merge v3_develop

luxonis · Feb 3, 2025 · e89dacb · e89dacb
2 parents e2c0152 + 1b3dc11
commit e89dacb
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Showing 23 changed files with 361 additions and 158 deletions.
diff --git a/.github/workflows/stability.workflow.yml b/.github/workflows/stability.workflow.yml
@@ -22,17 +22,14 @@ jobs:
 
   # Testing
   test:
-    runs-on: ['self-hosted', 'hil-stability', 'linux']
+    runs-on: ['self-hosted', 'testbed-runner', 'linux']
     timeout-minutes: 1450 # 24h & 10minutes
     steps:
-    - name: Cache .hunter folder
-      uses: actions/cache@v3
-      with:
-        path: $HOME/.hun_vanilla
-        key: hunter-linux-stability-vanilla
     - uses: actions/checkout@v3
       with:
         submodules: 'recursive'
+    - name: Prepare HIL Framework
+      run: source scripts/hil/prepare_hil_framework.sh 
 
     # TODO also modify above hunter key to 'asan'
     # - name: Specify ASAN toolchain path
@@ -48,7 +45,5 @@ jobs:
     # Release build
     - name: Configure, Build and Test
       run: |
-        cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun_vanilla -D DEPTHAI_BUILD_TESTS=ON
-        cmake --build build --parallel 8 --config Release --target stability_stress_test
-        cd build
-        ../ci/stability_stress_test_combined.sh 86400
+        export RESERVATION_NAME="https://github.com/$GITHUB_REPOSITORY/actions/$GITHUB_RUN_ID+stability"
+        exec hil --capabilities depthai-core-hil --reservation-name $RESERVATION_NAME -w -s --commands 'cd /tmp/depthai-core|| exit' 'scripts/hil/run_hil_stability.sh'
diff --git a/.github/workflows/test.workflow.yml b/.github/workflows/test.workflow.yml
@@ -19,7 +19,7 @@ concurrency:
 jobs:
 
   # Testing
-  test:
+  rvc2_test:
     env:
       VCPKG_BINARY_SOURCES: "clear;x-gha,readwrite"
     strategy:
@@ -33,14 +33,9 @@ jobs:
             arch: 'x64'
             flavor: 'tsan'
       fail-fast: false
-    runs-on: ['self-hosted', 'hil-test-v3', '${{ matrix.os }}', '${{ matrix.arch }}']
+    runs-on: ['self-hosted', 'testbed-runner']
 
     steps:
-    - name: Cache .hunter folder
-      uses: actions/cache@v3
-      with:
-        path: $HOME/.hun2_${{ matrix.flavor }}
-        key: hunter-${{ matrix.os }}-${{ matrix.cmake }}
     - uses: actions/checkout@v3
       with:
         submodules: 'recursive'
@@ -51,37 +46,56 @@ jobs:
           core.exportVariable('ACTIONS_CACHE_URL', process.env.ACTIONS_CACHE_URL || '');
           core.exportVariable('ACTIONS_RUNTIME_TOKEN', process.env.ACTIONS_RUNTIME_TOKEN || '');
 
-    - name: Create virtual environment
-      run: |
-        python -m venv venv
-        source venv/bin/activate
-        python -m pip install --upgrade pip
-        python -m pip install numpy
-
-    - name: Specify toolchain path
-      if: matrix.flavor == 'vanilla'
-      run: echo "CMAKE_TOOLCHAIN_PATH=" >> $GITHUB_ENV
-    - name: Specify toolchain path
-      if: matrix.flavor != 'vanilla'
-      run: echo "CMAKE_TOOLCHAIN_PATH=$PWD/cmake/toolchain/${{ matrix.flavor }}.cmake" >> $GITHUB_ENV
+    - name: Prepare HIL Framework
+      run: source scripts/hil/prepare_hil_framework.sh 
 
     - name: Configure, Build and Test
       if: matrix.os != 'linux'
       run: |
-        source venv/bin/activate  # Activate virtual environment
-        cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun2_${{ matrix.flavor }} -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_TEST_EXAMPLES=ON -D DEPTHAI_BUILD_PYTHON=ON -D DEPTHAI_PYTHON_TEST_EXAMPLES=ON -D DEPTHAI_PYTHON_ENABLE_EXAMPLES=ON
-        cmake --build build --parallel 4 --config Release
-        cd tests
-        python3 run_tests.py
+        export RESERVATION_NAME="https://github.com/$GITHUB_REPOSITORY/actions/runs/$GITHUB_RUN_ID#rvc2-${{ matrix.os }}-${{ matrix.flavor }}"
+        exec hil --capabilities depthai-core-hil --reservation-name $RESERVATION_NAME --wait --sync-workspace --exclude-build --commands 'cd /tmp/depthai-core|| exit' 'scripts/hil/run_hil_tests.sh ${{ matrix.flavor }} --rvc2'
 
     - name: Configure, Build and Test
       if: matrix.os == 'linux'
       run: |
-        export DISPLAY=:99
-        xdpyinfo -display $DISPLAY >/dev/null 2>&1 || (Xvfb $DISPLAY &)
-        source venv/bin/activate  # Activate virtual environment
-        python3 -m pip install jinja2 rerun-sdk open3d-cpu
-        cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun2_${{ matrix.flavor }} -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_TEST_EXAMPLES=ON -D DEPTHAI_BUILD_PYTHON=ON -D DEPTHAI_PYTHON_TEST_EXAMPLES=ON -D DEPTHAI_PYTHON_ENABLE_EXAMPLES=ON
-        cmake --build build --parallel 4 --config Release
-        cd tests
-        python3 run_tests.py
+        export RESERVATION_NAME="https://github.com/$GITHUB_REPOSITORY/actions/runs/$GITHUB_RUN_ID#rvc2-${{ matrix.os }}-${{ matrix.flavor }}"
+        exec hil --capabilities depthai-core-hil --reservation-name $RESERVATION_NAME --wait --sync-workspace --exclude-build --commands 'cd /tmp/depthai-core|| exit' 'scripts/hil/run_hil_tests.sh ${{ matrix.flavor }} --rvc2'
+
+  # Testing
+  rvc4_test:
+      env:
+        VCPKG_BINARY_SOURCES: "clear;x-gha,readwrite"
+      strategy:
+        matrix:
+          # os: ['windows', 'macos', 'linux']
+          os: ['linux']
+          arch: ['x64']
+          flavor: ['vanilla', 'asan-ubsan', 'tsan']
+          rvc4os: ['r851.1.2']
+          exclude:
+            - os: 'windows'
+              arch: 'x64'
+              flavor: 'tsan'
+        fail-fast: false
+      runs-on: ['self-hosted', 'testbed-runner']
+
+      steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+
+      - name: Prepare HIL Framework
+        run: source scripts/hil/prepare_hil_framework.sh 
+
+      - name: Configure, Build and Test
+        if: matrix.os != 'linux'
+        run: |
+          export RESERVATION_NAME="https://github.com/$GITHUB_REPOSITORY/actions/runs/$GITHUB_RUN_ID#rvc4-${{ matrix.os }}-${{ matrix.rvc4os }}-${{ matrix.flavor }}""
+          exec hil --capabilities depthai-core-hil --models oak4_pro --reservation-name $RESERVATION_NAME --wait --sync-workspace --exclude-build --commands 'cd /tmp/depthai-core|| exit' 'scripts/hil/run_hil_tests.sh ${{ matrix.flavor }} --rvc4 '
+
+      - name: Configure, Build and Test
+        if: matrix.os == 'linux'
+        run: |
+          export RESERVATION_NAME="https://github.com/$GITHUB_REPOSITORY/actions/runs/$GITHUB_RUN_ID#rvc4-${{ matrix.os }}-${{ matrix.rvc4os }}-${{ matrix.flavor }}"
+          exec hil --capabilities depthai-core-hil --models oak4_pro --reservation-name $RESERVATION_NAME --wait --sync-workspace --exclude-build --rvc4-os-version ${{ matrix.rvc4os }} --commands 'cd /tmp/depthai-core|| exit' 'scripts/hil/run_hil_tests.sh ${{ matrix.flavor }} --rvc4'
+
diff --git a/bindings/python/src/pipeline/datatype/ImageManipConfigV2Bindings.cpp b/bindings/python/src/pipeline/datatype/ImageManipConfigV2Bindings.cpp
@@ -91,13 +91,13 @@ void bind_imagemanipconfigv2(pybind11::module& m, void* pCallstack) {
              DOC(dai, ImageManipConfigV2, addTransformFourPoints))
         .def("setColormap", &ImageManipConfigV2::setColormap, py::arg("colormap"), DOC(dai, ImageManipConfigV2, setColormap))
         .def("setBackgroundColor",
-             static_cast<ImageManipConfigV2& (ImageManipConfigV2::*)(uint8_t, uint8_t, uint8_t)>(&ImageManipConfigV2::setBackgroundColor),
+             static_cast<ImageManipConfigV2& (ImageManipConfigV2::*)(uint32_t, uint32_t, uint32_t)>(&ImageManipConfigV2::setBackgroundColor),
              py::arg("r"),
              py::arg("g"),
              py::arg("b"),
              DOC(dai, ImageManipConfigV2, setBackgroundColor))
         .def("setBackgroundColor",
-             static_cast<ImageManipConfigV2& (ImageManipConfigV2::*)(uint8_t)>(&ImageManipConfigV2::setBackgroundColor),
+             static_cast<ImageManipConfigV2& (ImageManipConfigV2::*)(uint32_t)>(&ImageManipConfigV2::setBackgroundColor),
              py::arg("val"),
              DOC(dai, ImageManipConfigV2, setBackgroundColor))
         .def("setOutputSize",

diff --git a/cmake/Depthai/DepthaiDeviceRVC4Config.cmake b/cmake/Depthai/DepthaiDeviceRVC4Config.cmake
@@ -4,4 +4,4 @@ set(DEPTHAI_DEVICE_RVC4_MATURITY "snapshot")
 
 # "version if applicable"
 # set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+93f7b75a885aa32f44c5e9f53b74470c49d2b1af")
-set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+78ff040f04e86bc77b1618c87a931d645f7aa109")
+set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+e15e34e96495e1ac3d4c064499d45f33784cba8a")
diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake
@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "a9d354351694c5dd96def768c0b0155354cab38c")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "9af6aa33e593ce207ad00d09e528ce85181d543b")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")
diff --git a/cmake/Depthai/DepthaiVisualizerConfig.cmake b/cmake/Depthai/DepthaiVisualizerConfig.cmake
@@ -1,2 +1,2 @@
 # "full commit hash of depthai visualizer static files"
-set(DEPTHAI_VISUALIZER_COMMIT "759dcd24c7bb96175ea7402355d750eb1ffd42c6")
+set(DEPTHAI_VISUALIZER_COMMIT "0.4.0")
diff --git a/examples/python/ImageManip/image_manip_all.py b/examples/python/ImageManip/image_manip_all.py
diff --git a/include/depthai/pipeline/Pipeline.hpp b/include/depthai/pipeline/Pipeline.hpp
@@ -255,8 +255,7 @@ class Pipeline {
 
     /**
      * Creates a pipeline
-     * @param hostOnly If true, pipeline will run only be able to run host nodes and no device nodes can be added, otherwise pipeline implicitly creates a
-     * device
+     * @param createImplicitDevice If true, creates a default device (default = true)
      */
     explicit Pipeline(bool createImplicitDevice = true);
 

diff --git a/include/depthai/pipeline/datatype/ImageManipConfigV2.hpp b/include/depthai/pipeline/datatype/ImageManipConfigV2.hpp
@@ -221,9 +221,9 @@ class ImageManipOpsBase : public ImageManipOpsEnums {
     bool center = true;
     ResizeMode resizeMode = ResizeMode::NONE;
     Background background = Background::COLOR;
-    uint8_t backgroundR = 0;
-    uint8_t backgroundG = 0;
-    uint8_t backgroundB = 0;
+    uint32_t backgroundR = 0;
+    uint32_t backgroundG = 0;
+    uint32_t backgroundB = 0;
     Colormap colormap = Colormap::NONE;
     bool undistort = false;
 
@@ -348,15 +348,15 @@ class ImageManipOpsBase : public ImageManipOpsEnums {
         return *this;
     }
 
-    ImageManipOpsBase& setBackgroundColor(uint8_t red, uint8_t green, uint8_t blue) {
+    ImageManipOpsBase& setBackgroundColor(uint32_t red, uint32_t green, uint32_t blue) {
         background = Background::COLOR;
         backgroundR = red;
         backgroundG = green;
         backgroundB = blue;
         return *this;
     }
 
-    ImageManipOpsBase& setBackgroundColor(uint8_t val) {
+    ImageManipOpsBase& setBackgroundColor(uint32_t val) {
         background = Background::COLOR;
         backgroundR = val;
         backgroundG = val;
@@ -517,12 +517,12 @@ class ImageManipConfigV2 : public Buffer {
      * @param green Green component of the background color
      * @param blue Blue component of the background color
      */
-    ImageManipConfigV2& setBackgroundColor(uint8_t red, uint8_t green, uint8_t blue);
+    ImageManipConfigV2& setBackgroundColor(uint32_t red, uint32_t green, uint32_t blue);
     /**
      * Sets the grayscale background color of the output image
      * @param val Grayscale value of the background color
      */
-    ImageManipConfigV2& setBackgroundColor(uint8_t val);
+    ImageManipConfigV2& setBackgroundColor(uint32_t val);
     /**
      * Sets the frame type of the output image
      * @param frameType Frame type of the output image

diff --git a/include/depthai/pipeline/datatype/Tracklets.hpp b/include/depthai/pipeline/datatype/Tracklets.hpp
@@ -72,6 +72,11 @@ class Tracklets : public Buffer {
      */
     std::vector<Tracklet> tracklets;
 
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::Tracklets;
+    };
+
     DEPTHAI_SERIALIZE(Tracklets, tracklets, Buffer::ts, Buffer::tsDevice, Buffer::sequenceNum);
 };