Merge branch 'v3_develop' of github.com:luxonis/depthai-core into rvc…

…2_img_transformations_v2
luxonis · Jan 8, 2025 · cc49040 · cc49040
2 parents 46f478f + cc5ec37
commit cc49040
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Showing 7 changed files with 81 additions and 3 deletions.
diff --git a/bindings/python/src/pipeline/node/DetectionNetworkBindings.cpp b/bindings/python/src/pipeline/node/DetectionNetworkBindings.cpp
@@ -62,6 +62,13 @@ void bind_detectionnetwork(pybind11::module& m, void* pCallstack) {
              py::arg("input"),
              py::arg("model"),
              py::arg("fps") = 30.0f)
+        .def("build",
+             ([](DetectionNetwork& self, const std::shared_ptr<Camera>& input, std::string model, float fps) {
+                 return self.build(input, NNModelDescription{model}, fps);
+             }),
+             py::arg("input"),
+             py::arg("model"),
+             py::arg("fps") = 30.0f)
         .def("build",
              py::overload_cast<const std::shared_ptr<Camera>&, NNArchive, float>(&DetectionNetwork::build),
              py::arg("input"),

diff --git a/bindings/python/src/pipeline/node/NeuralNetworkBindings.cpp b/bindings/python/src/pipeline/node/NeuralNetworkBindings.cpp
@@ -55,6 +55,9 @@ void bind_neuralnetwork(pybind11::module& m, void* pCallstack){
         .def("build", py::overload_cast<dai::Node::Output&, const NNArchive&>(&NeuralNetwork::build), py::arg("input"), py::arg("nnArchive"), DOC(dai, node, NeuralNetwork, build))
         .def("build", py::overload_cast<const std::shared_ptr<Camera>&, dai::NNModelDescription, float>(&NeuralNetwork::build), py::arg("input"), py::arg("modelDesc"), py::arg("fps")=30.0f, DOC(dai, node, NeuralNetwork, build,2))
         .def("build", py::overload_cast<const std::shared_ptr<Camera>&, dai::NNArchive, float>(&NeuralNetwork::build), py::arg("input"), py::arg("nnArchive"), py::arg("fps")=30.0f, DOC(dai, node, NeuralNetwork, build, 3))
+        .def("build", [](NeuralNetwork& self, const std::shared_ptr<Camera>& input, const std::string& model, float fps) {
+            return self.build(input, NNModelDescription{model}, fps);
+        }, py::arg("input"), py::arg("model"), py::arg("fps")=30.0f, DOC(dai, node, NeuralNetwork, build))
         .def("setBlob", py::overload_cast<dai::OpenVINO::Blob>(&NeuralNetwork::setBlob), py::arg("blob"), DOC(dai, node, NeuralNetwork, setBlob))
         .def("setBlob", py::overload_cast<const dai::Path&>(&NeuralNetwork::setBlob), py::arg("path"), DOC(dai, node, NeuralNetwork, setBlob, 2))
         .def("setModelPath",

diff --git a/bindings/python/src/pipeline/node/NodeBindings.cpp b/bindings/python/src/pipeline/node/NodeBindings.cpp
@@ -313,6 +313,16 @@ void NodeBindings::bind(pybind11::module& m, void* pCallstack) {
              static_cast<Node& (Node::Input::*)()>(&Node::Input::getParent),
              py::return_value_policy::reference_internal,
              DOC(dai, Node, Input, getParent))
+        .def("getPossibleDatatypes", &Node::Input::getPossibleDatatypes, DOC(dai, Node, Input, getPossibleDatatypes))
+        .def("setPossibleDatatypes", &Node::Input::setPossibleDatatypes, py::arg("types"), DOC(dai, Node, Input, setPossibleDatatypes))
+        .def("setPossibleDatatypes", [](Node::Input& input, const std::vector<std::tuple<DatatypeEnum, bool>>& types) {
+            std::vector<Node::DatatypeHierarchy> converted;
+            converted.reserve(types.size());
+            for(const auto& t : types) {
+                converted.emplace_back(std::get<0>(t), std::get<1>(t));
+            }
+            input.setPossibleDatatypes(converted);
+        }, py::arg("types"), DOC(dai, Node, Input, setPossibleDatatypes))
         .def("setWaitForMessage", &Node::Input::setWaitForMessage, py::arg("waitForMessage"), DOC(dai, Node, Input, setWaitForMessage))
         .def("getWaitForMessage", &Node::Input::getWaitForMessage, DOC(dai, Node, Input, getWaitForMessage))
         .def("setReusePreviousMessage", &Node::Input::setReusePreviousMessage, py::arg("reusePreviousMessage"), DOC(dai, Node, Input, setReusePreviousMessage))
@@ -336,6 +346,15 @@ void NodeBindings::bind(pybind11::module& m, void* pCallstack) {
              py::arg("possibleDatatypes") = Node::OutputDescription{}.types,
              py::keep_alive<1, 0>())
         .def("getPossibleDatatypes", &Node::Output::getPossibleDatatypes, DOC(dai, Node, Output, getPossibleDatatypes))
+        .def("setPossibleDatatypes", &Node::Output::setPossibleDatatypes, py::arg("types"), DOC(dai, Node, Output, setPossibleDatatypes))
+        .def("setPossibleDatatypes", [](Node::Output& output, const std::vector<std::tuple<DatatypeEnum, bool>>& types) {
+            std::vector<Node::DatatypeHierarchy> converted;
+            converted.reserve(types.size());
+            for(const auto& t : types) {
+                converted.emplace_back(std::get<0>(t), std::get<1>(t));
+            }
+            output.setPossibleDatatypes(converted);
+        }, py::arg("types"), DOC(dai, Node, Output, setPossibleDatatypes))
         .def("getParent",
              static_cast<const Node& (Node::Output::*)() const>(&Node::Output::getParent),
              py::return_value_policy::reference_internal,

diff --git a/bindings/python/src/pipeline/node/SpatialDetectionNetworkBindings.cpp b/bindings/python/src/pipeline/node/SpatialDetectionNetworkBindings.cpp
@@ -41,6 +41,9 @@ void bind_spatialdetectionnetwork(pybind11::module& m, void* pCallstack){
     spatialDetectionNetwork
         // Copied from NN node
         .def("build", py::overload_cast<const std::shared_ptr<Camera>&, const std::shared_ptr<StereoDepth>&, NNModelDescription, float>(&SpatialDetectionNetwork::build), py::arg("input"), py::arg("stereo"), py::arg("model"), py::arg("fps") = 30.0f, DOC(dai, node, SpatialDetectionNetwork, build))
+        .def("build", ([](SpatialDetectionNetwork& self, const std::shared_ptr<Camera>& input, const std::shared_ptr<StereoDepth>& stereo, std::string model, float fps) {
+            return self.build(input, stereo, NNModelDescription{model}, fps);
+        }), py::arg("input"), py::arg("stereo"), py::arg("model"), py::arg("fps") = 30.0f, DOC(dai, node, SpatialDetectionNetwork, build, 2))
         .def("build", py::overload_cast<const std::shared_ptr<Camera>&, const std::shared_ptr<StereoDepth>&, NNArchive, float>(&SpatialDetectionNetwork::build), py::arg("input"), py::arg("stereo"), py::arg("nnArchive"), py::arg("fps") = 30.0f, DOC(dai, node, SpatialDetectionNetwork, build, 2))
         .def("setBlobPath", &SpatialDetectionNetwork::setBlobPath, py::arg("path"), DOC(dai, node, SpatialDetectionNetwork, setBlobPath))
         .def("setNumPoolFrames", &SpatialDetectionNetwork::setNumPoolFrames, py::arg("numFrames"), DOC(dai, node, SpatialDetectionNetwork, setNumPoolFrames))

diff --git a/examples/python/HostNodes/threaded_host_nodes.py b/examples/python/HostNodes/threaded_host_nodes.py
@@ -8,6 +8,22 @@ def __init__(self, name: str):
         self.input = self.createInput()
         self.output = self.createOutput()
 
+        # Possible API 1:
+        self.input.setPossibleDatatypes([dai.Node.DatatypeHierarchy(dai.DatatypeEnum.ImgFrame, True)])
+        self.output.setPossibleDatatypes([dai.Node.DatatypeHierarchy(dai.DatatypeEnum.ImgFrame, True)])
+
+        # Possible API 2:
+        self.input.setPossibleDatatypes([
+            (dai.DatatypeEnum.ImgFrame, True),
+            (dai.DatatypeEnum.Buffer, True)
+        ])
+        self.output.setPossibleDatatypes([
+            (dai.DatatypeEnum.ImgFrame, True),
+            (dai.DatatypeEnum.Buffer, True)
+        ])
+
+
+
     def onStart(self):
         print("Hello, this is", self.name)
 
@@ -24,6 +40,7 @@ class TestSink(dai.node.ThreadedHostNode):
     def __init__(self, name: str):
         super().__init__()
         self.input = self.createInput()
+
         self.name = name
 
     def onStart(self):

diff --git a/include/depthai/pipeline/Node.hpp b/include/depthai/pipeline/Node.hpp
@@ -180,9 +180,12 @@ class Node : public std::enable_shared_from_this<Node> {
         /**
          * Get possible datatypes that can be sent
          */
-        std::vector<DatatypeHierarchy> getPossibleDatatypes() const {
-            return desc.types;
-        }
+        std::vector<DatatypeHierarchy> getPossibleDatatypes() const;
+
+        /**
+         * Set possible datatypes that can be sent
+         */
+        void setPossibleDatatypes(std::vector<DatatypeHierarchy> types);
 
         /**
          * Check if this output and given input are on the same pipeline.
@@ -378,6 +381,16 @@ class Node : public std::enable_shared_from_this<Node> {
          */
         bool getWaitForMessage() const;
 
+        /**
+         * Get possible datatypes that can be received
+         */
+        std::vector<DatatypeHierarchy> getPossibleDatatypes() const;
+
+        /**
+         * Set possible datatypes that can be received
+         */
+        void setPossibleDatatypes(std::vector<DatatypeHierarchy> types);
+
         /**
          * Equivalent to setWaitForMessage but with inverted logic.
          */

diff --git a/src/pipeline/Node.cpp b/src/pipeline/Node.cpp
@@ -731,4 +731,20 @@ std::vector<std::pair<Node::Input&, std::shared_ptr<Capability>>> Node::getRequi
     DAI_CHECK_V(false, "Node '{}' doesn't support node to node linking. Please link outputs <--> inputs manually.", getName());
 }
 
+void Node::Output::setPossibleDatatypes(std::vector<Node::DatatypeHierarchy> types) {
+    desc.types = std::move(types);
+}
+
+std::vector<Node::DatatypeHierarchy> Node::Output::getPossibleDatatypes() const {
+    return desc.types;
+}
+
+void Node::Input::setPossibleDatatypes(std::vector<Node::DatatypeHierarchy> types) {
+    possibleDatatypes = std::move(types);
+}
+
+std::vector<Node::DatatypeHierarchy> Node::Input::getPossibleDatatypes() const {
+    return possibleDatatypes;
+}
+
 }  // namespace dai