Merge pull request #1242 from luxonis/v3_develop

Adding support for RVC4

Author: MaticTonin

calibrate.py

@@ -1,24 +1,40 @@
 #!/usr/bin/env python3
+from datetime import datetime, timedelta
+from argparse import ArgumentParser
+from collections import deque
+from pathlib import Path
+import itertools
+import traceback
 import argparse
+
 import json
-from pydoc import render_doc
 import shutil
-import traceback
-from argparse import ArgumentParser
-from pathlib import Path
+
 import time
-from datetime import datetime, timedelta
-from collections import deque 
-from scipy.spatial.transform import Rotation
-import traceback
-import itertools
 import math
 
 import cv2
-from cv2 import resize
+import sys
+import os
+
+def check_opencv_version(REQUIRED_VERSION = "4.5.5"):
+    installed = cv2.__version__
+    if installed != REQUIRED_VERSION:
+        print(f"[ERROR] OpenCV version mismatch!")
+        print(f"Installed: {installed}")
+        print(f"Required : {REQUIRED_VERSION}")
+        print("Please re-run:")
+        print("    pip install -r calib_requirements.txt")
+        sys.exit(1)
+    else:
+        print(f"[OK] OpenCV version {installed} is correct.")
+
+check_opencv_version()
+
 import depthai as dai
 import numpy as np
-import copy
+from packaging import version
+import sys
 
 import depthai_calibration.calibration_utils as calibUtils
 
@@ -166,6 +182,8 @@ def parse_args():
                         help="Enable the display of polynoms.")
     parser.add_argument('-dbg', '--debugProcessingMode', default=False, action="store_true",
                         help="Enable processing of images without using the camera.")
+    parser.add_argument('-v3', '--useDepthaiV3', default=True, action="store_true",
+                        help="Use depthai v3.")
     options = parser.parse_args()
     # Set some extra defaults, `-brd` would override them
     if options.defaultBoard is not None:
@@ -351,6 +369,7 @@ class Main:
 
     def __init__(self):
         self.args = parse_args()
+        self.args.useDepthaiV3 = version.parse(dai.__version__) >= version.parse("3.0.0")
         self.traceLevel= self.args.traceLevel
         self.output_scale_factor = self.args.outputScaleFactor
         self.aruco_dictionary = cv2.aruco.Dictionary_get(
@@ -462,14 +481,25 @@ def mouse_event_callback(self, event, x, y, flags, param):
             self.mouseTrigger = True
 
     def startPipeline(self):
-        pipeline = self.create_pipeline()
-        self.device.startPipeline(pipeline)
-
-        self.camera_queue = {}
-        for config_cam in self.board_config['cameras']:
-            cam = self.board_config['cameras'][config_cam]
-            if cam["name"] not in self.args.disableCamera:
-                self.camera_queue[cam['name']] = self.device.getOutputQueue(cam['name'], 1, False)
+        if version.parse(dai.__version__) < version.parse("3.0.0"):
+            if str(self.device.getDeviceInfo().platform) != "XLinkPlatform.X_LINK_MYRIAD_X":
+                sys.exit(
+                f"ERROR: RVC4 device detected, but DepthAI version {dai.__version__} is installed.\n"
+                "RVC4 is NOT supported on DepthAI 2.x.\n\n"
+                "Please upgrade to the latest DepthAI:\n"
+                "   pip install depthai --upgrade --force-reinstall\n"
+                )
+            pipeline = self.create_pipeline()
+            self.device.startPipeline(pipeline)
+            self.camera_queue = {}
+            for config_cam in self.board_config['cameras']:
+                cam = self.board_config['cameras'][config_cam]
+                if cam["name"] not in self.args.disableCamera:
+                    self.camera_queue[cam['name']] = self.device.getOutputQueue(cam['name'], 1, False)
+        else:
+            pipeline = self.create_pipeline_v3()
+            pipeline.start()
+        self.pipeline = pipeline
 
     def is_markers_found(self, frame):
         marker_corners, _, _ = cv2.aruco.detectMarkers(
@@ -579,6 +609,42 @@ def create_pipeline(self):
 
         return pipeline
 
+    def create_pipeline_v3(self):
+        pipeline = dai.Pipeline(self.device)
+        self.camera_queue = {}
+        fps = self.args.framerate
+        sync = pipeline.create(dai.node.Sync)
+        sync.setSyncThreshold(timedelta(milliseconds=50))
+        for cam_id in self.board_config['cameras']:
+            cam_info = self.board_config['cameras'][cam_id]
+            if cam_info["name"] not in self.args.disableCamera:
+                if cam_info['type'] == 'mono':
+                    cam_node = pipeline.create(dai.node.Camera, fps = fps).build(stringToCam[cam_id])
+                    cam_output = cam_node.requestFullResolutionOutput(type=dai.ImgFrame.Type.NV12)
+                    cam_output.link(sync.inputs[cam_info["name"]])
+                    self.camera_queue[cam_info['name']] = cam_output
+                    sensorName = cam_info['sensorName']
+                    print(f'Sensor name for {cam_info["name"]} is {sensorName}')
+                else:
+                    cam_node = pipeline.create(dai.node.Camera, fps = fps).build(stringToCam[cam_id])
+                    self.camera_queue[cam_info['name']] = cam_node.requestFullResolutionOutput(type=dai.ImgFrame.Type.NV12).link(sync.inputs[cam_info["name"]])
+                    if cam_info['sensorName'] == "OV9*82":
+                        cam_node.initialControl.setSharpness(0)
+                        cam_node.initialControl.setLumaDenoise(0)
+                        cam_node.initialControl.setChromaDenoise(4)
+
+                    if cam_info['hasAutofocus']:
+                        if self.args.rgbLensPosition:
+                            cam_node.initialControl.setManualFocus(int(self.args.rgbLensPosition[stringToCam[cam_id].name.lower()]))
+                        else:
+                            cam_node.initialControl.setManualFocusRaw(int(135 / 255))
+
+                    self.control_queue = cam_node.inputControl.createInputQueue()
+                    sensorName = cam_info['sensorName']
+                    print(f'Sensor name for {cam_info["name"]} is {sensorName}')
+                #cam_node.initialControl.setAntiBandingMode(antibandingOpts[self.args.antibanding])
+        self.sync_queue = sync.out.createOutputQueue()
+        return pipeline
 
     def parse_frame(self, frame, stream_name):
         if not self.is_markers_found(frame):
@@ -717,14 +783,19 @@ def capture_images_sync(self):
         sync_trys = 0
         while not finished:
             currImageList = {}
+            if self.args.useDepthaiV3:
+                msg_group = self.sync_queue.get()
             for key in self.camera_queue.keys():
-                frameMsg = self.camera_queue[key].get()
+                if self.args.useDepthaiV3:
+                    frameMsg = msg_group[key]
+                else:
+                    frameMsg = self.camera_queue[key].get()
 
                 #print(f'Timestamp of  {key} is {frameMsg.getTimestamp()}')
 
                 syncCollector.add_msg(key, frameMsg)
                 color_frame = None
-                if frameMsg.getType() in [dai.RawImgFrame.Type.RAW8, dai.RawImgFrame.Type.GRAY8] :
+                if not self.args.useDepthaiV3 and frameMsg.getType() in [dai.RawImgFrame.Type.RAW8, dai.RawImgFrame.Type.GRAY8] :
                     color_frame = cv2.cvtColor(frameMsg.getCvFrame(), cv2.COLOR_GRAY2BGR)
                 else:
                     color_frame = frameMsg.getCvFrame()
@@ -1082,7 +1153,10 @@ def calibrate(self):
                 print(f'EEPROM VERSION being flashed is  -> {eeepromData.version}')
                 eeepromData.version = 7
                 print(f'EEPROM VERSION being flashed is  -> {eeepromData.version}')
-                mx_serial_id = self.device.getDeviceInfo().getMxId()
+                if not self.args.useDepthaiV3:
+                    mx_serial_id = self.device.getDeviceInfo().getMxId()
+                else:
+                    mx_serial_id = self.device.getDeviceId()
                 date_time_string = datetime.now().strftime("_%m_%d_%y_%H_%M")
                 file_name = mx_serial_id + date_time_string
                 calib_dest_path = dest_path + '/' + file_name + '.json'
@@ -1091,7 +1165,7 @@ def calibrate(self):
                     Path(self.args.saveCalibPath).parent.mkdir(parents=True, exist_ok=True)
                     calibration_handler.eepromToJsonFile(self.args.saveCalibPath)
                 # try:
-                self.device.flashCalibration2(calibration_handler)
+                self.device.flashCalibration(calibration_handler)
                 is_write_succesful = True
                 # except RuntimeError as e:
                 #     is_write_succesful = False

depthai_calibration

@@ -5,7 +5,8 @@ opencv-contrib-python==4.5.5.62 # Last successful RPi build, also covers M1 with
 --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/wheels/
 pyqt5>5,<5.15.6 ; platform_machine != "armv6l" and platform_machine != "armv7l" and platform_machine != "aarch64" and platform_machine != "arm64"
 --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/
-depthai==2.30.0.0
+depthai
+numpy>=1.26.4,<2.0.0 # For RPi Buster (last successful build) and macOS M1 (first build). But allow for higher versions, to support Python3.11 (not available in 1.21.4 yet)
 Qt.py
 scipy
 matplotlib