Fixed some issues, renamed files and updated README

.gitmodules

@@ -1,3 +0,0 @@
-[submodule "depthai-api"]
-	path = depthai-api
-	url = https://github.com/luxonis/depthai-api.git

README.md

@@ -1,24 +1,16 @@
-# DepthAI Python Module
+# DepthAI Demo Program
 
-This repo contains the pre-compiled DepthAI Python module (compiled as an architecture-specific `.so` file), utilities, and a submodule that allows compiling the DepthAI Python module for other platforms.
+This repo contains demo application, which can load different networks, create pipelines, record video, etc.
 
 __Documentation is available at [https://docs.luxonis.com](https://docs.luxonis.com).__
 
-## Python modules
+## Python modules (Dependencies)
 
-DepthAI requites [numpy](https://numpy.org/) and [opencv-python](https://pypi.org/project/opencv-python/). To get the versions of these packages you need for DepthAI, use pip: `pip install -r requirements.txt`
-
-Files with `.so` extension are the python modules:  
-- `depthai.cpython-36m-x86_64-linux-gnu.so` built for Ubuntu 18.04 & Python 3.6  
-- `depthai.cpython-37m-arm-linux-gnueabihf.so` built for Raspbian 10 & Python 3.7
-
-For supporting other platforms, there is an option to build the python lib from sources by grabbing the [depthai-api](https://github.com/luxonis/depthai-api) submodule:
-
-    git submodule update --init
-    ./depthai-api/install_dependencies.sh # Only required in first build on a given system
-    ./depthai-api/build_py_module.sh
-
-When updating DepthAI on these platforms it is often necessary to run `./depthai-api/build_py_module.sh --clean` in order to build a new version of the depthai-api module for your chosen platform. 
+DepthAI Demo requires [numpy](https://numpy.org/), [opencv-python](https://pypi.org/project/opencv-python/) and [depthai](https://github.com/luxonis/depthai-api). 
+To get the versions of these packages you need for the program, use pip: (Make sure pip is upgraded: `pip install -U pip`)
+```
+pip install -r requirements.txt
+```
 
 ## Examples
 

calibrate.py

@@ -173,10 +173,14 @@ def get_pipeline(self):
         # The following doesn't work (have to manually hit switch on device)
         # depthai.reboot_device
         # time.sleep(1)
-        if not depthai.init_device(cmd_file=self.cmd_file):
-            raise RuntimeError("Unable to initialize device. Try to reset it")
 
-        pipeline = depthai.create_pipeline(self.config)
+        pipeline = None
+
+        try:
+            device = depthai.Device("", False)
+            pipeline = device.create_pipeline(self.config)
+        except RuntimeError:
+            raise RuntimeError("Unable to initialize device. Try to reset it")
 
         if pipeline is None:
             raise RuntimeError("Unable to create pipeline")

calibrate_and_test.py

@@ -24,7 +24,7 @@ def cleanup():
     args+="'"+arg+"' "
 
 calibrate_cmd = "python3 calibrate.py " + args
-test_cmd = """python3 depthai.py -co '{"streams": [{"name": "depth_sipp", "max_fps": 12.0}]}'"""
+test_cmd = """python3 depthai-demo.py -co '{"streams": [{"name": "depth_sipp", "max_fps": 12.0}]}'"""
 
 
 atexit.register(cleanup)

depthai-demo.py

@@ -11,6 +11,7 @@
 import numpy as np
 
 import depthai
+print('Using depthai module from: ', depthai.__file__)
 
 import consts.resource_paths
 from depthai_helpers import utils
@@ -230,15 +231,27 @@ def show_landmarks_recognition(entries_prev, frame):
 
 print("Using Arguments=",args)
 
+usb2_mode = False
 if args['force_usb2']:
     cli_print("FORCE USB2 MODE", PrintColors.WARNING)
-    cmd_file = consts.resource_paths.device_usb2_cmd_fpath
+    usb2_mode = True
 else:
-    cmd_file = consts.resource_paths.device_cmd_fpath
+    usb2_mode = False
 
-if args['dev_debug']:
+debug_mode = False
+print('Value of -debug: ', args['dev_debug'])
+
+if args['dev_debug'] == None:
+    # Debug -debug flag NOT present,
+    debug_mode = False
+elif args['dev_debug'] == '':
+    # If just -debug flag is present -> cmd_file = '' (wait for device to be connected beforehand)
+    debug_mode = True
     cmd_file = ''
-    print('depthai will not load cmd file into device.')
+else: 
+    debug_mode = False
+    cmd_file = args['dev_debug']
+
 
 calc_dist_to_bb = True
 if args['disable_depth']:
@@ -302,7 +315,11 @@ def show_landmarks_recognition(entries_prev, frame):
         "Disconnect/connect usb cable on host! \n", PrintColors.RED)
         os._exit(1)
 
-device = depthai.Device("", False)
+device = None
+if debug_mode: 
+    device = depthai.Device("", args['device_id'])
+else:
+    device = depthai.Device(args['device_id'], usb2_mode)
 
 #if not depthai.init_device(cmd_file, args['device_id']):
 #    print("Error initializing device. Try to reset it.")
@@ -311,10 +328,27 @@ def show_landmarks_recognition(entries_prev, frame):
 
 print('Available streams: ' + str(device.get_available_streams()))
 
+
+# Append video stream if video recording was requested and stream is not already specified
+video_file = None
+if args['video'] is not None:
+    stream_names = [stream if isinstance(stream, str) else stream['name'] for stream in stream_list]
+    # open video file
+    try:
+        video_file = open(args['video'], 'wb')
+        if 'video' not in stream_names:
+            stream_list.append({"name": "video"})
+    except IOError:
+        print("Error: couldn't open video file for writing. Disabled video output stream")
+        if 'video' in stream_names:
+            stream_list.remove({"name": "video"})
+
+
+
 # Do not modify the default values in the config Dict below directly. Instead, use the `-co` argument when running this script.
 config = {
     # Possible streams:
-    # ['left', 'right','previewout', 'metaout', 'depth_sipp', 'disparity', 'depth_color_h']
+    # ['left', 'right', 'jpegout', 'video', 'previewout', 'metaout', 'depth_sipp', 'disparity', 'depth_color_h']
     # If "left" is used, it must be in the first position.
     # To test depth use:
     # 'streams': [{'name': 'depth_sipp', "max_fps": 12.0}, {'name': 'previewout', "max_fps": 12.0}, ],
@@ -377,34 +411,22 @@ def show_landmarks_recognition(entries_prev, frame):
     exit(2)
     # del config["streams"][config['streams'].index('depth_sipp')]
 
-# Append video stream if video recording was requested and stream is not already specified
-video_file = None
-if args['video'] is not None:
-
-    # open video file
-    try:
-        video_file = open(args['video'], 'wb')
-        if config['streams'].count('video') == 0:
-            config['streams'].append('video')
-    except IOError:
-        print("Error: couldn't open video file for writing. Disabled video output stream")
-        if config['streams'].count('video') == 1:
-            config['streams'].remove('video')
-
 
-stream_names = [stream if isinstance(stream, str) else stream['name'] for stream in config['streams']]
+
+# Create a list of enabled streams ()
+stream_names = [stream if isinstance(stream, str) else stream['name'] for stream in stream_list]
 
 enable_object_tracker = 'object_tracker' in stream_names
 
 # create the pipeline, here is the first connection with the device
-
 p = device.create_pipeline(config=config)
 
 if p is None:
     print('Pipeline is not created.')
     exit(3)
 
-nn2depth = depthai.get_nn_to_depth_bbox_mapping()
+nn2depth = device.get_nn_to_depth_bbox_mapping()
+
 
 
 t_start = time()
@@ -434,12 +456,20 @@ def reset_process_wd():
 
 reset_process_wd()
 
-
+ops = 0
+prevTime = time()
 while True:
     # retreive data from the device
     # data is stored in packets, there are nnet (Neural NETwork) packets which have additional functions for NNet result interpretation
-    nnet_packets, data_packets = p.get_available_nnet_and_data_packets()
+    nnet_packets, data_packets = p.get_available_nnet_and_data_packets(True)
 
+    ### Uncomment to print ops
+    # ops = ops + 1
+    # if time() - prevTime > 1.0:
+    #     print('OPS: ', ops)
+    #     ops = 0
+    #     prevTime = time()
+
     packets_len = len(nnet_packets) + len(data_packets)
     if packets_len != 0:
         reset_process_wd()
@@ -450,7 +480,11 @@ def reset_process_wd():
             os._exit(10)
 
     for _, nnet_packet in enumerate(nnet_packets):
-        entries_prev[nnet_packet.getMetadata().getCameraName()] = decode_nn(nnet_packet)
+        meta = nnet_packet.getMetadata()
+        camera = 'rgb'
+        if meta != None:
+            camera = meta.getCameraName()
+        entries_prev[camera] = decode_nn(nnet_packet)
 
     for packet in data_packets:
         window_name = packet.stream_name
@@ -461,7 +495,11 @@ def reset_process_wd():
             print('Invalid packet data!')
             continue
         elif packet.stream_name == 'previewout':
-            camera = packet.getMetadata().getCameraName()
+            meta = packet.getMetadata()
+            camera = 'rgb'
+            if meta != None:
+                camera = meta.getCameraName()
+
             window_name = 'previewout-' + camera
             # the format of previewout image is CHW (Chanel, Height, Width), but OpenCV needs HWC, so we
             # change shape (3, 300, 300) -> (300, 300, 3)
@@ -546,19 +584,22 @@ def reset_process_wd():
 
     key = cv2.waitKey(1)
     if key == ord('c'):
-        depthai.request_jpeg()
+        if 'jpegout' in stream_names == 0:
+            print("'jpegout' stream not enabled. Try settings -s jpegout to enable it")
+        else:
+            device.request_jpeg()
     elif key == ord('f'):
-        depthai.request_af_trigger()
+        device.request_af_trigger()
     elif key == ord('1'):
-        depthai.request_af_mode(depthai.AutofocusMode.AF_MODE_AUTO)
+        device.request_af_mode(depthai.AutofocusMode.AF_MODE_AUTO)
     elif key == ord('2'):
-        depthai.request_af_mode(depthai.AutofocusMode.AF_MODE_CONTINUOUS_VIDEO)
+        device.request_af_mode(depthai.AutofocusMode.AF_MODE_CONTINUOUS_VIDEO)
     elif key == ord('q'):
         break
 
 
 del p  # in order to stop the pipeline object should be deleted, otherwise device will continue working. This is required if you are going to add code after the main loop, otherwise you can ommit it.
-depthai.deinit_device()
+device.deinit_device()
 
 # Close video output file if was opened
 if video_file is not None:

depthai_helpers/cli_utils.py

@@ -63,8 +63,8 @@ def parse_args():
     parser.add_argument("-dev", "--device-id", default="", type=str,
                         help="USB port number for the device to connect to. Use the word 'list' to show all devices "
                              "and exit.")
-    parser.add_argument("-debug", "--dev_debug", default=None, action="store_true",
-                        help="Used by board developers for debugging.")
+    parser.add_argument("-debug", "--dev_debug", nargs="?", default=None, const='', type=str, required=False,
+                        help="Used by board developers for debugging. Can take parameter to device binary")
     parser.add_argument("-fusb2", "--force_usb2", default=None, action="store_true",
                         help="Force usb2 connection")
     parser.add_argument("-cnn", "--cnn_model", default="mobilenet-ssd", type=str,
@@ -115,7 +115,7 @@ def stream_type(option):
         cli_print(msg_string, PrintColors.WARNING)
         raise ValueError(msg_string)
 
-    stream_choices = ["metaout", "previewout", "left", "right", "depth_sipp", "disparity", "depth_color_h", "meta_d2h", "object_tracker"]
+    stream_choices = ["metaout", "video", "jpegout", "previewout", "left", "right", "depth_sipp", "disparity", "depth_color_h", "meta_d2h", "object_tracker"]
     stream_name = option_list[0]
     if stream_name not in stream_choices:
         msg_string = "{0} is not in available stream list: \n{1}".format(stream_name, stream_choices)

depthai_supervisor.py

@@ -26,7 +26,7 @@ def cleanup():
 for arg in sys.argv[1:]:
     args+="'"+arg+"' "
 
-cmd = "python3 depthai.py " + args
+cmd = "python3 depthai-demo.py " + args
 print(cmd)
 
 atexit.register(cleanup)

integration_test.py

@@ -134,7 +134,7 @@ def cleanup():
                 config_builder = config_builder+separator+comb+'"'
         config_builder = config_builder + """]}'"""
         if subset:
-            cmd = "python3 depthai.py " + config_builder
+            cmd = "python3 depthai-demo.py " + config_builder
             if(config_builder ==  """-co '{"streams": ["metaout"]}'"""):
                 continue
             logger.info(cmd)

repeat_test.py

@@ -40,7 +40,7 @@ def cleanup():
 for arg in sys.argv[1:]:
     args+="'"+arg+"' "
 
-cmd = "python3 depthai.py " + args
+cmd = "python3 depthai-demo.py " + args
 
 logger.info(cmd)
 

requirements.txt

@@ -1,2 +1,3 @@
 numpy==1.18.3
-opencv-python==4.2.0.34
+opencv-python==4.2.0.34
+git+https://github.com/luxonis/depthai-api.git@e83f12bbc39ab53501d44f873437d20bc1387986