Merge branch 'v3_develop' into v3_rgbd_node

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+c9ed16c24584e7463170375f849bd0c24f2596d2")
+set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+78ff040f04e86bc77b1618c87a931d645f7aa109")

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 "976351fda3b70483e37882f989686bf0aa8c604d")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "a9d354351694c5dd96def768c0b0155354cab38c")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

examples/cpp/CMakeLists.txt

@@ -259,7 +259,7 @@ dai_add_example(camera_multiple_outputs Camera/camera_multiple_outputs.cpp OFF O
 dai_add_example(image_manip_host HostNodes/image_manip_host.cpp OFF OFF)
 dai_add_example(image_manip_color_conversion_host HostNodes/image_manip_color_conversion.cpp OFF OFF)
 dai_add_example(image_manip_v2_resize ImageManip/image_manip_v2_resize.cpp OFF OFF)
-dai_add_example(image_manip_v2_mod ImageManip/image_manip_v2_mod.cpp OFF OFF)
+dai_add_example(image_manip_v2_multi_ops ImageManip/image_manip_v2_multi_ops.cpp OFF OFF)
 dai_add_example(image_manip_color_conversion ImageManip/image_manip_color_conversion.cpp OFF OFF)
 
 # Record

examples/python/CMakeLists.txt

@@ -158,8 +158,8 @@ add_python_example(threaded_host_nodes HostNodes/threaded_host_nodes.py)
 dai_set_example_test_labels(threaded_host_nodes ondevice rvc2_all rvc4 ci)
 
 ## ImageManip
-add_python_example(image_manip_mod ImageManip/image_manip_v2_mod.py)
-dai_set_example_test_labels(image_manip_mod ondevice rvc2_all rvc4 ci)
+add_python_example(image_manip_v2_multi_ops ImageManip/image_manip_v2_multi_ops.py)
+dai_set_example_test_labels(image_manip_v2_multi_ops ondevice rvc2_all rvc4 ci)
 
 add_python_example(image_manip_resize ImageManip/image_manip_v2_resize.py)
 dai_set_example_test_labels(image_manip_resize ondevice rvc2_all rvc4 ci)

examples/python/ImageManip/image_manip_v2_all_ops.py

@@ -0,0 +1,62 @@
+import depthai as dai
+import cv2
+
+pipeline = dai.Pipeline()
+
+manip_input = pipeline.create(dai.node.ImageManipV2)
+manip_input.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)
+inputQueue = manip_input.inputImage.createInputQueue()
+
+manip_ops = [
+    # Resize operations. If aspect ratio isn't the same, the image will be stretched/cropped/letterboxed (depending on resize mode)
+    # Docs here: https://docs.luxonis.com/software/depthai/resolution-techniques/
+    ('resize_stretch', lambda conf: conf.setOutputSize(256, 200, dai.ImageManipConfigV2.ResizeMode.STRETCH)),
+    ('resize_letterbox', lambda conf: conf.setOutputSize(256, 200, dai.ImageManipConfigV2.ResizeMode.LETTERBOX)),
+    ('resize_center_crop', lambda conf: conf.setOutputSize(256, 200, dai.ImageManipConfigV2.ResizeMode.CENTER_CROP)),
+    # Crop the image topLeft (10,40) to bottomRight (310,110)
+    ('crop', lambda conf: conf.addCrop(x=50, y=50, w=150, h=200)),
+    # Flip the frame vertically/horizontally
+    ('flip_vertical', lambda conf: conf.addFlipVertical()),
+    ('flip_horizontal', lambda conf: conf.addFlipHorizontal()),
+    # Scale the image by 0.7x in x and 0.5x in y
+    ('scale', lambda conf: conf.addScale(0.7, 0.5)),
+    # Rotate. If center isn't specified, it will rotate around center (0.5, 0.5)
+    ('rotate_90_deg', lambda conf: conf.addRotateDeg(90)),
+    ('rotate_90_deg_center', lambda conf: conf.addRotateDeg(90, center=dai.Point2f(0.2, 0.3)).setOutputCenter(False)),
+    ('transform_affine', lambda conf: conf.addTransformAffine( # Shearing
+        [1, 0.5,
+         0.2, 1])),
+    ('transform_perspective', lambda conf: conf.addTransformPerspective(
+        [1.0, 0.2, 0.0,  # First row
+        0.1, 1.0, 0.0,  # Second row
+        0.001, 0.002, 1.0])),  # Third row
+    ('frame_type', lambda conf: conf.setFrameType(dai.ImgFrame.Type.RAW8)), # to Grayscale
+]
+
+# Dynamically create ImageManipV2 nodes, apply configurations, and set up queues
+queues = {}
+for name, config in manip_ops:
+    print(name, config)
+    manip = pipeline.create(dai.node.ImageManipV2)
+    config(manip.initialConfig)
+    manip_input.out.link(manip.inputImage)
+    queues[name] = manip.out.createOutputQueue(maxSize=4, blocking=False)
+
+
+imgFrame = dai.ImgFrame()
+
+input_frame = cv2.imread('../models/lenna.png') # 512x512
+# Send 256x256 image to the device
+imgFrame.setCvFrame(cv2.pyrDown(input_frame), dai.ImgFrame.Type.BGR888i)
+inputQueue.send(imgFrame)
+
+cv2.imshow('input_image', input_frame)
+
+
+pipeline.start()
+
+for name, queue in queues.items():
+    inFrame = queue.get()
+    cv2.imshow(name, inFrame.getCvFrame())
+
+key = cv2.waitKey(0)

examples/python/ImageManip/image_manip_v2_resize.py

@@ -6,19 +6,21 @@
 camRgb = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_A)
 manip = pipeline.create(dai.node.ImageManipV2)
 
-
 manip.initialConfig.setOutputSize(300, 300, dai.ImageManipConfigV2.ResizeMode.STRETCH)
 
-camRgb.requestOutput((1920, 1080)).link(manip.inputImage)
+camOut = camRgb.requestOutput((1920, 1080))
+camOut.link(manip.inputImage)
 
-out = manip.out.createOutputQueue()
+manipQ = manip.out.createOutputQueue()
+camQ = camOut.createOutputQueue()
 
 pipeline.start()
 
 while True:
-    inFrame = out.get()
-    if inFrame is not None:
-        cv2.imshow("Show frame", inFrame.getCvFrame())
-        key = cv2.waitKey(1)
-        if key == ord('q'):
-            break
+    if manipQ.has():
+        cv2.imshow("Manip frame", manipQ.get().getCvFrame())
+    if camQ.has():
+        cv2.imshow("Camera frame", camQ.get().getCvFrame())
+    key = cv2.waitKey(1)
+    if key == ord('q'):
+        break

include/depthai/utility/ImageManipV2Impl.hpp

@@ -1554,6 +1554,12 @@ bool ColorChange<ImageManipBuffer, ImageManipData>::colorConvertToNV12(
             done = true;
             break;
         }
+        case ImgFrame::Type::RAW8:
+        case ImgFrame::Type::GRAY8:
+            std::copy(src, src + inputSize, outputFrame.data());
+            memset(outputFrame.data() + dstSpecs.p2Offset, 128, dstSpecs.p2Stride * dstSpecs.height / 2);
+            done = true;
+            break;
         case ImgFrame::Type::YUV422i:
         case ImgFrame::Type::YUV444p:
         case ImgFrame::Type::YUV422p:
@@ -1567,7 +1573,6 @@ bool ColorChange<ImageManipBuffer, ImageManipData>::colorConvertToNV12(
         case ImgFrame::Type::RAW14:
         case ImgFrame::Type::RAW12:
         case ImgFrame::Type::RAW10:
-        case ImgFrame::Type::RAW8:
         case ImgFrame::Type::PACK10:
         case ImgFrame::Type::PACK12:
         case ImgFrame::Type::YUV444i:
@@ -1578,7 +1583,6 @@ bool ColorChange<ImageManipBuffer, ImageManipData>::colorConvertToNV12(
         case ImgFrame::Type::BGRF16F16F16p:
         case ImgFrame::Type::RGBF16F16F16i:
         case ImgFrame::Type::BGRF16F16F16i:
-        case ImgFrame::Type::GRAY8:
         case ImgFrame::Type::GRAYF16:
         case ImgFrame::Type::RAW32:
         case ImgFrame::Type::NONE:

tests/CMakeLists.txt

@@ -375,7 +375,7 @@ dai_set_test_labels(neural_network_node_test ondevice rvc2_all rvc4 ci)
 
 # ImgTransformations tests
 dai_add_test(img_transformation_test src/ondevice_tests/img_transformation_test.cpp CXX_STANDARD 17)
-dai_set_test_labels(message_group_frame_test ondevice rvc4 ci)
+dai_set_test_labels(img_transformation_test ondevice rvc2_all rvc4 ci)
 
 # Regression tests for encountered bugs
 dai_add_test(regression_camera_concurrency_test src/ondevice_tests/regression/camera_concurrency.cpp)