Release 2.25.1 (#1005)

* FW: fix fsync for OAK-D-SR

* Add tilt projection support

* Fixing externally managed environment (#1001)

- Added custom error message in addition to "Externally managed environment" to let users know how to solve it

- Updated .workflow to always create a separate environment where the depthai will be installed to avoid above error

* Install NN blobs from blobconverter (#999)

* added thermal_nn to install_requirements
* Adding thermal to artifactory

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

* Fixed two bugs / unexpected behaviours (#1002)

* Added bindings for the api.

* core

* FW: fixes for IMX378 and IMX582:
fix concurrent run,
fix scaling with IMX378 THE_1352X1012 resolution,
change Camera node best sensor config select to prioritize matching aspect ratio

* Remove the RH notification

* FW: fix default fsync GPIO state for OAK-FFC-4P R7,
FSIN_4LANE GPIO42 = input, pull-down.
Other depthai-core updates

* Develop sync with main (#1004)

* Docs/release 25 (#997)

* Initial docs update for v2.25

* Added pcl example docs

* Adding pointcloud control example

* Updating pointcloud example

* Added encoded_frame docs (#998)

* Added encoded_frame docs

* Docs update (#1000)

* Update sync_node.rst
* Adding USB 3.2Gen2 enable docs

---------

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

* Core v2.25.1

* Fixed FFC3P boot issue.

* Update core

* Bump core to tagged.

---------

Co-authored-by: alex-luxonis <[email protected]>
Co-authored-by: SzabolcsGergely <[email protected]>
Co-authored-by: jakaskerl <[email protected]>
Co-authored-by: Matevz Morato <[email protected]>

.github/workflows/main.yml

@@ -531,18 +531,6 @@ jobs:
           ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
           ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}
 
-  notify_robothub:
-    if: startsWith(github.ref, 'refs/tags/v')
-    needs: [release]
-    runs-on: ubuntu-latest
-    steps:
-      - name: Repository Dispatch
-        uses: peter-evans/repository-dispatch@v2
-        with:
-          token: ${{ secrets.REPO_ACCESS_TOKEN }}
-          repository: luxonis/robothub-apps
-          event-type: depthai-python-release
-          client-payload: '{"ref": "${{ github.ref }}", "sha": "${{ github.sha }}"}'
 
   # notify_hil_workflow_linux_x86_64:
   #   needs: [build-linux-x86_64]

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

@@ -36,8 +36,8 @@
          if: endsWith(matrix.container_image, 'rolling') == true
          run: |
            sudo apt-get install -y python3-venv
-           python3 -m venv venv
-           . venv/bin/activate
+           python3 -m venv .env
+           . .env/bin/activate
            pip install --upgrade pip 
            python3 examples/install_requirements.py
          shell: bash
@@ -56,9 +56,13 @@
          run: |
            sed '/udevadm control --reload-rules && sudo udevadm trigger/d' docs/source/_static/install_dependencies.sh > tmp_script.sh
            bash tmp_script.sh
-       - name: Install example requirements
+       - name: Create a virtual environment
          run: |
+           python3 -m venv .env
+           . .env/bin/activate
+           pip install --upgrade pip 
            python3 examples/install_requirements.py
+         shell: bash
    test_windows:
       runs-on: windows-latest
       steps:

examples/NeuralNetwork/thermal_nnet.py

@@ -0,0 +1,82 @@
+import depthai as dai
+import cv2
+from pathlib import Path
+import numpy as np
+import sys
+
+
+nnPath = str((Path(__file__).parent / Path('../models/yolov6n_thermal_people_256x192_openvino_2022.1_6shave.blob')).resolve().absolute())
+if len(sys.argv) > 1:
+    nnPath = sys.argv[1]
+
+if not Path(nnPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+labels = ["person"]
+
+device = dai.Device()
+
+pipeline = dai.Pipeline()
+nnet = pipeline.create(dai.node.YoloDetectionNetwork)
+nnet.setBlobPath(nnPath)
+nnet.setConfidenceThreshold(0.5)
+nnet.setNumClasses(1)
+nnet.setCoordinateSize(4)
+nnet.setIouThreshold(0.4)
+
+thermalCam = pipeline.create(dai.node.Camera)
+thermalCam.setBoardSocket(dai.CameraBoardSocket.CAM_E)
+thermalCam.setPreviewSize(256, 192)
+
+thermalCam.raw.link(nnet.input)
+
+rawOut = pipeline.createXLinkOut()
+rawOut.setStreamName("preview")
+thermalCam.preview.link(rawOut.input)
+
+xoutNn = pipeline.createXLinkOut()
+xoutNn.setStreamName("nn")
+nnet.out.link(xoutNn.input)
+
+xoutPass = pipeline.createXLinkOut()
+xoutPass.setStreamName("pass")
+nnet.passthrough.link(xoutPass.input)
+
+device.startPipeline(pipeline)
+
+qNn = device.getOutputQueue(name="nn", maxSize=2, blocking=False)
+qPass = device.getOutputQueue(name="pass", maxSize=2, blocking=False)
+qPreview = device.getOutputQueue(name="preview", maxSize=2, blocking=False)
+
+cv2.namedWindow("nnet", cv2.WINDOW_NORMAL)
+cv2.namedWindow("raw", cv2.WINDOW_NORMAL)
+cv2.resizeWindow("nnet", 640, 480)
+cv2.resizeWindow("raw", 640, 480)
+
+while True:
+    inNn = qNn.get()
+    inPass = qPass.tryGet()
+    inPreview = qPreview.get()
+    if inNn and inPass:
+        frame = inPass.getCvFrame().astype(np.float32)
+        min_, max_ = frame.min(), frame.max()
+        colormappedFrame = cv2.normalize(frame, None, 0, 255, cv2.NORM_MINMAX, cv2.CV_8U)
+        colormappedFrame = cv2.applyColorMap(colormappedFrame, cv2.COLORMAP_MAGMA)
+
+        detections = inNn.detections
+        for detection in detections:
+            xmin = max(0.0, detection.xmin)
+            ymin = max(0.0, detection.ymin)
+            xmax = min(1.0, detection.xmax)
+            ymax = min(1.0, detection.ymax)
+            pt1 = int(xmin * 256), int(ymin * 192)
+            pt2 = int(xmax * 256), int(ymax * 192)
+            cv2.rectangle(colormappedFrame, pt1, pt2, (0, 255, 0))
+            cv2.putText(colormappedFrame, labels[detection.label], pt1, cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2, cv2.LINE_AA)
+        cv2.imshow("nnet", colormappedFrame)
+    if inPreview:
+        cv2.imshow("raw", inPreview.getCvFrame())
+
+    if cv2.waitKey(1) == ord("q"):
+        break

examples/install_requirements.py

@@ -4,6 +4,9 @@
 import argparse
 import re
 import platform
+from subprocess import CalledProcessError, DEVNULL
+import textwrap
+
 
 convert_default = "empty"
 parser = argparse.ArgumentParser()
@@ -46,7 +49,7 @@ def hasWhitespace(string):
     # try to import opencv, numpy in a subprocess, since it might fail with illegal instruction
     # if it was previously installed w/ pip without setting OPENBLAS_CORE_TYPE=ARMV8 env variable
     try:
-        subprocess.check_call([sys.executable, "-c", "import numpy, cv2;"])
+        subprocess.check_call([sys.executable, "-c", "import numpy, cv2;"], stderr=DEVNULL)
         requireOpenCv = False
     except subprocess.CalledProcessError as ex:
         requireOpenCv = True
@@ -94,10 +97,38 @@ def hasWhitespace(string):
 
 # Update pip
 pip_update_cmd = [*pip_install, "pip"]
+
 if args.dry_run:
     prettyPrint(pip_update_cmd)
 else:
-    subprocess.check_call(pip_update_cmd)
+    try:
+        subprocess.check_call(pip_update_cmd)
+    except CalledProcessError as e:
+        print(f"\n\n\033[31m\033[1m[Warning]\033[0m An error occurred while trying to update pip: {e}\n")
+        print("This likely stems from the fact that you're not using a Python virtual environment.")
+        venv_creation_instructions = textwrap.dedent(f"""\
+            \033[94m\033[1m
+            Here's how you can create and activate a virtual environment:
+            
+            1. Create a virtual environment:
+               - For Linux or MacOS, use: python3 -m venv {parent_dir}/.env
+               - For Windows, use: python -m venv {parent_dir}/.env
+            
+            2. Activate the virtual environment:
+               - For Linux or MacOS, use: source {parent_dir}/.env/bin/activate
+               - For Windows, use: {parent_dir}/.env/Scripts/activate
+            
+            Once activated, you'll be working within the virtual environment. You can then attempt to re-run this script.
+            To exit the virtual environment when you're done, simply use the command: deactivate
+            
+            For more detailed instructions, please refer to the official Python documentation on virtual environments: https://docs.python.org/3/tutorial/venv.html
+            \033[0m
+            """)
+
+        print(textwrap.indent(venv_creation_instructions, '    '))
+        exit(0)
+
+
 # Install python dependencies
 python_dependencies_cmd = [*pip_package_install, *DEPENDENCIES]
 if args.dry_run:
@@ -161,16 +192,51 @@ def hasWhitespace(string):
     subprocess.check_call(downloader_cmd)
 
 if args.convert != convert_default:
-    nn_models_shaves = {
-        "mobilenet-ssd": [5, 6, 8],
-        "person-detection-retail-0013": [7],
-        "yolo-v4-tiny-tf": [6],
-        "yolo-v3-tiny-tf": [6],
+
+    nn_model_configs = {
+        "mobilenet-ssd": {
+            "shaves": [5, 6, 8],
+            "compile_params": ["-ip U8"],
+            "zoo_type": "intel",
+            "default_ov_version": "2021.4"
+        },
+        "person-detection-retail-0013": {
+            "shaves": [7],
+            "compile_params": ["-ip U8"],
+            "zoo_type": "intel",
+            "default_ov_version": "2021.4"
+        },
+        "yolo-v4-tiny-tf": {
+            "shaves": [6],
+            "compile_params": ["-ip U8"],
+            "zoo_type": "intel",
+            "default_ov_version": "2021.4"
+        },
+        "yolo-v3-tiny-tf": {
+            "shaves": [6],
+            "compile_params": ["-ip U8"],
+            "zoo_type": "intel",
+            "default_ov_version": "2021.4"
+        },
+        "yolov6n_thermal_people_256x192": {
+            "shaves": [6],
+            "compile_params": ["-ip FP16"],
+            "zoo_type": "depthai",
+            "default_ov_version": "2022.1"
+        },
     }
+
     blobconverter_cmds = [
-        [sys.executable, "-m", "blobconverter", "-zn", nn_name, "-sh", str(nn_shave), "-o", f"{examples_dir}/models", *(["-v", args.convert] if args.convert is not None else [])]
-        for nn_name in nn_models_shaves
-        for nn_shave in nn_models_shaves[nn_name]
+        [sys.executable, 
+        "-m", "blobconverter", 
+        "-zn", nn_name, 
+        "-sh", str(nn_shave), 
+        "-o", f"{examples_dir}/models", 
+        "-zt", nn_model_configs[nn_name]["zoo_type"],
+        *(["--compile-params", " ".join(nn_model_configs[nn_name]["compile_params"])] if nn_model_configs[nn_name]["compile_params"] else []),
+        *(["-v", args.convert] if args.convert != convert_default else ["-v", nn_model_configs[nn_name]["default_ov_version"]])]
+        for nn_name in nn_model_configs
+        for nn_shave in nn_model_configs[nn_name]["shaves"]
     ]
     install_blobconverter_cmd = [*pip_package_install, "blobconverter"]
     for cmd in [install_blobconverter_cmd] + blobconverter_cmds:

examples/models/thermal-yolo/model.yml

@@ -0,0 +1,33 @@
+# MIT License
+
+# Copyright (c) 2021 Luxonis Holding Corporation
+
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+description: >-
+  thermal-yolo
+task_type: object_attributes
+files:
+  - name: yolov6n_thermal_people_256x192_openvino_2022.1_6shave.blob
+    size: 9311960
+    sha256: fb75828e7014ad92170fe54bb3a3253b8be076005bf651ac30eb0841f63a3b86
+    source: https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/yolov6n_thermal_people_256x192_openvino_2022.1_6shave.blob
+
+framework: dldt
+license: https://raw.githubusercontent.com/luxonis/depthai-model-zoo/main/LICENSE

src/DeviceBootloaderBindings.cpp

@@ -161,6 +161,7 @@ void DeviceBootloaderBindings::bind(pybind11::module& m, void* pCallstack){
 
         //.def("flashCustom", &DeviceBootloader::flashCustom, py::arg("memory"), py::arg("offset"), py::arg("progressCallback"), py::arg("data"), DOC(dai, DeviceBootloader, flashCustom))
         .def("getVersion", [](DeviceBootloader& db) { py::gil_scoped_release release; return db.getVersion(); }, DOC(dai, DeviceBootloader, getVersion))
+        .def("getFlashedVersion", [](DeviceBootloader& db) { py::gil_scoped_release release; return db.getFlashedVersion(); }, DOC(dai, DeviceBootloader, getFlashedVersion))
 
         .def("isEmbeddedVersion", &DeviceBootloader::isEmbeddedVersion, DOC(dai, DeviceBootloader, isEmbeddedVersion))
         .def("getType", &DeviceBootloader::getType, DOC(dai, DeviceBootloader, getType))