Merge pull request #1114 from luxonis/release_2.31.0.0

Release 2.31.0.0

Author: moratom

.github/workflows/docker-hub.yml

@@ -13,13 +13,13 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-latest, [Linux, ARM], [Linux, ARM64]]
+        os: [ubuntu-latest, [Linux, ARM], ubuntu-24.04-arm]
         include:
           - os: ubuntu-latest
             arch: amd64
           - os: [Linux, ARM]
             arch: armv7
-          - os: [Linux, ARM64]
+          - os: ubuntu-24.04-arm
             arch: armv8
     steps:
       - name: Clean the workspace

.github/workflows/main.yml

@@ -67,13 +67,13 @@ jobs:
     needs: build-docstrings
     strategy:
       matrix:
-        os: [ubuntu-latest, windows-latest, macos-latest]
+        os: [ubuntu-latest, windows-latest, macos-14]
     runs-on: ${{ matrix.os }}
     steps:
       - name: Print home directory
         run: echo Home directory inside container $HOME
       - name: Setup cmake
-        if: matrix.os == 'macos-latest'
+        if: matrix.os == 'macos-14'
         uses: jwlawson/[email protected]
         with:
           cmake-version: '3.29.x'
@@ -113,7 +113,7 @@ jobs:
           sudo apt install libusb-1.0-0-dev
 
       - name: Install dependencies (MacOS)
-        if: matrix.os == 'macos-latest'
+        if: matrix.os == 'macos-14'
         run: |
           python -m pip install --upgrade pip
           brew install libusb
@@ -184,7 +184,7 @@ jobs:
     runs-on: windows-latest
     strategy:
       matrix:
-        python-version: [3.7, 3.8, 3.9, '3.10', '3.11', '3.12', '3.13']
+        python-version: [3.9, '3.10', '3.11', '3.12', '3.13', '3.14']
         python-architecture: [x64, x86]
       fail-fast: false
     steps:
@@ -207,6 +207,11 @@ jobs:
       - name: Select Windows SDK
         run: echo "CMAKE_ARGS=-DCMAKE_SYSTEM_VERSION=${{ env.CMAKE_WINDOWS_SDK_VERSION }}" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
 
+      - name: Set UTF-8 encoding
+        run: |
+          echo "PYTHONIOENCODING=utf-8" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+          echo "PYTHONUTF8=1" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+
       - name: Install dependencies
         run: choco install strawberryperl
       - name: Set up Python ${{ matrix.python-version }}
@@ -240,7 +245,7 @@ jobs:
     needs: build-docstrings
     strategy:
       matrix:
-        python-version: [3.8, 3.9, '3.10', '3.11', '3.12', '3.13']
+        python-version: [3.9, '3.10', '3.11', '3.12', '3.13', '3.14']
         os: [macos-13, macos-14] # macos-13 is x64, macos-14 is arm64
     runs-on: ${{ matrix.os }}
     steps:
@@ -301,7 +306,7 @@ jobs:
     needs: build-docstrings
     runs-on: ubuntu-latest
     container:
-      image: quay.io/pypa/manylinux_2_28_x86_64:latest
+      image: quay.io/pypa/manylinux_2_28_x86_64:2025.11.10-2
       env:
         PLAT: manylinux_2_28_x86_64
     steps:
@@ -317,7 +322,7 @@ jobs:
         run: yum install -y --disableplugin=fastestmirror libusb1-devel perl-core
       - name: Installing cmake dependency
         run: |
-          /opt/python/cp38-cp38/bin/python3.8 -m pip install cmake
+          /opt/python/cp38-cp38/bin/python3.8 -m pip install "cmake<4.0"
           ln -s /opt/python/cp38-cp38/bin/cmake /bin/
       - name: Create folder structure
         run: mkdir -p wheelhouse/audited/
@@ -331,8 +336,8 @@ jobs:
 
       - name: Build and install depthai-core
         run: |
-          cmake -S depthai-core/ -B build_core -D CMAKE_BUILD_TYPE=Release -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake
-          cmake --build build_core --target install --parallel 4
+          /opt/python/cp38-cp38/bin/cmake -S depthai-core/ -B build_core -D CMAKE_BUILD_TYPE=Release -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake
+          /opt/python/cp38-cp38/bin/cmake --build build_core --target install --parallel 4
           echo "DEPTHAI_INSTALLATION_DIR=$PWD/build_core/install/" >> $GITHUB_ENV
 
       - name: Append build hash if not a tagged commit
@@ -341,10 +346,11 @@ jobs:
 
       - name: Building source distribution
         run: |
+          /opt/python/cp38-cp38/bin/python3.8 -m pip install --upgrade setuptools wheel
           /opt/python/cp38-cp38/bin/python3.8 setup.py sdist --formats=gztar
           mv dist/* wheelhouse/audited/
       - name: Build wheels
-        run: for PYBIN in /opt/python/cp3{7..13}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
+        run: for PYBIN in /opt/python/cp3{9..14}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
       - name: Audit wheels
         run: for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
       - name: Archive wheel artifacts
@@ -363,9 +369,9 @@ jobs:
   # This job builds wheels for ARM64 arch
   build-linux-arm64:
     needs: build-docstrings
-    runs-on: [self-hosted, linux, ARM64]
+    runs-on: ubuntu-24.04-arm
     container:
-      image: quay.io/pypa/manylinux_2_28_aarch64:latest
+      image: quay.io/pypa/manylinux_2_28_aarch64:2025.11.10-2
       env:
         PLAT: manylinux_2_28_aarch64
       # Mount local hunter cache directory, instead of transfering to Github and back
@@ -379,7 +385,7 @@ jobs:
         run: yum install -y --disableplugin=fastestmirror libusb1-devel perl-core
       - name: Installing cmake dependency
         run: |
-          /opt/python/cp38-cp38/bin/python3.8 -m pip install cmake
+          /opt/python/cp38-cp38/bin/python3.8 -m pip install "cmake<4"
           ln -s /opt/python/cp38-cp38/bin/cmake /bin/
       - name: Create folder structure
         run: mkdir -p wheelhouse/audited/
@@ -393,15 +399,15 @@ jobs:
 
       - name: Build and install depthai-core
         run: |
-          cmake -S depthai-core/ -B build_core -D CMAKE_BUILD_TYPE=Release -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake
-          cmake --build build_core --target install --parallel 4
+          /opt/python/cp38-cp38/bin/cmake -S depthai-core/ -B build_core -D CMAKE_BUILD_TYPE=Release -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake
+          /opt/python/cp38-cp38/bin/cmake --build build_core --target install --parallel 4
           echo "DEPTHAI_INSTALLATION_DIR=$PWD/build_core/install/" >> $GITHUB_ENV
 
       - name: Append build hash if not a tagged commit
         if: startsWith(github.ref, 'refs/tags/v') != true
         run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
       - name: Building wheels
-        run: for PYBIN in /opt/python/cp3{7..13}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
+        run: for PYBIN in /opt/python/cp3{9..14}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
       - name: Auditing wheels
         run: for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
       - name: Archive wheel artifacts

CMakeLists.txt

@@ -159,6 +159,7 @@ pybind11_add_module(${TARGET_NAME}
     src/pipeline/datatype/PointCloudConfigBindings.cpp
     src/pipeline/datatype/PointCloudDataBindings.cpp
     src/pipeline/datatype/ImageAlignConfigBindings.cpp
+    src/pipeline/datatype/ObjectTrackerConfigBindings.cpp
 )
 
 if(WIN32)

cmake/Hunter/config.cmake

@@ -2,6 +2,6 @@
 hunter_config(
     pybind11
     VERSION "2.12.0"
-    URL "https://github.com/pybind/pybind11/archive/refs/tags/v2.12.0.tar.gz"
-    SHA1 "e70610cba7b6b7d7a57827d5357c016ad2155c0f"
+    URL "https://github.com/pybind/pybind11/archive/refs/tags/v3.0.1.tar.gz"
+    SHA1 "b20ddcd79e2b03b7e2777a2a0b06b646f2f23ce0"
 )

depthai-core

@@ -29,9 +29,11 @@
 
 xlinkOut = pipeline.create(dai.node.XLinkOut)
 trackerOut = pipeline.create(dai.node.XLinkOut)
+xinTrackerConfig = pipeline.create(dai.node.XLinkIn)
 
 xlinkOut.setStreamName("preview")
 trackerOut.setStreamName("tracklets")
+xinTrackerConfig.setStreamName("trackerConfig")
 
 # Properties
 camRgb.setPreviewSize(300, 300)
@@ -64,18 +66,27 @@
 detectionNetwork.out.link(objectTracker.inputDetections)
 objectTracker.out.link(trackerOut.input)
 
+# set tracking parameters
+objectTracker.setOcclusionRatioThreshold(0.4)
+objectTracker.setTrackletMaxLifespan(120)
+objectTracker.setTrackletBirthThreshold(3)
+
+xinTrackerConfig.out.link(objectTracker.inputConfig)
+
 # Connect to device and start pipeline
 with dai.Device(pipeline) as device:
 
     preview = device.getOutputQueue("preview", 4, False)
     tracklets = device.getOutputQueue("tracklets", 4, False)
+    trackerConfigQueue = device.getInputQueue("trackerConfig")
 
     startTime = time.monotonic()
     counter = 0
     fps = 0
     frame = None
 
     while(True):
+        latestTrackedIds = []
         imgFrame = preview.get()
         track = tracklets.get()
 
@@ -106,9 +117,26 @@
             cv2.putText(frame, t.status.name, (x1 + 10, y1 + 50), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
             cv2.rectangle(frame, (x1, y1), (x2, y2), color, cv2.FONT_HERSHEY_SIMPLEX)
 
+            if t.status == dai.Tracklet.TrackingStatus.TRACKED:
+                latestTrackedIds.append(t.id)
+
         cv2.putText(frame, "NN fps: {:.2f}".format(fps), (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color)
 
         cv2.imshow("tracker", frame)
 
-        if cv2.waitKey(1) == ord('q'):
+        key = cv2.waitKey(1)
+        if key == ord('q'):
             break
+        elif key == ord('g'):
+            # send tracker config to device
+            config = dai.ObjectTrackerConfig()
+
+            # take a random ID from the latest tracked IDs
+            if len(latestTrackedIds) > 0:
+                idToRemove = (np.random.choice(latestTrackedIds))
+                print(f"Force removing ID: {idToRemove}")
+                config.forceRemoveID(idToRemove)
+                trackerConfigQueue.send(config)
+            else:
+                print("No tracked IDs available to force remove")
+

examples/ObjectTracker/object_tracker.py

@@ -238,19 +238,18 @@ def build_extension(self, ext):
         "Operating System :: Unix",
         "Programming Language :: Python",
         "Programming Language :: Python :: 3",
-        "Programming Language :: Python :: 3.7",
-        "Programming Language :: Python :: 3.8",
         "Programming Language :: Python :: 3.9",
         "Programming Language :: Python :: 3.10",
         "Programming Language :: Python :: 3.11",
         "Programming Language :: Python :: 3.12",
         "Programming Language :: Python :: 3.13",
+        "Programming Language :: Python :: 3.14",
         "Programming Language :: C++",
         "Programming Language :: Python :: Implementation :: CPython",
         "Topic :: Scientific/Engineering",
         "Topic :: Software Development",
     ],
-    python_requires='>=3.7',
+    python_requires='>=3.9',
     entry_points={
         "console_scripts": [
             f'depthai={DEPTHAI_CLI_MODULE_NAME}.depthai_cli:cli'

setup.py

@@ -28,6 +28,7 @@ void bind_tracklets(pybind11::module& m, void* pCallstack);
 void bind_pointcloudconfig(pybind11::module& m, void* pCallstack);
 void bind_pointclouddata(pybind11::module& m, void* pCallstack);
 void bind_imagealignconfig(pybind11::module& m, void* pCallstack);
+void bind_objecttrackerconfig(pybind11::module& m, void* pCallstack);
 
 void DatatypeBindings::addToCallstack(std::deque<StackFunction>& callstack) {
      // Bind common datatypebindings
@@ -59,6 +60,7 @@ void DatatypeBindings::addToCallstack(std::deque<StackFunction>& callstack) {
     callstack.push_front(bind_pointcloudconfig);
     callstack.push_front(bind_pointclouddata);
     callstack.push_front(bind_imagealignconfig);
+    callstack.push_front(bind_objecttrackerconfig);
 }
 
 void DatatypeBindings::bind(pybind11::module& m, void* pCallstack){

src/DatatypeBindings.cpp

@@ -0,0 +1,54 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/ObjectTrackerConfig.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_objecttrackerconfig(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    py::class_<RawObjectTrackerConfig, RawBuffer, std::shared_ptr<RawObjectTrackerConfig>> rawConfig(m, "RawObjectTrackerConfig", DOC(dai, RawObjectTrackerConfig));
+    py::class_<ObjectTrackerConfig, Buffer, std::shared_ptr<ObjectTrackerConfig>> config(m, "ObjectTrackerConfig", DOC(dai, ObjectTrackerConfig));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+    rawConfig
+        .def(py::init<>())
+        .def_readwrite("trackletIdsToRemove", &RawObjectTrackerConfig::trackletIdsToRemove, DOC(dai, RawObjectTrackerConfig, trackletIdsToRemove))
+        ;
+
+    // Message
+    config
+        .def(py::init<>())
+        .def(py::init<std::shared_ptr<RawObjectTrackerConfig>>())
+
+        .def("set", &ObjectTrackerConfig::set, py::arg("config"), DOC(dai, ObjectTrackerConfig, set))
+        .def("get", &ObjectTrackerConfig::get, DOC(dai, ObjectTrackerConfig, get))
+        .def("forceRemoveID", &ObjectTrackerConfig::forceRemoveID, DOC(dai, ObjectTrackerConfig, forceRemoveID))
+        .def("forceRemoveIDs", &ObjectTrackerConfig::forceRemoveIDs, DOC(dai, ObjectTrackerConfig, forceRemoveIDs))
+        ;
+
+    // add aliases
+
+}

src/pipeline/datatype/ObjectTrackerConfigBindings.cpp

@@ -48,13 +48,18 @@ void bind_objecttracker(pybind11::module& m, void* pCallstack){
         .def_readwrite("detectionLabelsToTrack", &ObjectTrackerProperties::detectionLabelsToTrack, DOC(dai, ObjectTrackerProperties, detectionLabelsToTrack))
         .def_readwrite("trackerType", &ObjectTrackerProperties::trackerType, DOC(dai, ObjectTrackerProperties, trackerType))
         .def_readwrite("trackerIdAssignmentPolicy", &ObjectTrackerProperties::trackerIdAssignmentPolicy, DOC(dai, ObjectTrackerProperties, trackerIdAssignmentPolicy))
+        .def_readwrite("trackingPerClass", &ObjectTrackerProperties::trackingPerClass, DOC(dai, ObjectTrackerProperties, trackingPerClass))
+        .def_readwrite("occlusionRatioThreshold", &ObjectTrackerProperties::occlusionRatioThreshold, DOC(dai, ObjectTrackerProperties, occlusionRatioThreshold))
+        .def_readwrite("trackletMaxLifespan", &ObjectTrackerProperties::trackletMaxLifespan, DOC(dai, ObjectTrackerProperties, trackletMaxLifespan))
+        .def_readwrite("trackletBirthThreshold", &ObjectTrackerProperties::trackletBirthThreshold, DOC(dai, ObjectTrackerProperties, trackletBirthThreshold))
         ;
 
     // Node
     objectTracker
         .def_readonly("inputTrackerFrame", &ObjectTracker::inputTrackerFrame, DOC(dai, node, ObjectTracker, inputTrackerFrame))
         .def_readonly("inputDetectionFrame", &ObjectTracker::inputDetectionFrame, DOC(dai, node, ObjectTracker, inputDetectionFrame))
         .def_readonly("inputDetections", &ObjectTracker::inputDetections, DOC(dai, node, ObjectTracker, inputDetections))
+        .def_readonly("inputConfig", &ObjectTracker::inputConfig, DOC(dai, node, ObjectTracker, inputConfig))
         .def_readonly("out", &ObjectTracker::out, DOC(dai, node, ObjectTracker, out))
         .def_readonly("passthroughTrackerFrame", &ObjectTracker::passthroughTrackerFrame, DOC(dai, node, ObjectTracker, passthroughTrackerFrame))
         .def_readonly("passthroughDetectionFrame", &ObjectTracker::passthroughDetectionFrame, DOC(dai, node, ObjectTracker, passthroughDetectionFrame))
@@ -66,6 +71,9 @@ void bind_objecttracker(pybind11::module& m, void* pCallstack){
         .def("setTrackerType", &ObjectTracker::setTrackerType, py::arg("type"), DOC(dai, node, ObjectTracker, setTrackerType))
         .def("setTrackerIdAssignmentPolicy", &ObjectTracker::setTrackerIdAssignmentPolicy, py::arg("type"), DOC(dai, node, ObjectTracker, setTrackerIdAssignmentPolicy))
         .def("setTrackingPerClass", &ObjectTracker::setTrackingPerClass, py::arg("trackingPerClass"), DOC(dai, node, ObjectTracker, setTrackingPerClass))
+        .def("setOcclusionRatioThreshold", &ObjectTracker::setOcclusionRatioThreshold, py::arg("occlusionRatioThreshold"), DOC(dai, node, ObjectTracker, setOcclusionRatioThreshold))
+        .def("setTrackletMaxLifespan", &ObjectTracker::setTrackletMaxLifespan, py::arg("lifespan"), DOC(dai, node, ObjectTracker, setTrackletMaxLifespan))
+        .def("setTrackletBirthThreshold", &ObjectTracker::setTrackletBirthThreshold, py::arg("threshold"), DOC(dai, node, ObjectTracker, setTrackletBirthThreshold))
         ;
     daiNodeModule.attr("ObjectTracker").attr("Properties") = objectTrackerProperties;