Merge pull request #942 from luxonis/develop

DepthAI SDK 1.9.5

Author: daniilpastukhov

.gitignore

@@ -30,6 +30,7 @@ share/python-wheels/
 MANIFEST
 *.idea
 # DepthAI-Specific
+dataset/
 dataset*
 .fw_cache/
 depthai.calib

.gitmodules

@@ -1,5 +1,5 @@
-[submodule "depthai_sdk/src/depthai_sdk/components/integrations/depthai_pipeline_graph"]
-	path = depthai_sdk/src/depthai_sdk/components/integrations/depthai_pipeline_graph
+[submodule "depthai_sdk/src/depthai_sdk/integrations/depthai_pipeline_graph"]
+	path = depthai_sdk/src/depthai_sdk/integrations/depthai_pipeline_graph
 	url = https://github.com/luxonis/depthai_pipeline_graph
 [submodule "resources/depthai_boards"]
 	path = resources/depthai_boards

depthai_sdk/MANIFEST.in

@@ -1,5 +1,6 @@
 include src/depthai_sdk/classes/*.py
 recursive-include src/depthai_sdk/components *.py
+recursive-include src/depthai_sdk/integrations *.py
 include src/depthai_sdk/managers/*.py
 
 recursive-include src/depthai_sdk/nn_models handler.py
@@ -10,5 +11,7 @@ include src/depthai_sdk/oak_outputs/*.py
 include src/depthai_sdk/oak_outputs/xout/*.py
 include src/depthai_sdk/readers/*.py
 recursive-include src/depthai_sdk/recorders *.py
+include src/depthai_sdk/tracking/*.py
 include src/depthai_sdk/visualize/*.py
-include requirements.txt
+include requirements.txt
+include src/depthai_sdk/logger.py

depthai_sdk/docs/source/features/ai_models.rst

@@ -91,6 +91,18 @@ Both of the models above are supported by this SDK, so they will be downloaded a
    * - ``yolov6n_coco_640x640``
      - `DMZ <https://github.com/luxonis/depthai-model-zoo/tree/main/models/yolov6n_coco_640x640>`__
      - 26
+   * - ``yolov6nr3_coco_640x352``
+     - `DMZ <https://github.com/luxonis/depthai-model-zoo/tree/main/models/yolov6nr3_coco_640x352>`__
+     - 32
+   * - ``yolov7tiny_coco_640x352``
+     - `DMZ <https://github.com/luxonis/depthai-model-zoo/tree/main/models/yolov7tiny_coco_640x352>`__
+     - 23
+   * - ``yolov7tiny_coco_416x416``
+     - `DMZ <https://github.com/luxonis/depthai-model-zoo/tree/main/models/yolov7tiny_coco_416x416>`__
+     - 29
+   * - ``yolov8n_coco_640x352``
+     - `DMZ <https://github.com/luxonis/depthai-model-zoo/tree/main/models/yolov8n_coco_640x352>`__
+     - 22
 
 
 ``*`` - FPS was measured using only color camera (1080P) and 1 NN using callbacks (without visualization)

depthai_sdk/examples/CameraComponent/cam_ffc.py

@@ -2,9 +2,15 @@
 
 with OakCamera() as oak:
     cama = oak.create_camera('cama,c', resolution='1200p')
+    cama.config_color_camera(isp_scale=(2,3))
     camb = oak.create_camera('camb,c', resolution='1200p')
+    camb.config_color_camera(isp_scale=(2,3))
     camc = oak.create_camera('camc,c', resolution='1200p')
-    # stereo = oak.create_stereo(left=left, right=right)
+    camc.config_color_camera(isp_scale=(2,3))
+
+    stereo = oak.create_stereo(left=camb, right=camc)
+    stereo.config_undistortion(M2_offset=0)
+
+    oak.visualize([stereo, camc, cama, stereo.out.rectified_left], fps=True)
 
-    oak.visualize([cama, camb,camc], fps=True, scale=2/3)
     oak.start(blocking=True)

depthai_sdk/examples/CameraComponent/preview_all_cameras.py

@@ -0,0 +1,6 @@
+from depthai_sdk import OakCamera
+
+with OakCamera() as oak:
+    cams = oak.create_all_cameras()
+    oak.visualize(cams)
+    oak.start(blocking=True)

depthai_sdk/examples/NNComponent/custom_decode.py

@@ -8,6 +8,13 @@
 
 
 def decode(nn_data: NNData) -> Detections:
+    """
+    Custom decode function for the NN component. Decode function has to accept NNData argument.
+    The return type should preferably be a class that inherits from depthai_sdk.classes.GenericNNOutput,
+    which support visualization. But this is not required, i.e. the function can return arbitrary type.
+
+    The decoded output can be accessed from the packet object in the callback function via packet.img_detections.
+    """
     layer = nn_data.getFirstLayerFp16()
     results = np.array(layer).reshape((1, 1, -1, 7))
     dets = Detections(nn_data)

depthai_sdk/examples/NNComponent/deeplabv3_person.py

@@ -5,7 +5,7 @@
     color = oak.create_camera('color', resolution='1080p')
 
     nn = oak.create_nn('deeplabv3_person', color)
-    nn.config_nn(resize_mode='letterbox')
+    nn.config_nn(resize_mode='letterbox')  # Options: 'letterbox', 'crop', 'stretch'
 
     visualizer = oak.visualize([nn, nn.out.passthrough], fps=True)
     oak.start(blocking=True)

depthai_sdk/examples/NNComponent/human_pose.py

@@ -2,6 +2,9 @@
 
 with OakCamera() as oak:
     color = oak.create_camera('color')
+    # List of models that are supported out-of-the-box by the SDK:
+    # https://docs.luxonis.com/projects/sdk/en/latest/features/ai_models/#sdk-supported-models
     human_pose_nn = oak.create_nn('human-pose-estimation-0001', color)
+
     oak.visualize(human_pose_nn)
     oak.start(blocking=True)