Merge pull request #178 from luxonis/develop

Release v2.7.2

CMakeLists.txt

@@ -26,7 +26,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.7.1" LANGUAGES CXX C)
+project(depthai VERSION "2.7.2" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)

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 "eb69fc0283cf82608e6eccf6f37b1709a2db8b5b")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "673983dd2b693f267cb3cb11a4247ec4a38a6508")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

include/depthai/device/DataQueue.hpp

@@ -40,6 +40,16 @@ class DataOutputQueue {
     DataOutputQueue(const std::shared_ptr<XLinkConnection>& conn, const std::string& streamName, unsigned int maxSize = 16, bool blocking = true);
     ~DataOutputQueue();
 
+    /**
+     * Check whether queue is closed
+     */
+    bool isClosed() const;
+
+    /**
+     * Closes the queue and the underlying thread
+     */
+    void close();
+
     /**
      * Sets queue behavior when full (maxSize)
      *
@@ -339,6 +349,16 @@ class DataInputQueue {
     DataInputQueue(const std::shared_ptr<XLinkConnection>& conn, const std::string& streamName, unsigned int maxSize = 16, bool blocking = true);
     ~DataInputQueue();
 
+    /**
+     * Check whether queue is closed
+     */
+    bool isClosed() const;
+
+    /**
+     * Closes the queue and the underlying thread
+     */
+    void close();
+
     /**
      * Sets maximum message size. If message is larger than specified, then an exception is issued.
      *

include/depthai/pipeline/Node.hpp

@@ -34,18 +34,24 @@ class Node {
     struct Connection;
 
    protected:
+    // fwd declare classes
+    class Input;
+    class Output;
+
+    std::vector<Output*> outputs;
+    std::vector<Input*> inputs;
+
     struct DatatypeHierarchy {
         DatatypeHierarchy(DatatypeEnum d, bool c) : datatype(d), descendants(c) {}
         DatatypeEnum datatype;
         bool descendants;
     };
 
-    // fwd declare Input class
-    struct Input;
+    class Output {
+        Node& parent;
 
-    struct Output {
+       public:
         enum class Type { MSender, SSender };
-        Node& parent;
         const std::string name;
         const Type type;
         // Which types and do descendants count as well?
@@ -54,7 +60,13 @@ class Node {
             : parent(par), name(std::move(n)), type(t), possibleDatatypes(std::move(types)) {}
         bool isSamePipeline(const Input& in);
 
-       public:
+        Node& getParent() {
+            return parent;
+        }
+        const Node& getParent() const {
+            return parent;
+        }
+
         /**
          * Check if connection is possible
          * @param in Input to connect to
@@ -88,16 +100,18 @@ class Node {
         void unlink(const Input& in);
     };
 
-    struct Input {
-        enum class Type { SReceiver, MReceiver };
+    class Input {
         Node& parent;
+
+       public:
+        enum class Type { SReceiver, MReceiver };
         const std::string name;
         const Type type;
         bool defaultBlocking{true};
         int defaultQueueSize{8};
         tl::optional<bool> blocking;
         tl::optional<int> queueSize;
-        friend struct Output;
+        friend class Output;
         const std::vector<DatatypeHierarchy> possibleDatatypes;
 
         /// Constructs Input with default blocking and queueSize options
@@ -108,7 +122,13 @@ class Node {
         Input(Node& par, std::string n, Type t, bool blocking, int queueSize, std::vector<DatatypeHierarchy> types)
             : parent(par), name(std::move(n)), type(t), defaultBlocking(blocking), defaultQueueSize(queueSize), possibleDatatypes(std::move(types)) {}
 
-       public:
+        Node& getParent() {
+            return parent;
+        }
+        const Node& getParent() const {
+            return parent;
+        }
+
         /**
          * Overrides default input queue behavior.
          * @param blocking True blocking, false overwriting
@@ -154,12 +174,41 @@ class Node {
     /// Retrieves nodes name
     virtual std::string getName() const = 0;
     /// Retrieves all nodes outputs
-    virtual std::vector<Output> getOutputs() = 0;
+    std::vector<Output> getOutputs() {
+        std::vector<Output> result;
+        for(auto* x : getOutputRefs()) {
+            result.push_back(*x);
+        }
+        return result;
+    }
     /// Retrieves all nodes inputs
-    virtual std::vector<Input> getInputs() = 0;
+    std::vector<Input> getInputs() {
+        std::vector<Input> result;
+        for(auto* x : getInputRefs()) {
+            result.push_back(*x);
+        }
+        return result;
+    }
     /// Retrieves all nodes assets
     virtual std::vector<std::shared_ptr<Asset>> getAssets();
 
+    /// Retrieves reference to node outputs
+    std::vector<Output*> getOutputRefs() {
+        return outputs;
+    }
+    /// Retrieves reference to node outputs
+    std::vector<const Output*> getOutputRefs() const {
+        return {outputs.begin(), outputs.end()};
+    }
+    /// Retrieves reference to node inputs
+    std::vector<Input*> getInputRefs() {
+        return inputs;
+    }
+    /// Retrieves reference to node inputs
+    std::vector<const Input*> getInputRefs() const {
+        return {inputs.begin(), inputs.end()};
+    }
+
     /// Connection between an Input and Output
     struct Connection {
         friend struct std::hash<Connection>;

include/depthai/pipeline/node/ColorCamera.hpp

@@ -19,18 +19,16 @@ class ColorCamera : public Node {
 
    private:
     Properties properties;
+    std::shared_ptr<RawCameraControl> rawControl;
 
-    std::string getName() const override;
-    std::vector<Output> getOutputs() override;
-    std::vector<Input> getInputs() override;
-    nlohmann::json getProperties() override;
     std::shared_ptr<Node> clone() override;
+    nlohmann::json getProperties() override;
 
-    std::shared_ptr<RawCameraControl> rawControl;
+   public:
+    std::string getName() const override;
 
     int getScaledSize(int input, int num, int denom) const;
 
-   public:
     /**
      * Constructs ColorCamera node.
      */

include/depthai/pipeline/node/DetectionNetwork.hpp

@@ -22,13 +22,12 @@ class DetectionNetwork : public NeuralNetwork {
     using Properties = dai::DetectionNetworkProperties;
 
     std::string getName() const override;
-    std::vector<Output> getOutputs() override;
-    std::vector<Input> getInputs() override;
 
    protected:
-    DetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
     Properties properties;
-    virtual Properties& getPropertiesRef() override;
+
+    DetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
+    Properties& getPropertiesRef() override;
     nlohmann::json getProperties() override;
     std::shared_ptr<Node> clone() override;
 

include/depthai/pipeline/node/EdgeDetector.hpp

@@ -22,8 +22,6 @@ class EdgeDetector : public Node {
 
    private:
     std::string getName() const override;
-    std::vector<Input> getInputs() override;
-    std::vector<Output> getOutputs() override;
     nlohmann::json getProperties() override;
     std::shared_ptr<Node> clone() override;
 

include/depthai/pipeline/node/IMU.hpp

@@ -18,13 +18,12 @@ class IMU : public Node {
    private:
     Properties properties;
 
-    std::string getName() const override;
-    std::vector<Output> getOutputs() override;
-    std::vector<Input> getInputs() override;
     nlohmann::json getProperties() override;
     std::shared_ptr<Node> clone() override;
 
    public:
+    std::string getName() const override;
+
     /**
      * Constructs IMU node.
      */

include/depthai/pipeline/node/ImageManip.hpp

@@ -18,16 +18,14 @@ class ImageManip : public Node {
 
    private:
     Properties properties;
+    std::shared_ptr<RawImageManipConfig> rawConfig;
 
-    std::string getName() const override;
-    std::vector<Input> getInputs() override;
-    std::vector<Output> getOutputs() override;
     nlohmann::json getProperties() override;
     std::shared_ptr<Node> clone() override;
 
-    std::shared_ptr<RawImageManipConfig> rawConfig;
-
    public:
+    std::string getName() const override;
+
     ImageManip(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
 
     /**

include/depthai/pipeline/node/MonoCamera.hpp

@@ -21,15 +21,14 @@ class MonoCamera : public Node {
    private:
     Properties properties;
 
-    std::string getName() const override;
-    std::vector<Output> getOutputs() override;
-    std::vector<Input> getInputs() override;
     nlohmann::json getProperties() override;
     std::shared_ptr<Node> clone() override;
 
     std::shared_ptr<RawCameraControl> rawControl;
 
    public:
+    std::string getName() const override;
+
     MonoCamera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
 
     /**

include/depthai/pipeline/node/MyProducer.hpp

@@ -10,13 +10,12 @@ namespace node {
 class MyProducer : public Node {
     dai::MyProducerProperties properties;
 
-    std::string getName() const override;
-    std::vector<Input> getInputs() override;
-    std::vector<Output> getOutputs() override;
     nlohmann::json getProperties() override;
     std::shared_ptr<Node> clone() override;
 
    public:
+    std::string getName() const override;
+
     MyProducer(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
 
     Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::Buffer, true}}};

include/depthai/pipeline/node/NeuralNetwork.hpp

@@ -20,8 +20,6 @@ class NeuralNetwork : public Node {
     using Properties = dai::NeuralNetworkProperties;
 
     std::string getName() const override;
-    std::vector<Output> getOutputs() override;
-    std::vector<Input> getInputs() override;
 
    protected:
     nlohmann::json getProperties() override;

include/depthai/pipeline/node/ObjectTracker.hpp

@@ -21,15 +21,14 @@ class ObjectTracker : public Node {
     using Properties = dai::ObjectTrackerProperties;
 
    private:
-    std::string getName() const override;
-    std::vector<Input> getInputs() override;
-    std::vector<Output> getOutputs() override;
     nlohmann::json getProperties() override;
     std::shared_ptr<Node> clone() override;
 
     Properties properties;
 
    public:
+    std::string getName() const override;
+
     ObjectTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
 
     /**

include/depthai/pipeline/node/SPIOut.hpp

@@ -14,18 +14,6 @@ namespace node {
 class SPIOut : public Node {
     dai::SPIOutProperties properties;
 
-    std::string getName() const {
-        return "SPIOut";
-    }
-
-    std::vector<Input> getInputs() {
-        return {input};
-    }
-
-    std::vector<Output> getOutputs() {
-        return {};
-    }
-
     nlohmann::json getProperties() {
         nlohmann::json j;
         nlohmann::to_json(j, properties);
@@ -37,8 +25,14 @@ class SPIOut : public Node {
     }
 
    public:
+    std::string getName() const {
+        return "SPIOut";
+    }
+
     SPIOut(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : Node(par, nodeId) {
         properties.busId = 0;
+
+        inputs = {&input};
     }
 
     /**

include/depthai/pipeline/node/SpatialDetectionNetwork.hpp

@@ -22,17 +22,16 @@ class SpatialDetectionNetwork : public DetectionNetwork {
     using Properties = dai::SpatialDetectionNetworkProperties;
 
     std::string getName() const override;
-    std::vector<Input> getInputs() override;
-    std::vector<Output> getOutputs() override;
 
    protected:
-    SpatialDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
     Properties properties;
     virtual Properties& getPropertiesRef() override;
     nlohmann::json getProperties() override;
     std::shared_ptr<Node> clone() override;
 
    public:
+    SpatialDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
+
     /**
      * Input message with data to be infered upon
      * Default queue is blocking with size 5

include/depthai/pipeline/node/SpatialLocationCalculator.hpp

@@ -21,16 +21,15 @@ class SpatialLocationCalculator : public Node {
     using Properties = dai::SpatialLocationCalculatorProperties;
 
    private:
-    std::string getName() const override;
-    std::vector<Input> getInputs() override;
-    std::vector<Output> getOutputs() override;
     nlohmann::json getProperties() override;
     std::shared_ptr<Node> clone() override;
 
     std::shared_ptr<RawSpatialLocationCalculatorConfig> rawConfig;
     Properties properties;
 
    public:
+    std::string getName() const override;
+
     SpatialLocationCalculator(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
 
     /**