Ros release 2.19.1

CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package depthai
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.19.1 (2022-11-28)
+-----------
+* Added Device getDeviceName API
+* OAK-FFC 4P (R5M1E5) IR/Dot support
+* Additional Stability bugfixes to go along with 2.19.0 for PoE devices
+* Protected productName field in EEPROM
+* Contributors: Alex Bougdan, Szabolcs Gergely, Martin Peterlin
+
 
 2.19.0 (2022-09-20)
 -----------

CMakeLists.txt

@@ -43,7 +43,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.19.0" LANGUAGES CXX C)
+project(depthai VERSION "2.19.1" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)

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 "b3aeaf23ff5857fc8f79d412ceefc08da23e7aad")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "adbcc016c8bd5a5580a26d8b6250f77160203666")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

examples/ColorCamera/rgb_preview.cpp

@@ -41,6 +41,9 @@ int main() {
         cout << "Bootloader version: " << device.getBootloaderVersion()->toString() << endl;
     }
 
+    // Device name
+    cout << "Device name: " << device.getDeviceName() << endl;
+
     // Output queue will be used to get the rgb frames from the output defined above
     auto qRgb = device.getOutputQueue("rgb", 4, false);
 

include/depthai/device/CalibrationHandler.hpp

@@ -19,6 +19,7 @@ namespace dai {
  *  - batchName
  *  - batchTime
  *  - boardOptions
+ *  - productName
  */
 class CalibrationHandler {
    public:

include/depthai/device/DeviceBase.hpp

@@ -373,6 +373,12 @@ class DeviceBase {
      */
     DeviceInfo getDeviceInfo() const;
 
+    /**
+     * Get device name if available
+     * @returns device name or empty string if not available
+     */
+    std::string getDeviceName();
+
     /**
      * Get MxId of device
      *

package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>depthai</name>
-  <version>2.19.0</version>
+  <version>2.19.1</version>
   <description>DepthAI core is a C++ library which comes with firmware and an API to interact with OAK Platform</description>
 
   <maintainer email="[email protected]">Sachin Guruswamy</maintainer>

src/device/DeviceBase.cpp

@@ -892,6 +892,34 @@ DeviceInfo DeviceBase::getDeviceInfo() const {
     return deviceInfo;
 }
 
+std::string DeviceBase::getDeviceName() {
+    checkClosed();
+
+    std::string deviceName;
+    EepromData eeprom = readFactoryCalibrationOrDefault().getEepromData();
+    if((deviceName = eeprom.productName).empty()) {
+        eeprom = readCalibrationOrDefault().getEepromData();
+        if((deviceName = eeprom.productName).empty()) {
+            deviceName = eeprom.boardName;
+        }
+    }
+
+    // Convert to device naming from display/product naming
+    std::transform(deviceName.begin(), deviceName.end(), deviceName.begin(), std::ptr_fun<int, int>(std::toupper));
+    std::replace(deviceName.begin(), deviceName.end(), ' ', '-');
+
+    // Handle some known legacy cases
+    if(deviceName == "BW1098OBC") {
+        deviceName = "OAK-D";
+    } else if(deviceName == "DM2097") {
+        deviceName = "OAK-D-CM4-POE";
+    } else if(deviceName == "BW1097") {
+        deviceName = "OAK-D-CM3";
+    }
+
+    return deviceName;
+}
+
 void DeviceBase::setLogOutputLevel(LogLevel level) {
     checkClosed();
 

tests/src/stability_stress_test.cpp

@@ -13,6 +13,24 @@
     #include <opencv2/opencv.hpp>
 #endif
 
+static constexpr int RGB_FPS = 20;
+static constexpr int MONO_FPS = 20;
+static constexpr int ENCODER_FPS = 10;
+
+void printSystemInformation(dai::SystemInformation info) {
+    printf("Ddr used / total - %.2f / %.2f MiB\n", info.ddrMemoryUsage.used / (1024.0f * 1024.0f), info.ddrMemoryUsage.total / (1024.0f * 1024.0f));
+    printf("Cmx used / total - %.2f / %.2f MiB\n", info.cmxMemoryUsage.used / (1024.0f * 1024.0f), info.cmxMemoryUsage.total / (1024.0f * 1024.0f));
+    printf("LeonCss heap used / total - %.2f / %.2f MiB\n",
+           info.leonCssMemoryUsage.used / (1024.0f * 1024.0f),
+           info.leonCssMemoryUsage.total / (1024.0f * 1024.0f));
+    printf("LeonMss heap used / total - %.2f / %.2f MiB\n",
+           info.leonMssMemoryUsage.used / (1024.0f * 1024.0f),
+           info.leonMssMemoryUsage.total / (1024.0f * 1024.0f));
+    const auto& t = info.chipTemperature;
+    printf("Chip temperature - average: %.2f, css: %.2f, mss: %.2f, upa: %.2f, dss: %.2f\n", t.average, t.css, t.mss, t.upa, t.dss);
+    printf("Cpu usage - Leon CSS: %.2f %%, Leon MSS: %.2f %%\n", info.leonCssCpuUsage.average * 100, info.leonMssCpuUsage.average * 100);
+}
+
 static const std::vector<std::string> labelMap = {
     "person",        "bicycle",      "car",           "motorbike",     "aeroplane",   "bus",         "train",       "truck",        "boat",
     "traffic light", "fire hydrant", "stop sign",     "parking meter", "bench",       "bird",        "cat",         "dog",          "horse",
@@ -63,6 +81,7 @@ int main(int argc, char** argv) {
     auto edgeDetectorLeft = pipeline.create<dai::node::EdgeDetector>();
     auto edgeDetectorRight = pipeline.create<dai::node::EdgeDetector>();
     auto edgeDetectorRgb = pipeline.create<dai::node::EdgeDetector>();
+    auto sysLog = pipeline.create<dai::node::SystemLogger>();
 #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
     auto script1 = pipeline.create<dai::node::Script>();
     auto script2 = pipeline.create<dai::node::Script>();
@@ -84,6 +103,7 @@ int main(int argc, char** argv) {
     auto xoutEdgeLeft = pipeline.create<dai::node::XLinkOut>();
     auto xoutEdgeRight = pipeline.create<dai::node::XLinkOut>();
     auto xoutEdgeRgb = pipeline.create<dai::node::XLinkOut>();
+    auto xoutSysLog = pipeline.create<dai::node::XLinkOut>();
 #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
     auto scriptOut = pipeline.create<dai::node::XLinkOut>();
     auto scriptOut2 = pipeline.create<dai::node::XLinkOut>();
@@ -97,6 +117,7 @@ int main(int argc, char** argv) {
     xoutDepth->setStreamName("depth");
     xoutNN->setStreamName("detections");
     xoutRgb->setStreamName("rgb");
+    xoutSysLog->setStreamName("sysinfo");
     const auto edgeLeftStr = "edge left";
     const auto edgeRightStr = "edge right";
     const auto edgeRgbStr = "edge rgb";
@@ -117,17 +138,20 @@ int main(int argc, char** argv) {
     camRgb->setPreviewSize(416, 416);
     camRgb->setInterleaved(false);
     camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);
+    camRgb->setFps(RGB_FPS);
 
     monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
+    monoLeft->setFps(MONO_FPS);
 
     monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
+    monoRight->setFps(MONO_FPS);
 
     // Setting to 26fps will trigger error
-    ve1->setDefaultProfilePreset(25, dai::VideoEncoderProperties::Profile::H264_MAIN);
-    ve2->setDefaultProfilePreset(25, dai::VideoEncoderProperties::Profile::H265_MAIN);
-    ve3->setDefaultProfilePreset(25, dai::VideoEncoderProperties::Profile::H264_MAIN);
+    ve1->setDefaultProfilePreset(ENCODER_FPS, dai::VideoEncoderProperties::Profile::H264_MAIN);
+    ve2->setDefaultProfilePreset(ENCODER_FPS, dai::VideoEncoderProperties::Profile::H265_MAIN);
+    ve3->setDefaultProfilePreset(ENCODER_FPS, dai::VideoEncoderProperties::Profile::H264_MAIN);
 
     stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
     // Align depth map to the perspective of RGB camera, on which inference is done
@@ -150,6 +174,8 @@ int main(int argc, char** argv) {
 
     edgeDetectorRgb->setMaxOutputFrameSize(8294400);
 
+    sysLog->setRate(0.2f);
+
 #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
     std::string source1 = R"(
         import time
@@ -250,6 +276,9 @@ int main(int argc, char** argv) {
     camRgb->video.link(edgeDetectorRgb->inputImage);
     edgeDetectorLeft->outputImage.link(xoutEdgeLeft->input);
     edgeDetectorRight->outputImage.link(xoutEdgeRight->input);
+    sysLog->out.link(xoutSysLog->input);
+    xoutSysLog->input.setBlocking(false);
+    xoutSysLog->input.setQueueSize(1);
 
 #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
     script1->outputs["out"].link(script2->inputs["in"]);
@@ -269,6 +298,8 @@ int main(int argc, char** argv) {
     // Connect to device and start pipeline
     dai::Device device(pipeline);
 
+    auto usb_speed = device.getUsbSpeed();
+
     // Output queues will be used to get the encoded data from the output defined above
     auto outQ1 = device.getOutputQueue("ve1Out", 30, false);
     auto outQ2 = device.getOutputQueue("ve2Out", 30, false);
@@ -279,7 +310,7 @@ int main(int argc, char** argv) {
     auto edgeLeftQueue = device.getOutputQueue(edgeLeftStr, 8, false);
     auto edgeRightQueue = device.getOutputQueue(edgeRightStr, 8, false);
     auto edgeRgbQueue = device.getOutputQueue(edgeRgbStr, 8, false);
-
+    auto qSysInfo = device.getOutputQueue("sysinfo", 4, false);
 #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
     auto scriptQueue = device.getOutputQueue("script", 8, false);
     auto script2Queue = device.getOutputQueue("script2", 8, false);
@@ -298,7 +329,7 @@ int main(int argc, char** argv) {
     mutex countersMtx;
     unordered_map<std::string, int> counters;
 
-    thread countingThread([&countersMtx, &counters, &device, TEST_TIMEOUT]() {
+    thread countingThread([&countersMtx, &counters, &device, &usb_speed, TEST_TIMEOUT]() {
         // Initial delay
         this_thread::sleep_for(5s);
 
@@ -310,6 +341,7 @@ int main(int argc, char** argv) {
 
                 bool failed = counters.size() == 0;
                 cout << "[" << duration_cast<seconds>(steady_clock::now() - timeoutStopwatch).count() << "s] "
+                     << "Usb speed " << usb_speed << " "
                      << "FPS: ";
                 for(const auto& kv : counters) {
                     if(kv.second == 0) {
@@ -353,6 +385,13 @@ int main(int argc, char** argv) {
         auto edgeLefts = edgeLeftQueue->tryGetAll<dai::ImgFrame>();
         auto edgeRights = edgeRightQueue->tryGetAll<dai::ImgFrame>();
 
+        auto sysInfo = qSysInfo->tryGet<dai::SystemInformation>();
+        if(sysInfo) {
+            printf("----------------------------------------\n");
+            std::cout << "Usb speed: " << usb_speed << std::endl;
+            printSystemInformation(*sysInfo);
+            printf("----------------------------------------\n");
+        }
 #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
         auto script = scriptQueue->tryGetAll<dai::Buffer>();
         auto script2 = script2Queue->tryGetAll<dai::Buffer>();