Release v4.6.1

prophesee-ai · Jun 17, 2024 · e446586 · e446586
1 parent 5f7f47a
commit e446586
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Showing 32 changed files with 971 additions and 143 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -17,7 +17,7 @@ endif(NOT CMAKE_BUILD_TYPE)
 
 cmake_minimum_required(VERSION 3.5)
 
-project(metavision VERSION 4.6.0)
+project(metavision VERSION 4.6.1)
 set(PROJECT_VERSION_SUFFIX "")
 
 if(PROJECT_VERSION_SUFFIX STREQUAL "")
@@ -26,6 +26,8 @@ else(PROJECT_VERSION_SUFFIX STREQUAL "")
     set(PROJECT_VERSION_FULL "${PROJECT_VERSION}-${PROJECT_VERSION_SUFFIX}")
 endif(PROJECT_VERSION_SUFFIX STREQUAL "")
 
+include(CTest)
+
 # Set output directory for build targets
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib/ CACHE PATH "Output directory of libraries.")
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib/ CACHE PATH "Output directory of all executables.")
@@ -227,7 +229,6 @@ if (GENERATE_DOC)
 endif (GENERATE_DOC)
 
 # Tests
-include(CTest)
 if (BUILD_TESTING)
     # Gtest
     find_package(GTest CONFIG)
@@ -456,6 +457,9 @@ add_subdirectory(utils/scripts)
 # Add open archive task after modules, hal and plugins that might affect it
 include(create_metavision_open_archive)
 
+# Create metavision-get-started archive
+include(create_metavision_get_started_archive)
+
 ################################################### CPack for debian packages
 
 include(deb_packages)

diff --git a/README.md b/README.md
@@ -133,7 +133,7 @@ python3 -m pip install "numba==0.56.3" "profilehooks==1.12.0" "pytorch_lightning
 
 ### Compilation
 
- 1. Retrieve the code: `git clone https://github.com/prophesee-ai/openeb.git --branch 4.6.0`.
+ 1. Retrieve the code: `git clone https://github.com/prophesee-ai/openeb.git --branch 4.6.1`.
     (If you choose to download an archive of OpenEB from GitHub rather than cloning the repository,
     you need to ensure that you select a ``Full.Source.Code.*`` archive instead of using
     the automatically generated ``Source.Code.*`` archives. This is because the latter do not include
@@ -324,7 +324,7 @@ python -m pip install "numba==0.56.3" "profilehooks==1.12.0" "pytorch_lightning=
 First, retrieve the codebase:
 
 ```bash
-git clone https://github.com/prophesee-ai/openeb.git --branch 4.6.0
+git clone https://github.com/prophesee-ai/openeb.git --branch 4.6.1
 ```
 
 Note that if you choose to download an archive of OpenEB from GitHub rather than cloning the repository,
@@ -356,7 +356,7 @@ or you can deploy the OpenEB files (applications, samples, libraries etc.) in a
     
 * Option 2 - deploying in a directory of your choice
 
-  * To deploy SDK Pro in the default folder (`C:\Program Files\Prophesee`), execute this command 
+  * To deploy OpenEB in the default folder (`C:\Program Files\Prophesee`), execute this command 
     (your console should be launched as an administrator):
 
     ```bash 

diff --git a/cmake/custom_functions/add_library_version_header.cmake b/cmake/custom_functions/add_library_version_header.cmake
@@ -8,8 +8,8 @@
 # See the License for the specific language governing permissions and limitations under the License.
 
 set(GIT_BRANCH "main")
-set(GIT_COMMIT_ID "95ccd2597aa7a8f8f44fd6ee405c4f3a8f9eda24")
-set(GIT_COMMIT_DATE "2024-05-21 15:27:14 +0200")
+set(GIT_COMMIT_ID "4bade2b1aeb57e36ba22a68e4270470d9d4d8715")
+set(GIT_COMMIT_DATE "2024-06-14 10:34:56 +0000")
 
 find_program(GIT_SCM git DOC "Git version control" HINTS "C:\\Program Files\\Git\\bin\\")
 

diff --git a/cmake/custom_targets/README_metavision_open.md b/cmake/custom_targets/README_metavision_open.md
@@ -133,7 +133,7 @@ python3 -m pip install "numba==0.56.3" "profilehooks==1.12.0" "pytorch_lightning
 
 ### Compilation
 
- 1. Retrieve the code: `git clone https://github.com/prophesee-ai/openeb.git --branch 4.6.0`.
+ 1. Retrieve the code: `git clone https://github.com/prophesee-ai/openeb.git --branch 4.6.1`.
     (If you choose to download an archive of OpenEB from GitHub rather than cloning the repository,
     you need to ensure that you select a ``Full.Source.Code.*`` archive instead of using
     the automatically generated ``Source.Code.*`` archives. This is because the latter do not include
@@ -324,7 +324,7 @@ python -m pip install "numba==0.56.3" "profilehooks==1.12.0" "pytorch_lightning=
 First, retrieve the codebase:
 
 ```bash
-git clone https://github.com/prophesee-ai/openeb.git --branch 4.6.0
+git clone https://github.com/prophesee-ai/openeb.git --branch 4.6.1
 ```
 
 Note that if you choose to download an archive of OpenEB from GitHub rather than cloning the repository,
@@ -356,7 +356,7 @@ or you can deploy the OpenEB files (applications, samples, libraries etc.) in a
     
 * Option 2 - deploying in a directory of your choice
 
-  * To deploy SDK Pro in the default folder (`C:\Program Files\Prophesee`), execute this command 
+  * To deploy OpenEB in the default folder (`C:\Program Files\Prophesee`), execute this command 
     (your console should be launched as an administrator):
 
     ```bash 

diff --git a/cmake/custom_targets/create_metavision_get_started_archive.cmake b/cmake/custom_targets/create_metavision_get_started_archive.cmake
@@ -0,0 +1,27 @@
+# Copyright (c) Prophesee S.A.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
+# Unless required by applicable law or agreed to in writing, software distributed under the License is distributed
+# on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and limitations under the License.
+
+set(output_metavision_get_started_archive_dir_path "${GENERATE_FILES_DIRECTORY}/metavision_get_started_archive")
+
+add_custom_target(create_metavision_get_started_archive_folder
+    COMMAND ${CMAKE_COMMAND}
+        -DPROJECT_SOURCE_DIR="${PROJECT_SOURCE_DIR}"
+        -DOUTPUT_DIR="${output_metavision_get_started_archive_dir_path}"
+        -DCMAKE_MODULE_PATH="${CMAKE_MODULE_PATH}"
+        -DGENERATE_FILES_DIRECTORY="${GENERATE_FILES_DIRECTORY}"
+        -P ${CMAKE_CURRENT_LIST_DIR}/create_metavision_get_started_archive_folder.cmake
+)
+
+set(output_metavision_get_started_archive_path "${GENERATE_FILES_DIRECTORY}/metavision_get_started_${PROJECT_VERSION_FULL}.tar")
+
+add_custom_target(create_metavision_get_started_archive
+    COMMAND ${CMAKE_COMMAND} -E chdir ${output_metavision_get_started_archive_dir_path} ${CMAKE_COMMAND} -E tar cvf ${output_metavision_get_started_archive_path} .
+    COMMAND ${CMAKE_COMMAND} -E echo "File ${output_metavision_get_started_archive_path} generated"
+)
+add_dependencies(create_metavision_get_started_archive create_metavision_get_started_archive_folder)
diff --git a/cmake/custom_targets/create_metavision_get_started_archive_folder.cmake b/cmake/custom_targets/create_metavision_get_started_archive_folder.cmake
@@ -0,0 +1,82 @@
+# Copyright (c) Prophesee S.A.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
+# Unless required by applicable law or agreed to in writing, software distributed under the License is distributed
+# on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and limitations under the License.
+
+# Create directory where we will add the files needed to compile the open source offer
+file(REMOVE_RECURSE "${OUTPUT_DIR}")
+file(MAKE_DIRECTORY "${OUTPUT_DIR}")
+
+# For some reason, CMAKE_MODULE_PATH passed by create_metavision_open_archive
+# has spaces instead of semicolumns
+string(REPLACE " " ";" CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}")
+
+include(overridden_cmake_functions)
+
+set(MV_GET_STARTED_FILES images README.md)
+list_transform_prepend (MV_GET_STARTED_FILES metavision-get-started/)
+
+# Add the files and folders needed to compile open :
+foreach (file_or_dir ${MV_GET_STARTED_FILES})
+    if (EXISTS "${PROJECT_SOURCE_DIR}/${file_or_dir}")
+        get_filename_component(dest "${OUTPUT_DIR}/${file_or_dir}" DIRECTORY)
+        file(COPY "${PROJECT_SOURCE_DIR}/${file_or_dir}"
+            DESTINATION "${dest}"
+            PATTERN __pycache__ EXCLUDE
+        )
+    endif ()
+endforeach(file_or_dir)
+
+set(METAVISION_GET_STARTED_FOLDER "${OUTPUT_DIR}/metavision-get-started/")
+
+function(copy_cpp_sample path)
+    set(sample_path ${PROJECT_SOURCE_DIR}/${path})
+    if (EXISTS ${sample_path})
+        get_filename_component(dest_folder_name ${sample_path} NAME)
+        set(dest_path "${METAVISION_GET_STARTED_FOLDER}")
+        file(COPY "${sample_path}"
+             DESTINATION "${dest_path}"
+        )
+        set(cmakelist_file ${dest_path}${dest_folder_name}/CMakeLists.txt)
+        file (REMOVE ${cmakelist_file})
+        file (RENAME ${cmakelist_file}.install ${cmakelist_file})
+    else()
+        message(FATAL_ERROR "The requested sample does not exist: ${sample_path}")
+    endif ()
+endfunction()
+
+function(copy_python_sample path)
+    set(sample_path ${PROJECT_SOURCE_DIR}/${path})
+    if (EXISTS ${sample_path})
+        get_filename_component(dest_folder_name "${sample_path}" NAME)
+        set(dest_path "${METAVISION_GET_STARTED_FOLDER}")
+        file(COPY "${sample_path}"
+            DESTINATION "${dest_path}"
+            PATTERN __pycache__ EXCLUDE
+        )
+        file (REMOVE ${dest_path}${dest_folder_name}/CMakeLists.txt)
+    else()
+        message(FATAL_ERROR "The requested sample does not exist: ${sample_path}")
+    endif ()
+endfunction()
+
+# Add some Metavision Python samples to the metavision-get-started folder
+copy_python_sample("sdk/modules/core/python/samples/metavision_time_surface")
+copy_python_sample("sdk/modules/ml/python_extended/samples/flow_inference")
+
+# Add some Metavision C++ samples to the metavision-get-started folder
+copy_cpp_sample("sdk/modules/core/cpp/samples/metavision_time_surface")
+copy_cpp_sample("sdk/modules/core/cpp/samples/metavision_dummy_radar")
+
+# Copy license files
+set(LICENSE_FILES "licensing/LICENSE_METAVISION_SDK" "licensing/LICENSE_OPEN")
+foreach (file ${LICENSE_FILES})
+    file(COPY "${PROJECT_SOURCE_DIR}/${file}"
+        DESTINATION "${METAVISION_GET_STARTED_FOLDER}/licensing"
+    )
+endforeach(file)
+
diff --git a/hal/cpp/src/device/device_discovery.cpp b/hal/cpp/src/device/device_discovery.cpp
@@ -171,7 +171,7 @@ void common_log_plugin_error(const Metavision::Plugin &plugin, const std::string
 }
 
 void log_plugin_error(const Metavision::Plugin &plugin, const std::string &discovery_name,
-                      const Metavision::HalException &e) {
+                      const Metavision::BaseException &e) {
     common_log_plugin_error(plugin, discovery_name);
     MV_HAL_LOG_ERROR() << "Failed with exception:";
     MV_HAL_LOG_ERROR() << e.what();
@@ -408,7 +408,7 @@ std::unique_ptr<Device> DeviceDiscovery::open(const std::string &input_serial, c
                 log_plugin_error(plugin, camera_discovery.get_name(), e);
             } catch (const HalConnectionException &e) {
                 log_plugin_error(plugin, camera_discovery.get_name(), e);
-                throw e;
+                throw;
             } catch (const std::exception &e) {
                 log_plugin_error(plugin, camera_discovery.get_name(), e);
             } catch (...) { log_plugin_error(plugin, camera_discovery.get_name()); }
@@ -461,7 +461,7 @@ std::unique_ptr<Device> DeviceDiscovery::open_raw_file(const std::string &raw_fi
 
     } catch (const HalException &e) {
         MV_HAL_LOG_ERROR() << Log::no_space << "While opening RAW file '" << raw_file << "':" << std::endl;
-        throw e;
+        throw;
     }
 
     return device;
@@ -567,7 +567,7 @@ std::unique_ptr<Device> DeviceDiscovery::open_stream(std::unique_ptr<std::istrea
                     log_plugin_error(plugin, file_discovery.get_name(), e);
                 } catch (const HalConnectionException &e) {
                     log_plugin_error(plugin, file_discovery.get_name(), e);
-                    throw e;
+                    throw;
                 } catch (const std::exception &e) {
                     log_plugin_error(plugin, file_discovery.get_name(), e);
                 } catch (...) { log_plugin_error(plugin, file_discovery.get_name()); }

diff --git a/hal_psee_plugins/include/boards/treuzell/tz_camera_discovery.h b/hal_psee_plugins/include/boards/treuzell/tz_camera_discovery.h
@@ -29,14 +29,6 @@ class TzCameraDiscovery : public Metavision::CameraDiscovery {
 public:
     TzCameraDiscovery();
 
-    struct DeviceBuilderParameters : public Metavision::DeviceBuilderParameters {
-        DeviceBuilderParameters(std::shared_ptr<LibUSBContext> libusb_ctx,
-                                const std::shared_ptr<BoardCommand> &board_cmd) :
-            board_cmd(board_cmd), libusb_ctx(libusb_ctx) {}
-        std::shared_ptr<BoardCommand> board_cmd;
-        std::shared_ptr<LibUSBContext> libusb_ctx;
-    };
-
     virtual CameraDiscovery::SerialList list() override;
     virtual CameraDiscovery::SystemList list_available_sources() override;
     virtual bool discover(Metavision::DeviceBuilder &device_builder, const std::string &serial,
@@ -49,7 +41,6 @@ class TzCameraDiscovery : public Metavision::CameraDiscovery {
 
 private:
     std::vector<std::shared_ptr<BoardCommand>> list_boards() const;
-    std::shared_ptr<LibUSBContext> libusb_ctx;
     std::unique_ptr<TzDeviceBuilder> builder;
 
     // By default, nothing is supported, because we want boards to be ignored by the plugins that can manage it, so that

diff --git a/hal_psee_plugins/include/boards/v4l2/v4l2_device.h b/hal_psee_plugins/include/boards/v4l2/v4l2_device.h
@@ -12,14 +12,14 @@
 #ifndef METAVISION_HAL_PSEE_PLUGINS_V4L2_DEVICE_H
 #define METAVISION_HAL_PSEE_PLUGINS_V4L2_DEVICE_H
 
+#include <algorithm>
+#include <cstddef>
+#include <iterator>
 #include <string>
-#include <vector>
 
 #include <linux/videodev2.h>
 
-#include "metavision/hal/facilities/i_hw_identification.h"
 #include "metavision/hal/facilities/i_camera_synchronization.h"
-#include "metavision/hal/utils/camera_discovery.h"
 #include "metavision/hal/utils/device_control.h"
 
 namespace Metavision {

diff --git a/...plugins/psee_hw_layer_headers/include/metavision/psee_hw_layer/boards/utils/psee_libusb.h b/...plugins/psee_hw_layer_headers/include/metavision/psee_hw_layer/boards/utils/psee_libusb.h
@@ -85,6 +85,8 @@ class LibUSBDevice {
     void interrupt_transfer(unsigned char endpoint, unsigned char *data, int length, int *transferred,
                             unsigned int timeout);
 
+    void force_release();
+
     friend void libusb_fill_control_transfer(struct libusb_transfer *transfer, std::shared_ptr<LibUSBDevice> dev,
                                              unsigned char *buffer, libusb_transfer_cb_fn callback, void *user_data,
                                              unsigned int timeout) {

diff --git a/hal_psee_plugins/src/boards/treuzell/tz_camera_discovery.cpp b/hal_psee_plugins/src/boards/treuzell/tz_camera_discovery.cpp
@@ -23,10 +23,11 @@
 
 namespace Metavision {
 
-TzCameraDiscovery::TzCameraDiscovery() :
-    libusb_ctx(std::make_shared<LibUSBContext>()), builder(std::make_unique<TzDeviceBuilder>()) {}
+TzCameraDiscovery::TzCameraDiscovery() : builder(std::make_unique<TzDeviceBuilder>()) {}
 
-std::vector<std::shared_ptr<BoardCommand>> TzCameraDiscovery::list_boards() const {
+std::vector<std::shared_ptr<BoardCommand>>
+    TzCameraDiscovery::list_boards() const {
+    std::shared_ptr<LibUSBContext> libusb_ctx = std::make_shared<LibUSBContext>();
     std::vector<std::shared_ptr<BoardCommand>> boards;
     libusb_device **devs;
 

diff --git a/hal_psee_plugins/src/boards/treuzell/tz_libusb_board_command.cpp b/hal_psee_plugins/src/boards/treuzell/tz_libusb_board_command.cpp
@@ -229,7 +229,7 @@ std::string TzLibUSBBoardCommand::get_serial() {
         if (e.code().value() == TZ_TOO_SHORT)
             ostr << req.get32(0);
         else
-            throw e;
+            throw;
     }
     ostr << std::dec;
     return ostr.str();
@@ -273,7 +273,7 @@ unsigned int TzLibUSBBoardCommand::get_device_count() {
     } catch (std::system_error &e) {
         if (!quirks.ignore_size_on_device_prop_answer || (e.code().value() != TZ_SIZE_MISMATCH)) {
             // if quirk is enabled and error is SIZE_MISMATCH, ignore it
-            throw e;
+            throw;
         }
     }
     return req.get32(0);
@@ -294,7 +294,7 @@ std::vector<uint32_t> TzLibUSBBoardCommand::read_device_register(uint32_t device
             int err = req.get32(2);
             throw std::system_error(err, std::generic_category());
         } else {
-            throw e;
+            throw;
         }
     }
     if (req.get32(0) != device)
@@ -333,7 +333,7 @@ void TzLibUSBBoardCommand::write_device_register(uint32_t device, uint32_t addre
             int err = req.get32(2);
             throw std::system_error(err, std::generic_category());
         } else {
-            throw e;
+            throw;
         }
     }
     if (req.get32(0) != device)