Merge branch 'develop' of github.com:luxonis/depthai-core into ir-int…

…ensity
luxonis · Nov 10, 2023 · 7fa88bc · 7fa88bc
2 parents e4943f2 + 15e5fda
commit 7fa88bc
Show file tree

Hide file tree

Showing 7 changed files with 28 additions and 14 deletions.
diff --git a/README.md b/README.md
@@ -184,6 +184,7 @@ The following environment variables can be set to alter default behavior of the
 | DEPTHAI_BOOTLOADER_BINARY_USB | Overrides device USB Bootloader binary. Mostly for internal debugging purposes. |
 | DEPTHAI_BOOTLOADER_BINARY_ETH | Overrides device Network Bootloader binary. Mostly for internal debugging purposes. |
 | DEPTHAI_ALLOW_FACTORY_FLASHING | Internal use only |
+| DEPTHAI_LIBUSB_ANDROID_JAVAVM | JavaVM pointer that is passed to libusb for rootless Android interaction with devices. Interpreted as decimal value of uintptr_t |
 
 ## Running tests
 

diff --git a/cmake/Hunter/config.cmake b/cmake/Hunter/config.cmake
@@ -8,8 +8,8 @@ hunter_config(
 hunter_config(
     XLink
     VERSION "luxonis-2021.4.2-develop"
-    URL "https://github.com/luxonis/XLink/archive/c940feaf9321f06a7d9660f28e686a9718135f38.tar.gz"
-    SHA1 "52935b6ceb470ee632de3348b9d2aaa2c6c24ac0"
+    URL "https://github.com/luxonis/XLink/archive/6862ec0e5f82efb1148a0b0a21486aaf9831451c.tar.gz"
+    SHA1 "450614ab33425b34a62d9de6d65441d95d708710"
     CMAKE_ARGS
         XLINK_ENABLE_LIBUSB=${DEPTHAI_ENABLE_LIBUSB}
 )

diff --git a/include/depthai/pipeline/node/VideoEncoder.hpp b/include/depthai/pipeline/node/VideoEncoder.hpp
@@ -25,12 +25,12 @@ class VideoEncoder : public NodeCRTP<Node, VideoEncoder, VideoEncoderProperties>
     Input input{*this, "in", Input::Type::SReceiver, true, 4, true, {{DatatypeEnum::ImgFrame, true}}};
 
     /**
-     * Outputs ImgFrame message that carries BITSTREAM encoded (MJPEG, H264 or H265) frame data.
+     * Outputs ImgFrame message that carries BITSTREAM encoded (MJPEG, H264 or H265) frame data. Mutually exclusive with out.
      */
     Output bitstream{*this, "bitstream", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
-     * Outputs EncodedFrame message that carries encoded (MJPEG, H264 or H265) frame data.
+     * Outputs EncodedFrame message that carries encoded (MJPEG, H264 or H265) frame data. Mutually exclusive with bitstream.
      */
     Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::EncodedFrame, false}}};
 

diff --git a/src/pipeline/datatype/EncodedFrame.cpp b/src/pipeline/datatype/EncodedFrame.cpp
@@ -41,35 +41,35 @@ bool EncodedFrame::getLossless() const {
 }
 EncodedFrame::FrameType EncodedFrame::getFrameType() const {
     if(frame.type == FrameType::Unknown) {
-        SliceType frameType;
+        utility::SliceType frameType;
         switch(frame.profile) {
             case RawEncodedFrame::Profile::JPEG:
-                frameType = SliceType::I;
+                frameType = utility::SliceType::I;
                 break;
             case RawEncodedFrame::Profile::AVC:
-                frameType = getTypesH264(frame.data, true)[0];
+                frameType = utility::getTypesH264(frame.data, true)[0];
                 break;
             case RawEncodedFrame::Profile::HEVC:
-                frameType = getTypesH265(frame.data, true)[0];
+                frameType = utility::getTypesH265(frame.data, true)[0];
                 break;
         }
         switch(frameType) {
-            case SliceType::P:
+            case utility::SliceType::P:
                 frame.type = FrameType::P;
                 break;
-            case SliceType::B:
+            case utility::SliceType::B:
                 frame.type = FrameType::B;
                 break;
-            case SliceType::I:
+            case utility::SliceType::I:
                 frame.type = FrameType::I;
                 break;
-            case SliceType::SP:
+            case utility::SliceType::SP:
                 frame.type = FrameType::P;
                 break;
-            case SliceType::SI:
+            case utility::SliceType::SI:
                 frame.type = FrameType::I;
                 break;
-            case SliceType::Unknown:
+            case utility::SliceType::Unknown:
                 frame.type = FrameType::Unknown;
                 break;
         }

diff --git a/src/utility/H26xParsers.cpp b/src/utility/H26xParsers.cpp
@@ -4,6 +4,7 @@
 #include <tuple>
 
 namespace dai {
+namespace utility {
 
 template <typename T>
 struct H26xParser {
@@ -287,4 +288,5 @@ std::vector<SliceType> getTypesH265(buf& bs, bool breakOnFirst) {
     return H265Parser::getTypes(bs, breakOnFirst);
 }
 
+}  // namespace utility
 }  // namespace dai
diff --git a/src/utility/H26xParsers.hpp b/src/utility/H26xParsers.hpp
@@ -4,11 +4,13 @@
 #include <vector>
 
 namespace dai {
+namespace utility {
 
 enum class Profile { H264, H265 };
 enum class SliceType { P, B, I, SP, SI, Unknown };
 
 std::vector<SliceType> getTypesH264(const std::vector<std::uint8_t>& bs, bool breakOnFirst = false);
 std::vector<SliceType> getTypesH265(const std::vector<std::uint8_t>& bs, bool breakOnFirst = false);
 
+}  // namespace utility
 }  // namespace dai
diff --git a/src/utility/Initialization.cpp b/src/utility/Initialization.cpp
@@ -78,6 +78,15 @@ bool initialize(const char* additionalInfo, bool installSignalHandler, void* jav
         (void)installSignalHandler;
 #endif
 
+        // Read JavaVM pointer from env if present
+        {
+            auto javavmEnvStr = utility::getEnv("DEPTHAI_LIBUSB_ANDROID_JAVAVM");
+            if(javavm == nullptr && !javavmEnvStr.empty()) {
+                // Read the uintptr_t value from the decimal string
+                sscanf(javavmEnvStr.c_str(), "%" SCNuPTR, reinterpret_cast<uintptr_t*>(&javavm));
+            }
+        }
+
         // Print core commit and build datetime
         if(additionalInfo != nullptr && additionalInfo[0] != '\0') {
             logger::debug("{}", additionalInfo);