Merge branch 'release_2.20.2' into main

Author: themarpe

.github/workflows/test.workflow.yml

@@ -57,7 +57,7 @@ jobs:
         cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun2_${{ matrix.flavor }} -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_TEST_EXAMPLES=ON
         cmake --build build --parallel 4 --config Release
         cd build
-        ctest -C Release --output-on-failure -L usb --no-tests=error
+        ctest -C Release --output-on-failure -L usb --no-tests=error --repeat until-pass:3
 
     - name: Configure, Build and Test
       if: matrix.os == 'linux'
@@ -67,4 +67,4 @@ jobs:
         cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun2_${{ matrix.flavor }} -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_TEST_EXAMPLES=ON
         cmake --build build --parallel 4 --config Release
         cd build
-        ctest -C Release --output-on-failure -L usb --no-tests=error
+        ctest -C Release --output-on-failure -L usb --no-tests=error --repeat until-pass:3

CMakeLists.txt

@@ -43,7 +43,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.20.1" LANGUAGES CXX C)
+project(depthai VERSION "2.20.2" 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 "f888710ca677ca662a4a83103e57c5a1ae2a5c7f")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "8c3d6ac1c77b0bf7f9ea6fd4d962af37663d2fbd")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

examples/CMakeLists.txt

@@ -223,6 +223,7 @@ target_compile_definitions(calibration_load PRIVATE CALIB_PATH="${calib_v6}")
 dai_add_example(rgb_camera_control ColorCamera/rgb_camera_control.cpp ON)
 dai_add_example(rgb_preview ColorCamera/rgb_preview.cpp ON)
 dai_add_example(rgb_video ColorCamera/rgb_video.cpp ON)
+dai_add_example(rgb_isp_scale ColorCamera/rgb_isp_scale.cpp ON)
 
 # EdgeDetector
 dai_add_example(edge_detector EdgeDetector/edge_detector.cpp ON)

examples/ColorCamera/rgb_isp_scale.cpp

@@ -0,0 +1,46 @@
+#include <iostream>
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+int main() {
+    // Create pipeline
+    dai::Pipeline pipeline;
+
+    // Define source and output
+    auto camRgb = pipeline.create<dai::node::ColorCamera>();
+    auto xoutVideo = pipeline.create<dai::node::XLinkOut>();
+
+    xoutVideo->setStreamName("video");
+
+    // Properties
+    camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
+    camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_4_K);
+    camRgb->setIspScale(1, 2);
+    camRgb->setVideoSize(1920, 1080);
+
+    xoutVideo->input.setBlocking(false);
+    xoutVideo->input.setQueueSize(1);
+
+    // Linking
+    camRgb->video.link(xoutVideo->input);
+
+    // Connect to device and start pipeline
+    dai::Device device(pipeline);
+
+    auto video = device.getOutputQueue("video");
+
+    while(true) {
+        auto videoIn = video->get<dai::ImgFrame>();
+
+        // Get BGR frame from NV12 encoded video frame to show with opencv
+        // Visualizing the frame on slower hosts might have overhead
+        cv::imshow("video", videoIn->getCvFrame());
+
+        int key = cv::waitKey(1);
+        if(key == 'q' || key == 'Q') {
+            return 0;
+        }
+    }
+    return 0;
+}