jump to zero
(note: the lens is directly set now with manual focus, bypassing 3A)

* CameraControl setExternalTrigger: add numFramesDiscard param

* CameraControl: add `setManualWhiteBalance(colorTemperatureK)`

* Update FW: reduce ColorCamera still pool: 4 -> 1 frame

* Update FW: support for up to 3x IMX378/IMX477 or 3x OV9782
color cameras. Note: configs for Left and Right sockets must be identical for now

* Fix FW, support for multiple IMX378/477

* Update FW (IMX214 multiple resolutions), add more camera sockets

* Update FW: CAM-D (4th socket) tested, AR0234 support. Note:
if AR0234 sensors are used, cannot be combined with other types at the moment (due to tuning blobs in use)

* Update FW: changes for IMX214/OV7251, other fixes

* Update FW: fix ColorCamera `preview`/`video`/`still` when multiple cameras use these outputs

* Update FW: change SIPP mem alloc to allow 4x ColorCamera to operate at the same time

* Update FW: StereoDepth: fix RGB alignment when running at calib resolution (OAK-D with 800_P or OAK-D-Lite)

* Update FW: fix for IMX378 still output at 12MP

* Update FW: OV9282/9782 img orientation per camera,
fix sync mode

* Update FW: - support for camera modules with IMX380 sensor id,
reusing IMX378 driver (some Arducam IMX577(?))
- soft-reset the sensor before config, to fix streaming with some Arducam modules

* Update FW: IMX577 proper support (0577 sensor ID)

* CameraControl: add setAutoFocusLensRange

* Add `CameraControl::setFrameSyncMode`,
controlling the FSIN pin I/O and camera sync behavior.
Implemented for OV9282/OV9782 for now.
Note: if one camera sets it to OUTPUT, and other(s) to INPUT, the hardware sync will work, but currently there's one frame de-sync in the sequence numbers (first frame is lost from the 'slave' cameras). This will be fixed

* changed spdlog visibility

* Add Device::getConnectedCameraProperties

* Add new predefined resolutions for ColorCamera: THE_1200_P, THE_13_MP

* Update FW: configurable FPS and fix enumeration issues with AR0234

* Added some getters to CameraControl and modified to use chrono where possible

* Update FW: populate `CameraProperties::hasAutofocus`

* OV5645 and 5MP resolution support

* Update FW: fixes for multiple IMX378/477

* Update FW: fixes for OV9282/9782 on CAM-D, fix stereo rectified frame type for color

* Update FW: allow `StereoDepth` to work with `ColorCamera`s,
without having to call `StereoDepth::setInputResolution`

* Add dot-projector/flood-illuminator brightness control for OAK-D-Pro-W, fix OV9782 slow AE due to missing AF

* Allow using AR0234/OV5645 (but at degraded image quality) with other sensors enabled at the same time

* Update FW with multiple fixes:
- properly handle manual/auto focus with multiple cameras
- fix potential init failure with same sensors (IMX378/477/214 / AR0234 / OV5645) on Left and Right sockets
- fix sensor name reporting for AR0234 / IMX378/380/477/577

* Fix CI build (not matching bootloader-shared commits)

* Script: add optional name parameter to `setScriptPath`,
might come handy if the path is long, to have a shorter identifier

* ColorCamera/MonoCamera: add `frameEvent` output, to be used for IR control, etc.

* Update FW: FSYNC for IMX378

* Update FW, add initial support for IMX582/IMX586

* Updates for IMX582 - full 48MP res, temporarily center cropped (5312x6000 out of 8000x6000)

* CameraControl: add STROBE MX-GPIO control, applicable for ext trig mode. AR0234 ext trig:

- `cam[c].initialControl.setExternalTrigger(1, 0)` for snapshot mode (exposure+readout following immediately after trigger)
- `cam[c].initialControl.setFrameSyncMode(dai.CameraControl.FrameSyncMode.INPUT)` for multiple devices sync (frame time is aligned, exposure could be different per device)

Note: sensor trigger pin reacts on rising edge signal, and keeping the line high will cause repeated triggering.

* Pipeline: add `setImageManipCmxSizeAdjust`

* FW: fixes for 48MP camera, FW build for previous commits

* Fix ColorCamera::getSensorCrop calculation for AUTO, was returning zero

* WIP - flashUserBootloader

* Updated Bootloader and added example

* Added monitor thread for DeviceBootloader

* Added explicit isUserBootloader call

* Updated Bootloader for better User Bootloader support

* MonoCamera: add frame pool size config API

* Removed device_information and multi_roi from tests

* Updated FW with ImageManip dynamic memory allocation

* Disabled LATEX generation for docs

* Added Warp node

* Applied style

* Set Yolo default iou threshold to 0.5

* Exposed Bootloader version available when booting a device in bootloader state

* [Warp] Exposed HW engines used and interpolation

* ImgFrame: add `getColorTemperature`. FW: fix exp/iso report for MonoCamera

* CameraControl: update API docs, specify some defaults

* Rename CameraProperties -> CameraFeatures

* Added a sign cast to max user bootloader size check

* Revert "Pipeline: add `setImageManipCmxSizeAdjust`"

This reverts commit 591a98b.

* Fix typo and add calibration_factory_reset example

* Don't use the example as a part of the testing suite

Co-authored-by: TheMarpe <[email protected]>

* DEPTHAI_DEBUG=1 env var to enable `logDevicePrints`, ColorCamera: THE_12P0_MP, THE_5312X6000

* Update FW, shared: clangformat

* `make clangformat`: calibration_factory_reset.cpp, depthai-shared,
FW: increase an internal queue size for frameEvent

* Exposed Timesync configurability

* Docs fixes

* Add support for yolov6r2 parsing

* Expand spatial image detections with original config

* Update CPP examples

* Add getTimestamp and getTimestampDevice getter to IMU packets

* Update IMU examples

* Add THE_1200_P for AR0234 MonoCamera

* Several FW updates:
- !!! For all sockets/cameras to be scanned, the EEPROM calib data boardName/productName should contain "FFC" or an FFC-related board name: 1090/2090/2088. Otherwise the behavior is to scan only for standard OAK devices sockets/cameras
- Some more checks for the LCM48 (on MAX) supported resolutions
- Fixes for RGB-mono SW-sync for standard OAK-D / OAK-D-Lite camera configs
- AR0234 monochrome support, however needs an OV9282 enabled at the same time for now

* Color/MonoCamera: handle some more cases for newly added resolutions/sockets

* Update shared/FW after merge, fix error log printed for MonoCamera AUTO socket

* Closes: #355

* Bump version to 2.18.0

* Updated FW with some Color/MonoCamera fixes

* stability test

* Update FW:
- fix for high system load crash, especially on PoE devices
- for for OV9282 as MonoCamera on RGB/CAM_A socket

* FW: OV9282 720p/800p max FPS: 60 -> 120

* stability test

* Added a convinience setTimesync function

* Added isUserBootloaderSupported to DeviceBootloader

* Updated XLink with Windows improvements when scanning for already booted USB devices

* Updated FW with device time reset on boot

* Bump to v2.19.0

* Improved wording on unavailable devices

* Fix yolo v5 decoding when there is a single class

* FW: fixes for certain OV9782 and OV9282 permutations/configs,
fix for OV9782/OV9282 alone failing on RGB/CAM_A socket

* Update CI to Node16 compatible actions

* Update FW: fix image size when decimation filter is enabled

* Stability test - limit FPS (#633)

* Print CPU usage

* Limit the FPS so POE devices aren't maxed out

* Increase FPS

* Reverse changes to the system logger example

Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: Matevz Morato <[email protected]>

* Added getProductName

* Added ids to IO for trace events

* Modified pipeline schema dump to happen on trace log level as well

* Renamed to getDeviceName and added some legacy handling

* Updated FW with productName as protected field and ImageManip behavior revert

* Updated style

* Added IR driver support for new OAK-FFC 4P

* FW: bugfix for device bootup with default static IP

* OAK-FFC 4P R5M1E5 IR/Dot support

* Bump to v2.19.1

* Added EepromError exception class and improved exception handling in calibration related methods

* Increased limit on DeviceBootloader monitor timeout

* Fixed check for user-provided toolchain file when given relative path (#645)

* Fixed check for user-provided toolchain file when given relative path

* WIP: camera/socket board configuration and capability to specify name/alias for a camera instead of socket

* Updated Bootloader to v0.0.22

* Added camera naming capabilites, setting and retrieving. WIP: rest of devices

* FW/CameraControl: fix still-capture for sockets other than RGB/center

* [FW] Fixed ImageManip + Subpixel issues and added FFC camera naming

* get/set camera FrameEvent filter

* Update depthai-shared submodule

* Disable depthai-shared commit hash check

* Change github workflows ubuntu version

* Update submodule

* Rename event filter

* fix #650 missing XLinkProtocolToStr() (#657)

- add local xlinkproto -> string from
  luxonis/XLink/tree/5c61615066af6539e50a4a17b5df3466e4350b21

* Updated grammar

* Update firmware

* WIP: Camera node

* Added capability to set XLink logging level via XLINK_LEVEL env var

* Replace "_CMAKE_" variables with "_DEPTHAI_" (#662)

"_CMAKE_" variables are reserved for internal use and should not be used.
This change also makes it harder for other CMake scripts to accidentall overwrite this variable.

Co-authored-by: Cameron Blomquist <[email protected]>

* Add comments

* Update FW: Add missing python bindings for boundingBoxMapping

* Updated NETWORK Bootloader with dual protocol capabilities

* [FW] Fixed a bug in board downselection. OAK-D S2/Pro camera enumeration fix.

* [FW] Added support for Mono video/preview in Camera node

* CI - Fixed style & tidy jobs

* Updated dual BL to v0.0.23 temporary build

* Added OAK-D-LR support. WIP: Orientation capability

* [FW/XLink] Explicitly limited to single connection

* ImageManip added colormap capability. TODO min/max range selection

* Add option to override baseline and/or focal length for disparity to depth conversion

* [FW] OAK-D-LR - Fixed default image orientation

* Updated brief description that affects docs of the DetectionParser node.

* Modified API of Camera a bit

* Updated FW with Camera changes and warp capabilities

* Updated FW with Camera warp capabilities

* Added dai::span

* Added undistort/warp API to Camera node

* FW - Modifed watchdog to do a graceful reset instead

* Added additional API to retrieve timestamps at various exposure points

* Fixed documentation on ObjectTracker::setMaxObjectsToTrack

* WIP: mockIsp capabilities

* [FW] Fix for CAM_C not being detected

* Device - Added non exclusive boot option

* Slight Colormap API improvements

* [FW] Added OpenVINO version 'universal'

* Added DeviceBase convinience constructors taking name or deviceid as string

* Disabled some of the functionality for now

* Tweaked getTimestamp & exposure offset API

* FW: IMX296 support, added THE_1440x1080 resolution

* FW: IMX296 Camera node, IMX378 1080p limited to 60fps

* Bump version to 2.20.0

* Applied formatting

* Temporary revert to macos-11 for CI due to Catch2 issues

* Modified OpenVINO::VERSION_UNIVERSAL

* Updated Bootloader to 0.0.24

* Bump version and FW to 2.20.1 (Status LEDs improvement)

* calibration_flash example fix

* removed old functions

* updated changelogs

* updated package.xml

---------

Co-authored-by: alex-luxonis <[email protected]>
Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: SzabolcsGergely <[email protected]>
Co-authored-by: szabi-luxonis <[email protected]>
Co-authored-by: Matevz Morato <[email protected]>
Co-authored-by: moratom <[email protected]>
Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: alex-luxonis <[email protected]>
Co-authored-by: camblomquist <[email protected]>
Co-authored-by: Tommy <[email protected]>
Co-authored-by: Dale Phurrough <[email protected]>
Co-authored-by: Erol444 <[email protected]>
Co-authored-by: Cameron Blomquist <[email protected]>
saching13 added a commit that referenced this issue Feb 1, 2023
@saching13 @alex-luxonis
@themarpe @SzabolcsGergely @moratom @camblomquist @whoactuallycares @diablodale @Erol444
Ros release 2.20.2 (#708)
58c1db6 
* CameraControl: add `setManualWhiteBalance(colorTemperatureK)`

* Update FW: reduce ColorCamera still pool: 4 -> 1 frame

* Update FW: support for up to 3x IMX378/IMX477 or 3x OV9782
color cameras. Note: configs for Left and Right sockets must be identical for now

* Fix FW, support for multiple IMX378/477

* Update FW (IMX214 multiple resolutions), add more camera sockets

* Update FW: CAM-D (4th socket) tested, AR0234 support. Note:
if AR0234 sensors are used, cannot be combined with other types at the moment (due to tuning blobs in use)

* Update FW: changes for IMX214/OV7251, other fixes

* Update FW: fix ColorCamera `preview`/`video`/`still` when multiple cameras use these outputs

* Update FW: change SIPP mem alloc to allow 4x ColorCamera to operate at the same time

* Update FW: StereoDepth: fix RGB alignment when running at calib resolution (OAK-D with 800_P or OAK-D-Lite)

* Update FW: fix for IMX378 still output at 12MP

* Update FW: OV9282/9782 img orientation per camera,
fix sync mode

* Update FW: - support for camera modules with IMX380 sensor id,
reusing IMX378 driver (some Arducam IMX577(?))
- soft-reset the sensor before config, to fix streaming with some Arducam modules

* Update FW: IMX577 proper support (0577 sensor ID)

* CameraControl: add setAutoFocusLensRange

* Add `CameraControl::setFrameSyncMode`,
controlling the FSIN pin I/O and camera sync behavior.
Implemented for OV9282/OV9782 for now.
Note: if one camera sets it to OUTPUT, and other(s) to INPUT, the hardware sync will work, but currently there's one frame de-sync in the sequence numbers (first frame is lost from the 'slave' cameras). This will be fixed

* changed spdlog visibility

* Add Device::getConnectedCameraProperties

* Add new predefined resolutions for ColorCamera: THE_1200_P, THE_13_MP

* Update FW: configurable FPS and fix enumeration issues with AR0234

* Added some getters to CameraControl and modified to use chrono where possible

* Update FW: populate `CameraProperties::hasAutofocus`

* OV5645 and 5MP resolution support

* Update FW: fixes for multiple IMX378/477

* Update FW: fixes for OV9282/9782 on CAM-D, fix stereo rectified frame type for color

* Update FW: allow `StereoDepth` to work with `ColorCamera`s,
without having to call `StereoDepth::setInputResolution`

* Add dot-projector/flood-illuminator brightness control for OAK-D-Pro-W, fix OV9782 slow AE due to missing AF

* Allow using AR0234/OV5645 (but at degraded image quality) with other sensors enabled at the same time

* Update FW with multiple fixes:
- properly handle manual/auto focus with multiple cameras
- fix potential init failure with same sensors (IMX378/477/214 / AR0234 / OV5645) on Left and Right sockets
- fix sensor name reporting for AR0234 / IMX378/380/477/577

* Fix CI build (not matching bootloader-shared commits)

* Script: add optional name parameter to `setScriptPath`,
might come handy if the path is long, to have a shorter identifier

* ColorCamera/MonoCamera: add `frameEvent` output, to be used for IR control, etc.

* Update FW: FSYNC for IMX378

* Update FW, add initial support for IMX582/IMX586

* Updates for IMX582 - full 48MP res, temporarily center cropped (5312x6000 out of 8000x6000)

* CameraControl: add STROBE MX-GPIO control, applicable for ext trig mode. AR0234 ext trig:

- `cam[c].initialControl.setExternalTrigger(1, 0)` for snapshot mode (exposure+readout following immediately after trigger)
- `cam[c].initialControl.setFrameSyncMode(dai.CameraControl.FrameSyncMode.INPUT)` for multiple devices sync (frame time is aligned, exposure could be different per device)

Note: sensor trigger pin reacts on rising edge signal, and keeping the line high will cause repeated triggering.

* Pipeline: add `setImageManipCmxSizeAdjust`

* FW: fixes for 48MP camera, FW build for previous commits

* Fix ColorCamera::getSensorCrop calculation for AUTO, was returning zero

* WIP - flashUserBootloader

* Updated Bootloader and added example

* Added monitor thread for DeviceBootloader

* Added explicit isUserBootloader call

* Updated Bootloader for better User Bootloader support

* MonoCamera: add frame pool size config API

* Removed device_information and multi_roi from tests

* Updated FW with ImageManip dynamic memory allocation

* Disabled LATEX generation for docs

* Added Warp node

* Applied style

* Set Yolo default iou threshold to 0.5

* Exposed Bootloader version available when booting a device in bootloader state

* [Warp] Exposed HW engines used and interpolation

* ImgFrame: add `getColorTemperature`. FW: fix exp/iso report for MonoCamera

* CameraControl: update API docs, specify some defaults

* Rename CameraProperties -> CameraFeatures

* Added a sign cast to max user bootloader size check

* Revert "Pipeline: add `setImageManipCmxSizeAdjust`"

This reverts commit 591a98b.

* Fix typo and add calibration_factory_reset example

* Don't use the example as a part of the testing suite

Co-authored-by: TheMarpe <[email protected]>

* DEPTHAI_DEBUG=1 env var to enable `logDevicePrints`, ColorCamera: THE_12P0_MP, THE_5312X6000

* Update FW, shared: clangformat

* `make clangformat`: calibration_factory_reset.cpp, depthai-shared,
FW: increase an internal queue size for frameEvent

* Exposed Timesync configurability

* Docs fixes

* Add support for yolov6r2 parsing

* Expand spatial image detections with original config

* Update CPP examples

* Add getTimestamp and getTimestampDevice getter to IMU packets

* Update IMU examples

* Add THE_1200_P for AR0234 MonoCamera

* Several FW updates:
- !!! For all sockets/cameras to be scanned, the EEPROM calib data boardName/productName should contain "FFC" or an FFC-related board name: 1090/2090/2088. Otherwise the behavior is to scan only for standard OAK devices sockets/cameras
- Some more checks for the LCM48 (on MAX) supported resolutions
- Fixes for RGB-mono SW-sync for standard OAK-D / OAK-D-Lite camera configs
- AR0234 monochrome support, however needs an OV9282 enabled at the same time for now

* Color/MonoCamera: handle some more cases for newly added resolutions/sockets

* Update shared/FW after merge, fix error log printed for MonoCamera AUTO socket

* Closes: #355

* Bump version to 2.18.0

* Updated FW with some Color/MonoCamera fixes

* stability test

* Update FW:
- fix for high system load crash, especially on PoE devices
- for for OV9282 as MonoCamera on RGB/CAM_A socket

* FW: OV9282 720p/800p max FPS: 60 -> 120

* stability test

* Added a convinience setTimesync function

* Added isUserBootloaderSupported to DeviceBootloader

* Updated XLink with Windows improvements when scanning for already booted USB devices

* Updated FW with device time reset on boot

* Bump to v2.19.0

* Improved wording on unavailable devices

* Fix yolo v5 decoding when there is a single class

* FW: fixes for certain OV9782 and OV9282 permutations/configs,
fix for OV9782/OV9282 alone failing on RGB/CAM_A socket

* Update CI to Node16 compatible actions

* Update FW: fix image size when decimation filter is enabled

* Stability test - limit FPS (#633)

* Print CPU usage

* Limit the FPS so POE devices aren't maxed out

* Increase FPS

* Reverse changes to the system logger example

Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: Matevz Morato <[email protected]>

* Added getProductName

* Added ids to IO for trace events

* Modified pipeline schema dump to happen on trace log level as well

* Renamed to getDeviceName and added some legacy handling

* Updated FW with productName as protected field and ImageManip behavior revert

* Updated style

* Added IR driver support for new OAK-FFC 4P

* FW: bugfix for device bootup with default static IP

* OAK-FFC 4P R5M1E5 IR/Dot support

* Bump to v2.19.1

* Added EepromError exception class and improved exception handling in calibration related methods

* Increased limit on DeviceBootloader monitor timeout

* Fixed check for user-provided toolchain file when given relative path (#645)

* Fixed check for user-provided toolchain file when given relative path

* WIP: camera/socket board configuration and capability to specify name/alias for a camera instead of socket

* Updated Bootloader to v0.0.22

* Added camera naming capabilites, setting and retrieving. WIP: rest of devices

* FW/CameraControl: fix still-capture for sockets other than RGB/center

* [FW] Fixed ImageManip + Subpixel issues and added FFC camera naming

* get/set camera FrameEvent filter

* Update depthai-shared submodule

* Disable depthai-shared commit hash check

* Change github workflows ubuntu version

* Update submodule

* Rename event filter

* fix #650 missing XLinkProtocolToStr() (#657)

- add local xlinkproto -> string from
  luxonis/XLink/tree/5c61615066af6539e50a4a17b5df3466e4350b21

* Updated grammar

* Update firmware

* WIP: Camera node

* Added capability to set XLink logging level via XLINK_LEVEL env var

* Replace "_CMAKE_" variables with "_DEPTHAI_" (#662)

"_CMAKE_" variables are reserved for internal use and should not be used.
This change also makes it harder for other CMake scripts to accidentall overwrite this variable.

Co-authored-by: Cameron Blomquist <[email protected]>

* Add comments

* Update FW: Add missing python bindings for boundingBoxMapping

* Updated NETWORK Bootloader with dual protocol capabilities

* [FW] Fixed a bug in board downselection. OAK-D S2/Pro camera enumeration fix.

* [FW] Added support for Mono video/preview in Camera node

* CI - Fixed style & tidy jobs

* Updated dual BL to v0.0.23 temporary build

* Added OAK-D-LR support. WIP: Orientation capability

* [FW/XLink] Explicitly limited to single connection

* ImageManip added colormap capability. TODO min/max range selection

* Add option to override baseline and/or focal length for disparity to depth conversion

* [FW] OAK-D-LR - Fixed default image orientation

* Updated brief description that affects docs of the DetectionParser node.

* Modified API of Camera a bit

* Updated FW with Camera changes and warp capabilities

* Updated FW with Camera warp capabilities

* Added dai::span

* Added undistort/warp API to Camera node

* FW - Modifed watchdog to do a graceful reset instead

* Added additional API to retrieve timestamps at various exposure points

* Fixed documentation on ObjectTracker::setMaxObjectsToTrack

* WIP: mockIsp capabilities

* [FW] Fix for CAM_C not being detected

* Device - Added non exclusive boot option

* Slight Colormap API improvements

* [FW] Added OpenVINO version 'universal'

* Added DeviceBase convinience constructors taking name or deviceid as string

* Disabled some of the functionality for now

* Tweaked getTimestamp & exposure offset API

* FW: IMX296 support, added THE_1440x1080 resolution

* FW: IMX296 Camera node, IMX378 1080p limited to 60fps

* Bump version to 2.20.0

* Applied formatting

* Temporary revert to macos-11 for CI due to Catch2 issues

* Modified OpenVINO::VERSION_UNIVERSAL

* Updated Bootloader to 0.0.24

* Bump version and FW to 2.20.1 (Status LEDs improvement)

* calibration_flash example fix

* FW: fix crash with ColorCamera at high resolution and certain ISP scaling

* Bump version to 2.20.2

* Added an ColorCamera isp scale example, and modified test workflow

* FW: fix OV9282 SW-sync on devices with OV9782 RGB camera

* FW: fix for IMX378/477/577 on sockets other than RGB

---------

Co-authored-by: alex-luxonis <[email protected]>
Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: SzabolcsGergely <[email protected]>
Co-authored-by: szabi-luxonis <[email protected]>
Co-authored-by: Matevz Morato <[email protected]>
Co-authored-by: moratom <[email protected]>
Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: alex-luxonis <[email protected]>
Co-authored-by: camblomquist <[email protected]>
Co-authored-by: Tommy <[email protected]>
Co-authored-by: Dale Phurrough <[email protected]>
Co-authored-by: Erol444 <[email protected]>
Co-authored-by: Cameron Blomquist <[email protected]>
saching13 added a commit that referenced this issue Apr 3, 2023
@saching13 @alex-luxonis
@themarpe @SzabolcsGergely @moratom @camblomquist @whoactuallycares @diablodale @Erol444 @anonymous-1000 @onuralpszr
Ros release 2.21.0 (#795)
0dc56ee 
* Several FW updates:
- !!! For all sockets/cameras to be scanned, the EEPROM calib data boardName/productName should contain "FFC" or an FFC-related board name: 1090/2090/2088. Otherwise the behavior is to scan only for standard OAK devices sockets/cameras
- Some more checks for the LCM48 (on MAX) supported resolutions
- Fixes for RGB-mono SW-sync for standard OAK-D / OAK-D-Lite camera configs
- AR0234 monochrome support, however needs an OV9282 enabled at the same time for now

* Color/MonoCamera: handle some more cases for newly added resolutions/sockets

* Update shared/FW after merge, fix error log printed for MonoCamera AUTO socket

* Closes: #355

* Bump version to 2.18.0

* Updated FW with some Color/MonoCamera fixes

* stability test

* Update FW:
- fix for high system load crash, especially on PoE devices
- for for OV9282 as MonoCamera on RGB/CAM_A socket

* FW: OV9282 720p/800p max FPS: 60 -> 120

* stability test

* Added a convinience setTimesync function

* Added isUserBootloaderSupported to DeviceBootloader

* Updated XLink with Windows improvements when scanning for already booted USB devices

* Updated FW with device time reset on boot

* Bump to v2.19.0

* Improved wording on unavailable devices

* Fix yolo v5 decoding when there is a single class

* FW: fixes for certain OV9782 and OV9282 permutations/configs,
fix for OV9782/OV9282 alone failing on RGB/CAM_A socket

* Update CI to Node16 compatible actions

* Update FW: fix image size when decimation filter is enabled

* Stability test - limit FPS (#633)

* Print CPU usage

* Limit the FPS so POE devices aren't maxed out

* Increase FPS

* Reverse changes to the system logger example

Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: Matevz Morato <[email protected]>

* Added getProductName

* Added ids to IO for trace events

* Modified pipeline schema dump to happen on trace log level as well

* Renamed to getDeviceName and added some legacy handling

* Updated FW with productName as protected field and ImageManip behavior revert

* Updated style

* Added IR driver support for new OAK-FFC 4P

* FW: bugfix for device bootup with default static IP

* OAK-FFC 4P R5M1E5 IR/Dot support

* Bump to v2.19.1

* Added EepromError exception class and improved exception handling in calibration related methods

* Increased limit on DeviceBootloader monitor timeout

* Fixed check for user-provided toolchain file when given relative path (#645)

* Fixed check for user-provided toolchain file when given relative path

* WIP: camera/socket board configuration and capability to specify name/alias for a camera instead of socket

* Updated Bootloader to v0.0.22

* Added camera naming capabilites, setting and retrieving. WIP: rest of devices

* FW/CameraControl: fix still-capture for sockets other than RGB/center

* [FW] Fixed ImageManip + Subpixel issues and added FFC camera naming

* get/set camera FrameEvent filter

* Update depthai-shared submodule

* Disable depthai-shared commit hash check

* Change github workflows ubuntu version

* Update submodule

* Rename event filter

* fix #650 missing XLinkProtocolToStr() (#657)

- add local xlinkproto -> string from
  luxonis/XLink/tree/5c61615066af6539e50a4a17b5df3466e4350b21

* Updated grammar

* Update firmware

* WIP: Camera node

* Added capability to set XLink logging level via XLINK_LEVEL env var

* Replace "_CMAKE_" variables with "_DEPTHAI_" (#662)

"_CMAKE_" variables are reserved for internal use and should not be used.
This change also makes it harder for other CMake scripts to accidentall overwrite this variable.

Co-authored-by: Cameron Blomquist <[email protected]>

* Add comments

* Update FW: Add missing python bindings for boundingBoxMapping

* Updated NETWORK Bootloader with dual protocol capabilities

* [FW] Fixed a bug in board downselection. OAK-D S2/Pro camera enumeration fix.

* [FW] Added support for Mono video/preview in Camera node

* CI - Fixed style & tidy jobs

* Updated dual BL to v0.0.23 temporary build

* Added OAK-D-LR support. WIP: Orientation capability

* [FW/XLink] Explicitly limited to single connection

* ImageManip added colormap capability. TODO min/max range selection

* Add option to override baseline and/or focal length for disparity to depth conversion

* [FW] OAK-D-LR - Fixed default image orientation

* Updated brief description that affects docs of the DetectionParser node.

* Modified API of Camera a bit

* Updated FW with Camera changes and warp capabilities

* Updated FW with Camera warp capabilities

* Added dai::span

* Added undistort/warp API to Camera node

* FW - Modifed watchdog to do a graceful reset instead

* Added additional API to retrieve timestamps at various exposure points

* Fixed documentation on ObjectTracker::setMaxObjectsToTrack

* WIP: mockIsp capabilities

* [FW] Fix for CAM_C not being detected

* Device - Added non exclusive boot option

* Slight Colormap API improvements

* [FW] Added OpenVINO version 'universal'

* Added DeviceBase convinience constructors taking name or deviceid as string

* Add mode and median support to SLC

* Disabled some of the functionality for now

* Tweaked getTimestamp & exposure offset API

* FW: IMX296 support, added THE_1440x1080 resolution

* FW: IMX296 Camera node, IMX378 1080p limited to 60fps

* Bump version to 2.20.0

* Applied formatting

* Temporary revert to macos-11 for CI due to Catch2 issues

* Update FW, API

* Update FW

* Modified OpenVINO::VERSION_UNIVERSAL

* Updated Bootloader to 0.0.24

* Bump version and FW to 2.20.1 (Status LEDs improvement)

* calibration_flash example fix

* Fixed api docs for Warp HW ids

* FW: fix crash with ColorCamera at high resolution and certain ISP scaling

* FW: fix crash with ColorCamera at high resolution and certain ISP scaling

* Bump version to 2.20.2

* Added an ColorCamera isp scale example, and modified test workflow

* Implement multi stereo support

* Implement brightness filter

* FW: fix OV9282 SW-sync on devices with OV9782 RGB camera

* Update FW: Fix OOM due to too many SIPP pipelines

* Modified default device config OpenVINO version to universal

* Merge branch 'catch2_update'

* FW: handle EEPROM `boardOptions` bit 7 for separate I2C on L/R

* FW: fix for IMX378/477/577 on sockets other than RGB

* Update FW: support for stereo alignment to original left or right inputs; OOM fix for 4 stereo nodes with median filter

* Update FW: parsing optimization and improvements for Yolo v6, v6r2, v8

* Update FW w/ syncing stall fix

* Update stereo with more robust frame sync

* Update FW with optional override of spec translation for stereo algorithm calculations

* Correct type

* Update SPIOut.hpp

to address error C4458: declaration of 'id' hides class member

* Expose center alignment scale factor for debug purposes

* Expose SIPP mempool configurable sizes

* Update FW

* Fixed usage of DeviceBootloader with incomplete DeviceInfo and added a convinience constructor

* Closes: #714

* Add alpha scaling option for StereoDepth

* Update FW before merge

* Update FW with RGB alignment fix

* Update FW with performance metrics when DEPTHAI_LEVEL=info is enabled; enable brightness filter for 0 intensity pixels by default

* Improve spatial calculation X and Y accuracy; fix RGB alignment when custom output depth size is specified

* [XLink] Increased max number of links from 32 to 64

* Add crash dump functionality

* Change API to return just crash dump

* Update FW with commit hash attached to crash dump

* Update FW with fix for serialization of thread name

* Add hasCrashDump API

* Update FW

* Update FW, crash dump contains device ID

* Enable MEDAIN spatial calculation method for SpatialDetectionNetwork

* Update FW

* Update docs

* FW: HW sync (trigger mode) enabled for OAK-D-LR, for cameras with matching FPS

* Change default SIPP buffer sizes

* Add 3A skipping option to reduce CPU usage

* Change API to be able to configure isp 3A FPS

* Update BoarConfig with limits

* Update script node python bindings

* Update FW: Add workaround for BNO sequence number limit of 256 (sensors sends uint8)

* FW: camera sensor improvements:
- AR0234 improved AE smoothness, increased max gain to 400x (first 25.6x analog),
- OV9782 on RGB/CAM-A socket max FPS: 120 (previously was only for OV9282), also improves image quality in very bright light,
- OV9782/9282 minimum exposure time decreased: 20us -> 10us, helps in very bright light. TODO update tuning to make use of it, currently only possible to use with manual exposure

* Update stereo_depth_video.cpp

* Enable interrupt mode: Update BMI driver with fixes from: boschsensortec/BMI270_SensorAPI#16

* Update ObjectTracker with improvements from rvc3

* Add API to set trackingPerClass in ObjectTracker node

* Update FW before merge

* Update FW with IMU fix for BNO

* Add IMU versioning; firmware versioning, firmware update status callbacks

* Update FW with fix for BMI timestamp

* Update FW: IMU support for OAK-D-SR

* Fix 'default constrictible' error on some compilers

* Update FW

* Add IMU FW update RPC

* Updated yolo description

* Update examples

* Update FW with deprecation warning for enableFirmwareUpdate

* Change imu version to imu type

* Update FW before merge

* Added C++14 requirement to examples & tests

* Tweaked crash_report example

* [FW] Added missing bindings for CameraControl and ImgFrame

* Update FW with fix for calibration load example

* fix stability_stress_test fail to link on ubuntu

- fixes #769

* fix isClosed/checkClosed threading, rpcClient exceptions

- remove thread-unsafe checkClosed()
- update isClosed() doxygen + comments
- protect DataInputQueue::maxDataSize with std::atomic
- remove unused dai::DeviceBase::rpcStream
- fixes #520

* fix var hides class member, this-> in constructors

- fix few compile warn 'ex' unreferenced local variable
- rename setBusId() param to not hide class member
- refactor XLinkConnection constructors
- partial fix #247

* fix: stdexcept header added for std::runtime_error

Signed-off-by: Onuralp SEZER <[email protected]>

* [FW] Removed UTF-8 degree sign from temperature prints. Closes: #773

* Move sipp buffer size from BoardConfig to GlobalProperties

* Update style

* Partially reverted bce1444 - only kept the C++14 specified in examples, tests already had the version specified

* [Stereo] Add option to invalidate edge pixels on disparity/depth frame

* Update FW: handle disparity flipping

* Update FW: support for stereo.setOutputSize when LEFT or RIGHT alignment is set

* Update FW: support for stereo between RGB and LEFT/RIGHT

* [FW] ImageManip CSC improvements, New boards and power cycle fix

* FW: fix for UART0 / '/dev/ttyS0' init failure in Script node

* Update FW with fix for USB devices stuck after reboot

* Release v2.21.0

* updated version and changelot

* removed merge missing functions

---------

Signed-off-by: Onuralp SEZER <[email protected]>
Co-authored-by: alex-luxonis <[email protected]>
Co-authored-by: alex-luxonis <[email protected]>
Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: SzabolcsGergely <[email protected]>
Co-authored-by: szabi-luxonis <[email protected]>
Co-authored-by: moratom <[email protected]>
Co-authored-by: Matevz Morato <[email protected]>
Co-authored-by: camblomquist <[email protected]>
Co-authored-by: Tommy <[email protected]>
Co-authored-by: Dale Phurrough <[email protected]>
Co-authored-by: Erol444 <[email protected]>
Co-authored-by: Cameron Blomquist <[email protected]>
Co-authored-by: anonymous-1000 <[email protected]>
Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: Onuralp SEZER <[email protected]>
saching13 added a commit that referenced this issue Apr 6, 2023
@saching13 @themarpe
@SzabolcsGergely @alex-luxonis @moratom @camblomquist @whoactuallycares @diablodale @Erol444 @anonymous-1000 @onuralpszr
Ros release 2.21.2 (#798)
8839575 
* Closes: #355

* Bump version to 2.18.0

* Updated FW with some Color/MonoCamera fixes

* stability test

* Update FW:
- fix for high system load crash, especially on PoE devices
- for for OV9282 as MonoCamera on RGB/CAM_A socket

* FW: OV9282 720p/800p max FPS: 60 -> 120

* stability test

* Added a convinience setTimesync function

* Added isUserBootloaderSupported to DeviceBootloader

* Updated XLink with Windows improvements when scanning for already booted USB devices

* Updated FW with device time reset on boot

* Bump to v2.19.0

* Improved wording on unavailable devices

* Fix yolo v5 decoding when there is a single class

* FW: fixes for certain OV9782 and OV9282 permutations/configs,
fix for OV9782/OV9282 alone failing on RGB/CAM_A socket

* Update CI to Node16 compatible actions

* Update FW: fix image size when decimation filter is enabled

* Stability test - limit FPS (#633)

* Print CPU usage

* Limit the FPS so POE devices aren't maxed out

* Increase FPS

* Reverse changes to the system logger example

Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: Matevz Morato <[email protected]>

* Added getProductName

* Added ids to IO for trace events

* Modified pipeline schema dump to happen on trace log level as well

* Renamed to getDeviceName and added some legacy handling

* Updated FW with productName as protected field and ImageManip behavior revert

* Updated style

* Added IR driver support for new OAK-FFC 4P

* FW: bugfix for device bootup with default static IP

* OAK-FFC 4P R5M1E5 IR/Dot support

* Bump to v2.19.1

* Added EepromError exception class and improved exception handling in calibration related methods

* Increased limit on DeviceBootloader monitor timeout

* Fixed check for user-provided toolchain file when given relative path (#645)

* Fixed check for user-provided toolchain file when given relative path

* WIP: camera/socket board configuration and capability to specify name/alias for a camera instead of socket

* Updated Bootloader to v0.0.22

* Added camera naming capabilites, setting and retrieving. WIP: rest of devices

* FW/CameraControl: fix still-capture for sockets other than RGB/center

* [FW] Fixed ImageManip + Subpixel issues and added FFC camera naming

* get/set camera FrameEvent filter

* Update depthai-shared submodule

* Disable depthai-shared commit hash check

* Change github workflows ubuntu version

* Update submodule

* Rename event filter

* fix #650 missing XLinkProtocolToStr() (#657)

- add local xlinkproto -> string from
  luxonis/XLink/tree/5c61615066af6539e50a4a17b5df3466e4350b21

* Updated grammar

* Update firmware

* WIP: Camera node

* Added capability to set XLink logging level via XLINK_LEVEL env var

* Replace "_CMAKE_" variables with "_DEPTHAI_" (#662)

"_CMAKE_" variables are reserved for internal use and should not be used.
This change also makes it harder for other CMake scripts to accidentall overwrite this variable.

Co-authored-by: Cameron Blomquist <[email protected]>

* Add comments

* Update FW: Add missing python bindings for boundingBoxMapping

* Updated NETWORK Bootloader with dual protocol capabilities

* [FW] Fixed a bug in board downselection. OAK-D S2/Pro camera enumeration fix.

* [FW] Added support for Mono video/preview in Camera node

* CI - Fixed style & tidy jobs

* Updated dual BL to v0.0.23 temporary build

* Added OAK-D-LR support. WIP: Orientation capability

* [FW/XLink] Explicitly limited to single connection

* ImageManip added colormap capability. TODO min/max range selection

* Add option to override baseline and/or focal length for disparity to depth conversion

* [FW] OAK-D-LR - Fixed default image orientation

* Updated brief description that affects docs of the DetectionParser node.

* Modified API of Camera a bit

* Updated FW with Camera changes and warp capabilities

* Updated FW with Camera warp capabilities

* Added dai::span

* Added undistort/warp API to Camera node

* FW - Modifed watchdog to do a graceful reset instead

* Added additional API to retrieve timestamps at various exposure points

* Fixed documentation on ObjectTracker::setMaxObjectsToTrack

* WIP: mockIsp capabilities

* [FW] Fix for CAM_C not being detected

* Device - Added non exclusive boot option

* Slight Colormap API improvements

* [FW] Added OpenVINO version 'universal'

* Added DeviceBase convinience constructors taking name or deviceid as string

* Add mode and median support to SLC

* Disabled some of the functionality for now

* Tweaked getTimestamp & exposure offset API

* FW: IMX296 support, added THE_1440x1080 resolution

* FW: IMX296 Camera node, IMX378 1080p limited to 60fps

* Bump version to 2.20.0

* Applied formatting

* Temporary revert to macos-11 for CI due to Catch2 issues

* Update FW, API

* Update FW

* Modified OpenVINO::VERSION_UNIVERSAL

* Updated Bootloader to 0.0.24

* Bump version and FW to 2.20.1 (Status LEDs improvement)

* calibration_flash example fix

* Fixed api docs for Warp HW ids

* FW: fix crash with ColorCamera at high resolution and certain ISP scaling

* FW: fix crash with ColorCamera at high resolution and certain ISP scaling

* Bump version to 2.20.2

* Added an ColorCamera isp scale example, and modified test workflow

* Implement multi stereo support

* Implement brightness filter

* FW: fix OV9282 SW-sync on devices with OV9782 RGB camera

* Update FW: Fix OOM due to too many SIPP pipelines

* Modified default device config OpenVINO version to universal

* Merge branch 'catch2_update'

* FW: handle EEPROM `boardOptions` bit 7 for separate I2C on L/R

* FW: fix for IMX378/477/577 on sockets other than RGB

* Update FW: support for stereo alignment to original left or right inputs; OOM fix for 4 stereo nodes with median filter

* Update FW: parsing optimization and improvements for Yolo v6, v6r2, v8

* Update FW w/ syncing stall fix

* Update stereo with more robust frame sync

* Update FW with optional override of spec translation for stereo algorithm calculations

* Correct type

* Update SPIOut.hpp

to address error C4458: declaration of 'id' hides class member

* Expose center alignment scale factor for debug purposes

* Expose SIPP mempool configurable sizes

* Update FW

* Fixed usage of DeviceBootloader with incomplete DeviceInfo and added a convinience constructor

* Closes: #714

* Add alpha scaling option for StereoDepth

* Update FW before merge

* Update FW with RGB alignment fix

* Update FW with performance metrics when DEPTHAI_LEVEL=info is enabled; enable brightness filter for 0 intensity pixels by default

* Improve spatial calculation X and Y accuracy; fix RGB alignment when custom output depth size is specified

* [XLink] Increased max number of links from 32 to 64

* Add crash dump functionality

* Change API to return just crash dump

* Update FW with commit hash attached to crash dump

* Update FW with fix for serialization of thread name

* Add hasCrashDump API

* Update FW

* Update FW, crash dump contains device ID

* Enable MEDAIN spatial calculation method for SpatialDetectionNetwork

* Update FW

* Update docs

* FW: HW sync (trigger mode) enabled for OAK-D-LR, for cameras with matching FPS

* Change default SIPP buffer sizes

* Add 3A skipping option to reduce CPU usage

* Change API to be able to configure isp 3A FPS

* Update BoarConfig with limits

* Update script node python bindings

* Update FW: Add workaround for BNO sequence number limit of 256 (sensors sends uint8)

* FW: camera sensor improvements:
- AR0234 improved AE smoothness, increased max gain to 400x (first 25.6x analog),
- OV9782 on RGB/CAM-A socket max FPS: 120 (previously was only for OV9282), also improves image quality in very bright light,
- OV9782/9282 minimum exposure time decreased: 20us -> 10us, helps in very bright light. TODO update tuning to make use of it, currently only possible to use with manual exposure

* Update stereo_depth_video.cpp

* Enable interrupt mode: Update BMI driver with fixes from: boschsensortec/BMI270_SensorAPI#16

* Update ObjectTracker with improvements from rvc3

* Add API to set trackingPerClass in ObjectTracker node

* Update FW before merge

* Update FW with IMU fix for BNO

* Add IMU versioning; firmware versioning, firmware update status callbacks

* Update FW with fix for BMI timestamp

* Update FW: IMU support for OAK-D-SR

* Fix 'default constrictible' error on some compilers

* Update FW

* Add IMU FW update RPC

* Updated yolo description

* Update examples

* Update FW with deprecation warning for enableFirmwareUpdate

* Change imu version to imu type

* Update FW before merge

* Added C++14 requirement to examples & tests

* Tweaked crash_report example

* [FW] Added missing bindings for CameraControl and ImgFrame

* Update FW with fix for calibration load example

* fix stability_stress_test fail to link on ubuntu

- fixes #769

* fix isClosed/checkClosed threading, rpcClient exceptions

- remove thread-unsafe checkClosed()
- update isClosed() doxygen + comments
- protect DataInputQueue::maxDataSize with std::atomic
- remove unused dai::DeviceBase::rpcStream
- fixes #520

* fix var hides class member, this-> in constructors

- fix few compile warn 'ex' unreferenced local variable
- rename setBusId() param to not hide class member
- refactor XLinkConnection constructors
- partial fix #247

* fix: stdexcept header added for std::runtime_error

Signed-off-by: Onuralp SEZER <[email protected]>

* [FW] Removed UTF-8 degree sign from temperature prints. Closes: #773

* Move sipp buffer size from BoardConfig to GlobalProperties

* Update style

* Partially reverted bce1444 - only kept the C++14 specified in examples, tests already had the version specified

* [Stereo] Add option to invalidate edge pixels on disparity/depth frame

* Update FW: handle disparity flipping

* Update FW: support for stereo.setOutputSize when LEFT or RIGHT alignment is set

* Update FW: support for stereo between RGB and LEFT/RIGHT

* [FW] ImageManip CSC improvements, New boards and power cycle fix

* FW: fix for UART0 / '/dev/ttyS0' init failure in Script node

* Update FW with fix for USB devices stuck after reboot

* Release v2.21.0

* Fix device destructor

* Update FW: fix spatial location calculator for 400p/480p resolution

* Release v2.21.1

* FW: Fix camera intrinsics when RGB alignment is used

* Release v2.21.2

* update changelog and package version

---------

Signed-off-by: Onuralp SEZER <[email protected]>
Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: SzabolcsGergely <[email protected]>
Co-authored-by: alex-luxonis <[email protected]>
Co-authored-by: szabi-luxonis <[email protected]>
Co-authored-by: moratom <[email protected]>
Co-authored-by: Matevz Morato <[email protected]>
Co-authored-by: camblomquist <[email protected]>
Co-authored-by: Tommy <[email protected]>
Co-authored-by: Dale Phurrough <[email protected]>
Co-authored-by: Erol444 <[email protected]>
Co-authored-by: Cameron Blomquist <[email protected]>
Co-authored-by: anonymous-1000 <[email protected]>
Co-authored-by: TheMarpe <[email protected]>
Co-authored-by: Onuralp SEZER <[email protected]>
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