Merge pull request #1892 from luxonis/main

aljazkonec1 · web-flow · commit df49daab2d88 · 2026-07-13T07:15:21.000+02:00
Merge main back into develop
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -75,7 +75,7 @@ else()
 endif()
 
 # Create depthai project
-project(depthai VERSION "3.7.1" LANGUAGES CXX C)
+project(depthai VERSION "3.8.0" LANGUAGES CXX C)
 set(DEPTHAI_PRE_RELEASE_TYPE "") # Valid options are "alpha", "beta", "rc", ""
 set(DEPTHAI_PRE_RELEASE_VERSION "0") # Valid options are "0", "1", "2", ...
 
diff --git a/bindings/python/src/pipeline/node/SyncBindings.cpp b/bindings/python/src/pipeline/node/SyncBindings.cpp
@@ -47,9 +47,9 @@ void bind_sync(pybind11::module& m, void* pCallstack) {
         .def("setSyncAttempts", &Sync::setSyncAttempts, py::arg("maxDataSize"), DOC(dai, node, Sync, setSyncAttempts))
         .def("getSyncThreshold", &Sync::getSyncThreshold, DOC(dai, node, Sync, getSyncThreshold))
         .def("getSyncAttempts", &Sync::getSyncAttempts, DOC(dai, node, Sync, getSyncAttempts))
-        .def("setProcessor", &Sync::setProcessor, DOC(dai, node, Sync, setProcessor))
+        .def("setProcessor", &Sync::setProcessor, py::arg("processorType"), DOC(dai, node, Sync, setProcessor))
         .def("getProcessor", &Sync::getProcessor, DOC(dai, node, Sync, getProcessor))
-        .def("setTimestampSource", &Sync::setTimestampSource, DOC(dai, node, Sync, setTimestampSource))
+        .def("setTimestampSource", &Sync::setTimestampSource, py::arg("source"), DOC(dai, node, Sync, setTimestampSource))
         .def("getTimestampSource", &Sync::getTimestampSource, DOC(dai, node, Sync, getTimestampSource))
         .def("setRunOnHost", &Sync::setRunOnHost, py::arg("runOnHost"), DOC(dai, node, Sync, setRunOnHost))
         .def("runOnHost", &Sync::runOnHost, DOC(dai, node, Sync, runOnHost));
diff --git a/cmake/Depthai/DepthaiDeviceRVC4Config.cmake b/cmake/Depthai/DepthaiDeviceRVC4Config.cmake
@@ -3,4 +3,4 @@
 set(DEPTHAI_DEVICE_RVC4_MATURITY "snapshot")
 
 # "version if applicable"
-set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+8e36240607dae771a53ffd0810a5fcd3700c7e33")
+set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+c0f6b6100c93f21e29c361cffad1f83bba0418ca")
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 "45274630e27b04617985d3e80360f15052a99686")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "c3f4bc9cef3937fa987135129757d950d1fbbd19")
 
 # "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 "3.3.2")
+set(DEPTHAI_VISUALIZER_COMMIT "3.5.2")
diff --git a/examples/cpp/ToF/tof_all_queues.cpp b/examples/cpp/ToF/tof_all_queues.cpp
@@ -50,9 +50,9 @@ cv::Mat normalizeFrame(const cv::Mat& frame) {
 int main() {
     dai::Pipeline pipeline;
 
-    // show depth in range 0.5m - 10m
-    constexpr float minDepth = 500.0f;
-    constexpr float maxDepth = 10000.0f;
+    // show depth in range 0.1m - 7m
+    constexpr float minDepth = 100.0f;
+    constexpr float maxDepth = 7000.0f;
 
     // choose one of profiles LOW_RANGE / MID_RANGE / HIGH_RANGE
     auto profile = dai::ToFConfig::Profile::MID_RANGE;
diff --git a/examples/cpp/ToF/tof_minimal.cpp b/examples/cpp/ToF/tof_minimal.cpp
@@ -43,9 +43,9 @@ int main() {
     auto device = std::make_shared<dai::Device>();
     dai::Pipeline pipeline(device);
 
-    // Show depth in range 0.5 m to 10 m.
-    constexpr float minDepth = 500.0f;
-    constexpr float maxDepth = 10000.0f;
+    // Show depth in range 0.1 m to 7 m.
+    constexpr float minDepth = 100.0f;
+    constexpr float maxDepth = 7000.0f;
 
     // Choose one of the profiles: LOW_RANGE, MID_RANGE, or HIGH_RANGE.
     auto profile = dai::ToFConfig::Profile::MID_RANGE;
diff --git a/examples/python/ToF/tof_align.py b/examples/python/ToF/tof_align.py
@@ -17,8 +17,8 @@
 FPS = 10.0
 CAMERA_SIZE = (640, 400)
 
-# show depth in range 0m - 7m
-MIN_DEPTH = 0
+# show depth in range 0.1m - 7m
+MIN_DEPTH = 100
 MAX_DEPTH = 7000
 
 
diff --git a/examples/python/ToF/tof_all_queues.py b/examples/python/ToF/tof_all_queues.py
@@ -34,8 +34,8 @@ def normalizeFrame(frame: np.ndarray) -> np.ndarray:
 def main():
     pipeline = dai.Pipeline()
 
-    # show depth in range 0m - 7m
-    minDepth = 0
+    # show depth in range 0.1m - 7m
+    minDepth = 100
     maxDepth = 7000
 
     # choose one of profiles LOW_RANGE / MID_RANGE / HIGH_RANGE
diff --git a/examples/python/ToF/tof_minimal.py b/examples/python/ToF/tof_minimal.py
@@ -30,8 +30,8 @@ def colorizeDepth(frame: np.ndarray, minDepth: float, maxDepth: float) -> np.nda
 def main():
     pipeline = dai.Pipeline()
 
-    # show depth in range 0m - 7m
-    minDepth = 0
+    # show depth in range 0.1m - 7m
+    minDepth = 100
     maxDepth = 7000
 
     # choose one of profiles LOW_RANGE / MID_RANGE / HIGH_RANGE
diff --git a/include/depthai/pipeline/node/Sync.hpp b/include/depthai/pipeline/node/Sync.hpp
@@ -65,7 +65,7 @@ class Sync : public DeviceNodeCRTP<DeviceNode, Sync, SyncProperties>, public Hos
     /**
      * Specify the timestamp source
      */
-    void setTimestampSource(TimestampSource type);
+    void setTimestampSource(TimestampSource source);
 
     /**
      * Get the timestamp source
diff --git a/include/depthai/pipeline/node/ToF.hpp b/include/depthai/pipeline/node/ToF.hpp
@@ -28,6 +28,12 @@ class ToFBase : public DeviceNodeCRTP<DeviceNode, ToFBase, ToFProperties> {
 
    protected:
     Properties& getProperties();
+    /**
+     * Input for raw sensor frames used by the RVC4 host implementation.
+     * This stays internal to the node group API, but must remain on the base
+     * node so the auto-created ToF camera can be linked in the pipeline schema.
+     */
+    Input rawInput{*this, {"rawInput", DEFAULT_GROUP, true, 8, {{{DatatypeEnum::ImgFrame, false}}}, DEFAULT_WAIT_FOR_MESSAGE}};
 
    public:
     ToFBase() = default;
@@ -68,12 +74,6 @@ class ToFBase : public DeviceNodeCRTP<DeviceNode, ToFBase, ToFProperties> {
 
    private:
     friend class ToF;
-    /**
-     * Input for raw sensor frames used by the RVC4 host implementation.
-     * This stays internal to the node group API, but must remain on the base
-     * node so the auto-created ToF camera can be linked in the pipeline schema.
-     */
-    Input rawInput{*this, {"rawInput", DEFAULT_GROUP, true, 8, {{{DatatypeEnum::ImgFrame, false}}}, DEFAULT_WAIT_FOR_MESSAGE}};
 
     bool isBuilt = false;
     uint32_t maxWidth = 0;
diff --git a/src/pipeline/node/Depth.cpp b/src/pipeline/node/Depth.cpp
@@ -779,16 +779,25 @@ void Depth::buildInternal() {
         case Algorithm::TOF:
             tofBackend_ = ToF::create(device);
             add(tofBackend_);
-            tofBackend_->build(CameraBoardSocket::AUTO, ImageFiltersPresetMode::TOF_MID_RANGE, stereoOutputFps_);
+            tofBackend_->build(CameraBoardSocket::AUTO, ToFConfig::Profile::MID_RANGE, stereoOutputFps_);
+#ifdef DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4
+            depthOut_ = &tofBackend_->tofBaseNode.depth;
+            confidenceOut_ = &tofBackend_->tofBaseNode.confidence;
+#else
             depthOut_ = &tofBackend_->depth;
             confidenceOut_ = &tofBackend_->confidence;
+#endif
             break;
         case Algorithm::NEURAL_ASSISTED_STEREO: {
             nasBackend_ = std::make_shared<NeuralAssistedStereo>(device);
             add(nasBackend_);
             const auto stereo = ensureStereoOutputs(pipeline, requireFirstStereoPair(device), sizeOverride_, stereoOutputFps_);
             nasBackend_->build(*stereo.left, *stereo.right, DEFAULT_NAS_NEURAL_MODEL, DEFAULT_NAS_RECTIFY);
+#ifdef DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4
+            depthOut_ = &(*nasBackend_->stereoDepth).depth;
+#else
             depthOut_ = &nasBackend_->depth;
+#endif
             confidenceOut_ = &(*nasBackend_->stereoDepth).confidenceMap;
             wiredResolution = stereo.resolution;
             if((!wiredFps || *wiredFps <= 0.f) && stereo.maxCameraFps > 0.f) {
diff --git a/src/pipeline/node/DynamicCalibrationNode.cpp b/src/pipeline/node/DynamicCalibrationNode.cpp
@@ -28,6 +28,10 @@ namespace node {
 
 namespace {
 
+bool isExpectedCalibrationInfoMessage(const std::string& message) {
+    return message == "Not enough coverage" || message == "Not enough data" || message == "Requested sensors are not connected by measurement pairs";
+}
+
 struct DynamicCalibrationTelemetryAggregateState {
     std::mutex mutex;
     std::string telemetryDeviceId;
@@ -527,7 +531,11 @@ DynamicCalibration::ErrorCode DynamicCalibration::runCalibration(const dai::Cali
     auto dclResult = pimplDCL->dynCalibImpl.findNewCalibration(syncedSensors, pm, keepCameraCenters, keptBaselineEdges);
     if(!dclResult.passed()) {
         auto result = std::make_shared<DynamicCalibrationResult>(dclResult.errorMessage());
-        logger->warn("Calibration failed: {}", dclResult.errorMessage());
+        if(isExpectedCalibrationInfoMessage(dclResult.errorMessage())) {
+            logger->info("Calibration failed: {}", dclResult.errorMessage());
+        } else {
+            logger->warn("Calibration failed: {}", dclResult.errorMessage());
+        }
 
         calibrationOutput.send(result);
         auto& telemetryState = *pimplDCL->telemetryAggregateState;
diff --git a/src/pipeline/node/Sync.cpp b/src/pipeline/node/Sync.cpp
@@ -24,8 +24,8 @@ ProcessorType Sync::getProcessor() const {
     return properties.processor;
 }
 
-void Sync::setTimestampSource(TimestampSource type) {
-    properties.timestampSource = type;
+void Sync::setTimestampSource(TimestampSource source) {
+    properties.timestampSource = source;
 }
 
 Sync::TimestampSource Sync::getTimestampSource() const {
diff --git a/tests/src/ondevice_tests/dynamic_calibration_test.cpp b/tests/src/ondevice_tests/dynamic_calibration_test.cpp
@@ -560,7 +560,9 @@ TEST_CASE("DynamicCalibration: Recalibration on synthetic data with housing base
     REQUIRE(std::fabs(rvecOld[2] - 0.01) < 0.00001);
 
     std::vector<float> rvec = dai::matrix::rotationMatrixToVector(rotationMatrix);
-    float thresholdRotation = 1e-5f;
+    INFO("Synthetic housing-base calibration uses RANSAC internally and is known to be non-deterministic.");
+    CAPTURE(rvecOld[0], rvecOld[1], rvecOld[2], rvec[0], rvec[1], rvec[2]);
+    float thresholdRotation = 3e-2f;
     REQUIRE(std::fabs(rvec[0]) < thresholdRotation);
     REQUIRE(std::fabs(rvec[1]) < thresholdRotation);
     REQUIRE(std::fabs(rvec[2]) < thresholdRotation);
diff --git a/tests/src/ondevice_tests/neural_depth_node_test.cpp b/tests/src/ondevice_tests/neural_depth_node_test.cpp
@@ -33,16 +33,16 @@ struct LiveCameraTestCase {
 };
 
 constexpr std::array<LiveCameraTestCase, kNeuralDepthModels.size()> kLiveCameraTestCases = {{
-    {dai::DeviceModelZoo::NEURAL_DEPTH_1248X780, 8.5f},
-    {dai::DeviceModelZoo::NEURAL_DEPTH_1056X660, 12.5f},
-    {dai::DeviceModelZoo::NEURAL_DEPTH_960X600, 14.0f},
-    {dai::DeviceModelZoo::NEURAL_DEPTH_864X540, 18.0f},
-    {dai::DeviceModelZoo::NEURAL_DEPTH_768X480, 22.0f},
-    {dai::DeviceModelZoo::NEURAL_DEPTH_576X360, 38.0f},
-    {dai::DeviceModelZoo::NEURAL_DEPTH_480X300, 56.0f},
-    {dai::DeviceModelZoo::NEURAL_DEPTH_384X240, 60.0f},
-    {dai::DeviceModelZoo::NEURAL_DEPTH_288X180, 60.0f},
-    {dai::DeviceModelZoo::NEURAL_DEPTH_192X120, 60.0f},
+    {dai::DeviceModelZoo::NEURAL_DEPTH_1248X780, 1.6f},
+    {dai::DeviceModelZoo::NEURAL_DEPTH_1056X660, 3.0f},
+    {dai::DeviceModelZoo::NEURAL_DEPTH_960X600, 5.0f},
+    {dai::DeviceModelZoo::NEURAL_DEPTH_864X540, 8.0f},
+    {dai::DeviceModelZoo::NEURAL_DEPTH_768X480, 10.0f},
+    {dai::DeviceModelZoo::NEURAL_DEPTH_576X360, 24.0f},
+    {dai::DeviceModelZoo::NEURAL_DEPTH_480X300, 40.0f},
+    {dai::DeviceModelZoo::NEURAL_DEPTH_384X240, 55.0f},
+    {dai::DeviceModelZoo::NEURAL_DEPTH_288X180, 55.0f},
+    {dai::DeviceModelZoo::NEURAL_DEPTH_192X120, 55.0f},
 }};
 
 bool isModelSupported(const std::shared_ptr<dai::DeviceBase>& device, dai::DeviceModelZoo model) {

Original file line number	Diff line number	Diff line change
`@@ -1,2 +1,2 @@`
`1`	`1`	`# "full commit hash of depthai visualizer static files"`
`2`		`-set(DEPTHAI_VISUALIZER_COMMIT "3.3.2")`
	`2`	`+set(DEPTHAI_VISUALIZER_COMMIT "3.5.2")`