Stereo: PostProcessing: Handle edge case #3178
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| name: Depthai Python CI/CD | |
| # Controls when the action will run. Triggers the workflow on push | |
| ################################### | |
| # WARNING ######################### | |
| # as self-hosted runners are used, and security policy for them has not been yet determined by GitHub | |
| # pay close attention to not enable workflows on pull_request events | |
| # TLDR: do NOT add 'pull_request' here for the time being | |
| on: | |
| workflow_dispatch: | |
| push: | |
| branches: | |
| - main | |
| - develop | |
| - gen2 | |
| - gen2_develop | |
| tags: | |
| - 'v*' | |
| ################################### | |
| ################################### | |
| env: | |
| CMAKE_WINDOWS_SDK_VERSION: '10.0.18362.0' | |
| # A workflow run is made up of one or more jobs that can run sequentially or in parallel | |
| jobs: | |
| # Job which builds docstrings for the rest of the wheel builds | |
| build-docstrings: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Cache .hunter folder | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/.hunter | |
| key: hunter-ubuntu-latest | |
| - name: List .hunter cache directory | |
| run: ls -a -l ~/.hunter/_Base/ || true | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: 'recursive' | |
| - name: Set up Python | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: 3.8 | |
| - name: Install dependencies | |
| run: | | |
| python -m pip install --upgrade pip | |
| sudo apt install libusb-1.0-0-dev | |
| python -m pip install -r docs/requirements_mkdoc.txt | |
| - name: Configure project | |
| run: cmake -S . -B build -DDEPTHAI_PYTHON_FORCE_DOCSTRINGS=ON -DDEPTHAI_PYTHON_DOCSTRINGS_OUTPUT="$PWD/docstrings/depthai_python_docstring.hpp" | |
| - name: Build target 'pybind11_mkdoc' | |
| run: cmake --build build --target pybind11_mkdoc --parallel 4 | |
| - name: Upload docstring artifacts | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: docstrings | |
| path: docstrings/ | |
| retention-days: 1 | |
| # Build and test bindings | |
| pytest: | |
| needs: build-docstrings | |
| strategy: | |
| matrix: | |
| os: [ubuntu-latest, windows-latest, macos-latest] | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - name: Print home directory | |
| run: echo Home directory inside container $HOME | |
| - name: Setup cmake | |
| if: matrix.os == 'macos-latest' | |
| uses: jwlawson/[email protected] | |
| with: | |
| cmake-version: '3.29.x' | |
| - name: Cache .hunter folder | |
| if: matrix.os != 'windows-latest' | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/.hunter/ | |
| key: hunter-pytest-${{ matrix.os }} | |
| - name: Cache .hunter folder | |
| if: matrix.os == 'windows-latest' | |
| uses: actions/cache@v3 | |
| with: | |
| path: C:/.hunter/ | |
| key: hunter-pytest-${{ matrix.os }} | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: 'recursive' | |
| - uses: actions/download-artifact@v3 | |
| with: | |
| name: 'docstrings' | |
| path: docstrings | |
| - name: Specify docstring to use while building the wheel | |
| run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV | |
| - name: Set up Python ${{ matrix.python-version }} | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: "3.10" | |
| - name: Install dependencies (Ubuntu) | |
| if: matrix.os == 'ubuntu-latest' | |
| run: | | |
| python -m pip install --upgrade pip | |
| sudo apt install libusb-1.0-0-dev | |
| - name: Install dependencies (MacOS) | |
| if: matrix.os == 'macos-latest' | |
| run: | | |
| python -m pip install --upgrade pip | |
| brew install libusb | |
| - name: Install pytest | |
| run: | | |
| python -m pip install pytest numpy | |
| - name: Compile | |
| run: | | |
| cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp -D DEPTHAI_PYTHON_ENABLE_TESTS=ON | |
| cmake --build build --parallel 4 | |
| - name: Test | |
| run: | | |
| cmake --build build --target pytest --config Release | |
| # This job builds wheels for armhf arch (RPi) | |
| build-linux-armhf: | |
| needs: build-docstrings | |
| strategy: | |
| matrix: | |
| rpi-os: [rpi-buster, rpi-bullseye, rpi-bookworm] | |
| runs-on: ${{ matrix.rpi-os }} | |
| env: | |
| # workaround required for cache@v3, https://github.com/actions/cache/issues/1428 | |
| # to be removed when upgrading the manylinux image | |
| ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true | |
| steps: | |
| - name: Print home directory | |
| run: echo Home directory inside container $HOME | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: 'recursive' | |
| - uses: actions/download-artifact@v3 | |
| with: | |
| name: 'docstrings' | |
| path: docstrings | |
| - name: Specify docstring to use while building the wheel | |
| run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV | |
| - name: Append build hash if not a tagged commit | |
| if: startsWith(github.ref, 'refs/tags/v') != true | |
| run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV | |
| - name: Building wheel | |
| run: CMAKE_ARGS='-DDEPTHAI_ENABLE_CURL=OFF' python3 -m pip wheel . -w ./wheelhouse/ --verbose | |
| - name: Auditing wheels and adding armv6l tag (Running on RPi, binaries compiled as armv6l) | |
| run: | | |
| # python3 -m pip install -U wheel auditwheel # Called once when setting up the runner | |
| for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat linux_armv7l -w wheelhouse/preaudited/; done | |
| for whl in wheelhouse/preaudited/*.whl; do python3 -m wheel tags --platform-tag +linux_armv6l "$whl"; done | |
| mkdir -p wheelhouse/audited/ | |
| for whl in wheelhouse/preaudited/*linux_armv6l*.whl; do cp "$whl" wheelhouse/audited/$(basename $whl); done | |
| - name: Archive wheel artifacts | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: audited-wheels | |
| path: wheelhouse/audited/ | |
| - name: Deploy wheels to artifactory (if not a release) | |
| if: startsWith(github.ref, 'refs/tags/v') != true | |
| run: bash ./ci/upload-artifactory.sh | |
| env: | |
| ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }} | |
| ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }} | |
| ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }} | |
| # This job builds wheels for Windows x86_64 arch | |
| build-windows-x86_64: | |
| needs: build-docstrings | |
| runs-on: windows-latest | |
| strategy: | |
| matrix: | |
| python-version: [3.7, 3.8, 3.9, '3.10', '3.11', '3.12', '3.13'] | |
| python-architecture: [x64, x86] | |
| fail-fast: false | |
| steps: | |
| - name: Cache .hunter folder | |
| uses: actions/cache@v3 | |
| with: | |
| path: C:/.hunter | |
| key: hunter-msvc | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: 'recursive' | |
| - uses: actions/download-artifact@v3 | |
| with: | |
| name: 'docstrings' | |
| path: docstrings | |
| - name: Specify docstring to use while building the wheel | |
| run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append | |
| - name: Select Windows SDK | |
| run: echo "CMAKE_ARGS=-DCMAKE_SYSTEM_VERSION=${{ env.CMAKE_WINDOWS_SDK_VERSION }}" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append | |
| - name: Install dependencies | |
| run: choco install strawberryperl | |
| - name: Set up Python ${{ matrix.python-version }} | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| architecture: ${{ matrix.python-architecture }} | |
| - name: Append build hash if not a tagged commit | |
| if: startsWith(github.ref, 'refs/tags/v') != true | |
| run: echo "BUILD_COMMIT_HASH=${{github.sha}}" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append | |
| - name: Install dependencies | |
| run: | | |
| python -m pip install --upgrade pip | |
| - name: Building wheels | |
| run: python -m pip wheel . -w ./wheelhouse/audited/ --verbose | |
| - name: Archive wheel artifacts | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: audited-wheels | |
| path: wheelhouse/audited/ | |
| - name: Deploy wheels to artifactory (if not a release) | |
| if: startsWith(github.ref, 'refs/tags/v') != true | |
| run: bash ./ci/upload-artifactory.sh | |
| env: | |
| ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }} | |
| ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }} | |
| ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }} | |
| # This job builds wheels for macOS x86_64 arch | |
| build-macos: | |
| needs: build-docstrings | |
| strategy: | |
| matrix: | |
| python-version: [3.8, 3.9, '3.10', '3.11', '3.12', '3.13'] | |
| os: [macos-13, macos-14] # macos-13 is x64, macos-14 is arm64 | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - name: Cache .hunter folder | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/.hunter | |
| key: hunter-macos-latest | |
| - name: List .hunter cache directory | |
| run: | | |
| ls -a -l ~/.hunter/_Base/ || true | |
| echo "PATH=$PATH" | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: 'recursive' | |
| - uses: actions/download-artifact@v3 | |
| with: | |
| name: 'docstrings' | |
| path: docstrings | |
| - name: Specify docstring to use while building the wheel | |
| run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV | |
| - name: Set up Python ${{ matrix.python-version }} | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| - name: Append build hash if not a tagged commit | |
| if: startsWith(github.ref, 'refs/tags/v') != true | |
| run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV | |
| - name: Install dependencies | |
| run: | | |
| python -m pip install --upgrade pip | |
| brew install libusb | |
| python -m pip install delocate | |
| - name: Set macos deployment target | |
| run: echo "MACOSX_DEPLOYMENT_TARGET=10.9" >> $GITHUB_ENV | |
| - name: Building wheels | |
| run: python -m pip wheel . -w ./wheelhouse/ --verbose | |
| - name: Auditing wheels | |
| run: ci/repair-whl-macos.sh `pwd`/wheelhouse/* `pwd`/wheelhouse/audited | |
| - name: Archive wheel artifacts | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: audited-wheels | |
| path: wheelhouse/audited/ | |
| - name: Deploy wheels to artifactory (if not a release) | |
| if: startsWith(github.ref, 'refs/tags/v') != true | |
| run: bash ./ci/upload-artifactory.sh | |
| env: | |
| ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }} | |
| ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }} | |
| ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }} | |
| # This job builds wheels for x86_64 arch | |
| build-linux-x86_64: | |
| needs: build-docstrings | |
| runs-on: ubuntu-latest | |
| env: | |
| # workaround required for cache@v3, https://github.com/actions/cache/issues/1428 | |
| # to be removed when upgrading the manylinux image | |
| ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true | |
| container: | |
| image: quay.io/pypa/manylinux2014_x86_64:latest | |
| env: | |
| PLAT: manylinux2014_x86_64 | |
| steps: | |
| - name: Cache .hunter folder | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/.hunter | |
| key: hunter-x86_64 | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: 'recursive' | |
| - name: Installing libusb1-devel dependency | |
| run: yum install -y --disableplugin=fastestmirror libusb1-devel perl-core | |
| - name: Installing cmake dependency | |
| run: | | |
| /opt/python/cp38-cp38/bin/python3.8 -m pip install cmake | |
| ln -s /opt/python/cp38-cp38/bin/cmake /bin/ | |
| - name: Create folder structure | |
| run: mkdir -p wheelhouse/audited/ | |
| - uses: actions/download-artifact@v3 | |
| with: | |
| name: 'docstrings' | |
| path: docstrings | |
| - name: Specify docstring to use while building the wheel | |
| run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV | |
| - name: Build and install depthai-core | |
| run: | | |
| cmake -S depthai-core/ -B build_core -D CMAKE_BUILD_TYPE=Release -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake | |
| cmake --build build_core --target install --parallel 4 | |
| 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}}" >> $GITHUB_ENV | |
| - name: Building source distribution | |
| run: | | |
| /opt/python/cp38-cp38/bin/python3.8 setup.py sdist --formats=gztar | |
| mv dist/* wheelhouse/audited/ | |
| - name: Build wheels | |
| run: for PYBIN in /opt/python/cp3{7..13}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done | |
| - name: Audit wheels | |
| run: for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done | |
| - name: Archive wheel artifacts | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: audited-wheels | |
| path: wheelhouse/audited/ | |
| - name: Deploy wheels to artifactory (if not a release) | |
| if: startsWith(github.ref, 'refs/tags/v') != true | |
| run: bash ./ci/upload-artifactory.sh | |
| env: | |
| ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }} | |
| ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }} | |
| ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }} | |
| # This job builds wheels for ARM64 arch | |
| build-linux-arm64: | |
| needs: build-docstrings | |
| runs-on: [self-hosted, linux, ARM64] | |
| env: | |
| # workaround required for cache@v3, https://github.com/actions/cache/issues/1428 | |
| # to be removed when upgrading the manylinux image | |
| ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true | |
| container: | |
| image: quay.io/pypa/manylinux2014_aarch64:latest | |
| env: | |
| PLAT: manylinux2014_aarch64 | |
| # Mount local hunter cache directory, instead of transfering to Github and back | |
| volumes: | |
| - /.hunter:/github/home/.hunter | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: 'recursive' | |
| - name: Installing libusb1-devel dependency | |
| run: yum install -y --disableplugin=fastestmirror libusb1-devel perl-core | |
| - name: Installing cmake dependency | |
| run: | | |
| /opt/python/cp38-cp38/bin/python3.8 -m pip install cmake | |
| ln -s /opt/python/cp38-cp38/bin/cmake /bin/ | |
| - name: Create folder structure | |
| run: mkdir -p wheelhouse/audited/ | |
| - uses: actions/download-artifact@v3 | |
| with: | |
| name: 'docstrings' | |
| path: docstrings | |
| - name: Specify docstring to use while building the wheel | |
| run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV | |
| - name: Build and install depthai-core | |
| run: | | |
| cmake -S depthai-core/ -B build_core -D CMAKE_BUILD_TYPE=Release -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake | |
| cmake --build build_core --target install --parallel 4 | |
| 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 | |
| - name: Auditing wheels | |
| run: for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done | |
| - name: Archive wheel artifacts | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: audited-wheels | |
| path: wheelhouse/audited/ | |
| - name: Deploy wheels to artifactory (if not a release) | |
| if: startsWith(github.ref, 'refs/tags/v') != true | |
| run: bash ./ci/upload-artifactory.sh | |
| env: | |
| ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }} | |
| ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }} | |
| ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }} | |
| release: | |
| if: startsWith(github.ref, 'refs/tags/v') | |
| needs: [pytest, build-linux-armhf, build-windows-x86_64, build-macos, build-linux-x86_64, build-linux-arm64] | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: 'recursive' | |
| - uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.8' | |
| - name: Check if version matches | |
| run: python3.8 -c 'import find_version as v; exit(0) if "${{ github.ref_name }}" == f"v{v.get_package_version()}" else exit(1)' | |
| # Create GitHub release | |
| - uses: actions/create-release@master | |
| id: createRelease | |
| name: Create ${{ github.ref_name }} depthai-python release | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| with: | |
| tag_name: ${{ github.ref }} | |
| release_name: Release ${{ github.ref }} | |
| body: | | |
| ## Features | |
| ## Bug fixes | |
| ## Misc | |
| draft: true | |
| # Deploy to PyPi and Artifactory. Only when a commit is tagged | |
| deploy: | |
| if: startsWith(github.ref, 'refs/tags/v') | |
| needs: [release] | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: 'recursive' | |
| - uses: actions/download-artifact@v3 | |
| with: | |
| name: audited-wheels | |
| path: wheelhouse/audited/ | |
| - name: List files | |
| run: ls -lah | |
| - name: Run deploy to PyPi | |
| run: bash ./ci/upload-pypi.sh | |
| env: | |
| PYPI_SERVER: ${{ secrets.PYPI_SERVER }} | |
| PYPI_USER: ${{ secrets.PYPI_USER }} | |
| PYPI_PASSWORD: ${{ secrets.PYPI_PASSWORD }} | |
| - name: Run deploy to Artifactory | |
| run: bash ./ci/upload-artifactory-release.sh | |
| env: | |
| ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }} | |
| ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }} | |
| ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }} | |
| # notify_hil_workflow_linux_x86_64: | |
| # needs: [build-linux-x86_64] | |
| # runs-on: ubuntu-latest | |
| # steps: | |
| # - name: Repository Dispatch | |
| # uses: peter-evans/repository-dispatch@v2 | |
| # with: | |
| # token: ${{ secrets.HIL_CORE_DISPATCH_TOKEN }} | |
| # repository: luxonis/depthai-core-hil-tests | |
| # event-type: python-hil-event | |
| # client-payload: '{"ref": "${{ github.ref }}", "sha": "${{ github.sha }}"}' | |
| notify_hil_workflow: | |
| needs: [build-linux-armhf, build-linux-x86_64] | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Dispatch an action and get the run ID | |
| uses: codex-/return-dispatch@v1 | |
| id: return_dispatch | |
| with: | |
| token: ${{ secrets.HIL_CORE_DISPATCH_TOKEN }} # Note this is NOT GITHUB_TOKEN but a PAT | |
| ref: main # or refs/heads/target_branch | |
| repo: depthai-core-hil-tests | |
| owner: luxonis | |
| workflow: regression_test.yml | |
| workflow_inputs: '{"commit": "${{ github.ref }}", "parent_url": "https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }}"}' | |
| workflow_timeout_seconds: 300 # was 120 Default: 300 | |
| - name: Release | |
| run: echo "https://github.com/luxonis/depthai-core-hil-tests/actions/runs/${{steps.return_dispatch.outputs.run_id}}" >> $GITHUB_STEP_SUMMARY |