Bump to Zivid SDK 2.18.0

CMakeLists.txt

@@ -1,47 +1,61 @@
 cmake_minimum_required(VERSION 3.24 FATAL_ERROR)
 
-if(NOT EXISTS "${CMAKE_BINARY_DIR}/conan_provider.cmake")
-    message(STATUS "Downloading conan_provider.cmake from https://github.com/conan-io/cmake-conan")
-    file(
-        DOWNLOAD
-            "https://raw.githubusercontent.com/conan-io/cmake-conan/develop2/conan_provider.cmake"
-            "${CMAKE_BINARY_DIR}/conan_provider.cmake"
-    )
-endif()
+if(TARGET Zivid::Core)
+    message(STATUS "Building Python wrapper as part of Zivid SDK - using existing Zivid::Core target")
+    set(ZIVID_PYTHON_SDK_BUILD TRUE)
+else()
+    message(STATUS "Building Python wrapper in standalone mode")
+    set(ZIVID_PYTHON_SDK_BUILD FALSE)
 
-set(CMAKE_PROJECT_TOP_LEVEL_INCLUDES ${CMAKE_BINARY_DIR}/conan_provider.cmake)
+    if(NOT EXISTS "${CMAKE_BINARY_DIR}/conan_provider.cmake")
+        message(STATUS "Downloading conan_provider.cmake from https://github.com/conan-io/cmake-conan")
+        file(
+            DOWNLOAD
+                "https://raw.githubusercontent.com/conan-io/cmake-conan/develop2/conan_provider.cmake"
+                "${CMAKE_BINARY_DIR}/conan_provider.cmake"
+        )
+    endif()
+    set(CMAKE_PROJECT_TOP_LEVEL_INCLUDES ${CMAKE_BINARY_DIR}/conan_provider.cmake)
+endif()
 
-project(zivid LANGUAGES CXX)
+project(ZividPython LANGUAGES CXX)
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 
 include(ReadZividVersion)
 include(CompilerWarningOptions)
 include(TargetUtilities)
 
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
+if(NOT ZIVID_PYTHON_SDK_BUILD)
+    set(CMAKE_CXX_STANDARD 17)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
 
 option(ZIVID_PYTHON_VERSION "Version number to be compiled into the module" "UNKNOWN")
 
-zivid_read_sdk_version(JSON_FILE "${CMAKE_CURRENT_SOURCE_DIR}/sdk_version.json")
-if("${ZIVID_SDK_VERSION}" STREQUAL "")
-    message(FATAL_ERROR "ZIVID_SDK_VERSION is not set. Please ensure sdk_version.json is present and valid.")
+if(NOT ZIVID_PYTHON_SDK_BUILD)
+    zivid_read_sdk_version(JSON_FILE "${CMAKE_CURRENT_SOURCE_DIR}/sdk_version.json")
+    if("${ZIVID_SDK_VERSION}" STREQUAL "")
+        message(FATAL_ERROR "ZIVID_SDK_VERSION is not set. Please ensure sdk_version.json is present and valid.")
+    endif()
+    message(STATUS "Standalone build - Using Zivid SDK version: ${ZIVID_SDK_VERSION}")
 endif()
 
 if(MSVC)
     add_compile_options(/bigobj)
 endif()
 
-find_package(
-    Python3
-    "${PYTHON_INTERPRETER_VERSION}"
-    EXACT
-    REQUIRED
-    COMPONENTS
-        Interpreter
-        Development
-)
+if(NOT ZIVID_PYTHON_SDK_BUILD)
+    find_package(
+        Python3
+        "${PYTHON_INTERPRETER_VERSION}"
+        EXACT
+        REQUIRED
+        COMPONENTS
+            Interpreter
+            Development
+    )
+endif()
 if(WIN32)
     # If "debug" libraries for Python are installed on Windows, `find_package(Python3 ...)`
     # above will find debug version `_d` of imported python library during linking. `pybind11`
@@ -59,6 +73,38 @@ endif()
 
 find_package(Eigen3 3.4.0 CONFIG REQUIRED)
 find_package(pybind11 2.12.0 CONFIG REQUIRED)
-find_package(Zivid ${ZIVID_SDK_VERSION} EXACT COMPONENTS Core REQUIRED)
+
+if(NOT ZIVID_PYTHON_SDK_BUILD)
+    find_package(Zivid ${ZIVID_SDK_VERSION} EXACT COMPONENTS Core REQUIRED)
+endif()
 
 add_subdirectory(src)
+
+if(DEFINED ZIVID_PYTHON_OUTPUT_DIR AND ZIVID_PYTHON_OUTPUT_DIR)
+    include(Zivid_PythonStage)
+
+    zivid_stage_python_sources(
+        TARGET ZividPythonStage_zivid
+        SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/modules/zivid"
+        DEST_DIR "${ZIVID_PYTHON_OUTPUT_DIR}/zivid"
+    )
+
+    zivid_stage_python_sources(
+        TARGET ZividPythonStage_zivid_init
+        SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/modules/_zivid"
+        DEST_DIR "${ZIVID_PYTHON_OUTPUT_DIR}/_zivid"
+    )
+
+    add_dependencies(
+        _zividcore
+        ZividPythonStage_zivid
+        ZividPythonStage_zivid_init
+    )
+    if(TARGET _zividvisualization)
+        add_dependencies(
+            _zividvisualization
+            ZividPythonStage_zivid
+            ZividPythonStage_zivid_init
+        )
+    endif()
+endif()

CMakePresets.json

@@ -26,8 +26,8 @@
             "description": "Build python wrapper with latest sdk on Linux",
             "inherits": "common_opts",
             "cacheVariables": {
-                "CMAKE_C_COMPILER": "clang-20",
-                "CMAKE_CXX_COMPILER": "clang++-20",
+                "CMAKE_C_COMPILER": "clang-21",
+                "CMAKE_CXX_COMPILER": "clang++-21",
                 "CMAKE_EXE_LINKER_FLAGS": "-fuse-ld=mold",
                 "CMAKE_MODULE_LINKER_FLAGS": "-fuse-ld=mold",
                 "CMAKE_SHARED_LINKER_FLAGS": "-fuse-ld=mold"

README.md

@@ -18,7 +18,7 @@ at [zivid.com](https://www.zivid.com/).
 ### Dependencies
 
 * [Python](https://www.python.org/) version 3.7 or higher
-* [Zivid SDK][zivid-download-software-url] version 2.17.2 (see [docs][zivid-software-installation-url] for help)
+* [Zivid SDK][zivid-download-software-url] version 2.18.0 (see [docs][zivid-software-installation-url] for help)
 * [Compiler](doc/CompilerInstallation.md) with C++17 support
 
 *Ubuntu users must install Python headers (`apt install python3-dev`) in addition to the regular `python3` package.*

cmake/CompilerWarningOptions.cmake

@@ -1,3 +1,5 @@
+include_guard()
+
 option(WARNINGS "Enable compiler warnings" OFF)
 
 if(WARNINGS)
@@ -34,6 +36,7 @@ elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
         set(WARNINGS_THAT_SHOULD_BE_IGNORED # WHY it is ok to ignore
             c++98-compat # Code base should be modern
             c++98-compat-pedantic # Code base should be modern
+            nrvo # TODO(ZIVID-11540): Reenable when fixed - return value optimization warning
         )
 
         foreach(WARNING ${WARNINGS_THAT_SHOULD_BE_FIXED})

cmake/ReadZividVersion.cmake

@@ -1,3 +1,5 @@
+include_guard()
+
 # Reads the zivid sdk version from a json file. Sets `ZIVID_SDK_VERSION` CMake variable in parent
 # scope to the version read from the file.
 function(zivid_read_sdk_version)

cmake/TargetUtilities.cmake

@@ -1,3 +1,5 @@
+include_guard()
+
 function(_zivid_python_library)
     set(OPTIONS "")
     set(ONE_VALUE_ARGUMENTS
@@ -37,6 +39,12 @@ function(_zivid_python_library)
             NO_EXTRAS
     )
 
+    # Avoid STB_GNU_UNIQUE on guard variables for function-local statics in inline/template
+    # functions: when two Python extension .so files are loaded into the same process, the
+    # unified guard otherwise makes the second module skip initialization of its own
+    # (hidden, per-DSO) copy. See pybind11 PR #949.
+    target_compile_options(${MODULE_NAME} PRIVATE $<$<CXX_COMPILER_ID:GNU>:-fno-gnu-unique>)
+
     add_library("ZividPython::${ARG_NAME}" ALIAS ${MODULE_NAME})
 
     target_link_libraries(${MODULE_NAME} PRIVATE ${ARG_LINK_LIBRARIES})
@@ -50,6 +58,21 @@ function(_zivid_python_library)
                 ""
     )
 
+    if(DEFINED ZIVID_PYTHON_OUTPUT_DIR AND ZIVID_PYTHON_OUTPUT_DIR)
+        set_target_properties(
+            ${MODULE_NAME}
+            PROPERTIES
+                LIBRARY_OUTPUT_DIRECTORY
+                    "${ZIVID_PYTHON_OUTPUT_DIR}/_zivid"
+                RUNTIME_OUTPUT_DIRECTORY
+                    "${ZIVID_PYTHON_OUTPUT_DIR}/_zivid"
+        )
+    endif()
+
+    if(TARGET zivid-python)
+        add_dependencies(zivid-python ${MODULE_NAME})
+    endif()
+
     target_include_directories(
         ${MODULE_NAME}
         PUBLIC

continuous-integration/deployment/expected-version.txt

@@ -1 +1 @@
-2.17.2
+2.18.0

continuous-integration/linux/platform-dependent/fedora/install-sdk.sh

@@ -11,4 +11,4 @@ function fedora_install_www_deb {
     rm -r $TMP_DIR || exit $?
 }
 
-fedora_install_www_deb "https://downloads.zivid.com/sdk/releases/${ZIVID_SDK_EXACT_VERSION}/u20/zivid_${ZIVID_SDK_EXACT_VERSION}_amd64.deb" || exit $?
+fedora_install_www_deb "https://downloads.zivid.com/sdk/releases/${ZIVID_SDK_EXACT_VERSION}/u20/amd64/zivid-opencl_${ZIVID_SDK_EXACT_VERSION}_amd64.deb" || exit $?

continuous-integration/linux/platform-dependent/ubuntu/install-sdk.sh

@@ -9,4 +9,4 @@ function ubuntu_install_www_deb {
     rm -r $TMP_DIR || exit $?
 }
 
-ubuntu_install_www_deb "https://downloads.zivid.com/sdk/releases/${ZIVID_SDK_EXACT_VERSION}/u20/zivid_${ZIVID_SDK_EXACT_VERSION}_amd64.deb" || exit $?
+ubuntu_install_www_deb "https://downloads.zivid.com/sdk/releases/${ZIVID_SDK_EXACT_VERSION}/u20/amd64/zivid-opencl_${ZIVID_SDK_EXACT_VERSION}_amd64.deb" || exit $?

continuous-integration/versions.json

@@ -1,3 +1,3 @@
 {
-    "ZIVID_SDK_EXACT_VERSION": "2.17.2+440b2367-1"
+    "ZIVID_SDK_EXACT_VERSION": "2.18.0+1b44dbef-1"
 }

modules/_zivid/__init__.py

@@ -93,25 +93,63 @@ def __repr__(self):
         Array2DPointXYZW,
         Array2DPointZ,
         Array2DSNR,
+        BoundingBox,
         Camera,
+        CameraAddress,
+        CameraHealth,
         CameraInfo,
         CameraIntrinsics,
         CameraState,
+        ComputeBackend,
+        ComputeDevice,
+        CUDAContextPtr,
+        CUDAStreamPtr,
+        DeviceArrayNormalXYZ,
+        DeviceArrayPointXYZ,
+        DeviceArrayPointXYZW,
+        DeviceArrayPointZ,
+        DeviceArraySNR,
+        DeviceArrayViewBGR,
+        DeviceArrayViewBGR_SRGB,
+        DeviceArrayViewBGRA,
+        DeviceArrayViewBGRA_SRGB,
+        DeviceArrayViewRGB,
+        DeviceArrayViewRGB_SRGB,
+        DeviceArrayViewRGBA,
+        DeviceArrayViewRGBA_SRGB,
+        DeviceArrayViewRGBAf,
         Frame,
         Frame2D,
         FrameInfo,
+        ImageBGR,
+        ImageBGR_SRGB,
         ImageBGRA,
         ImageBGRA_SRGB,
+        ImageDeviceArrayBGR,
+        ImageDeviceArrayBGR_SRGB,
+        ImageDeviceArrayBGRA,
+        ImageDeviceArrayBGRA_SRGB,
+        ImageDeviceArrayRGB,
+        ImageDeviceArrayRGB_SRGB,
+        ImageDeviceArrayRGBA,
+        ImageDeviceArrayRGBA_SRGB,
+        ImageDeviceArrayRGBAf,
+        ImageRGB,
+        ImageRGB_SRGB,
         ImageRGBA,
         ImageRGBA_SRGB,
+        Mask,
         Matrix4x4,
         NetworkConfiguration,
+        OpenCLCommandQueuePtr,
         PixelMapping,
         PointCloud,
         ProjectedImage,
+        Resolution,
         SceneConditions,
         Settings,
         Settings2D,
+        StreamOrQueue,
         UnorganizedPointCloud,
         __version__,
         calibration,

modules/zivid/__init__.py

@@ -10,18 +10,35 @@
 import zivid.presets
 import zivid.projection
 import zivid.visualization
+from _zivid._zividcore import (
+    ComputeBackend,
+    CUDAContextPtr,
+    CUDAStreamPtr,
+    FrameFileType,
+    OpenCLCommandQueuePtr,
+    StreamOrQueue,
+    read_frame_file_type,
+    synchronize_stream,
+)
 from zivid.application import Application
+from zivid.bounding_box import BoundingBox
 from zivid.camera import Camera
+from zivid.camera_address import CameraAddress
+from zivid.camera_health import CameraHealth
 from zivid.camera_info import CameraInfo
 from zivid.camera_intrinsics import CameraIntrinsics
 from zivid.camera_state import CameraState
+from zivid.device_array_view import DeviceArrayView, create_device_array_view
 from zivid.frame import Frame
 from zivid.frame_2d import Frame2D
 from zivid.frame_info import FrameInfo
 from zivid.image import Image
+from zivid.mask import Mask
 from zivid.matrix4x4 import Matrix4x4
 from zivid.network_configuration import NetworkConfiguration
+from zivid.pixel_format import PixelFormat
 from zivid.point_cloud import PointCloud
+from zivid.resolution import Resolution
 from zivid.scene_conditions import SceneConditions
 from zivid.sdk_version import SDKVersion
 from zivid.settings import Settings

modules/zivid/_calibration/detector.py

@@ -68,9 +68,14 @@ def centroid(self):
     def pose(self):
         """Get position and orientation of the top left detected corner in camera-space.
 
+        This is the top left inner corner as viewed from the board's coordinate system.
+
         Pose calculation works for official Zivid calibration boards only.
         An exception will be thrown if valid() is false or if the board is not supported.
 
+        For an illustration of where the origin of the pose is located, see Zivid Calibration Object:
+        https://support.zivid.com/en/latest/academy/applications/hand-eye/calibration-object.html
+
         Returns:
             The Pose of the top left corner (4x4 transformation matrix)
         """
@@ -187,6 +192,9 @@ def pose(self):
         The returned pose will be positioned at the center of the marker, and have an orientation such that its z-axis
         points perpendicularly into the face of the marker.
 
+        For an illustration of where the origin of the pose is located, see Zivid Calibration Object:
+        https://support.zivid.com/en/latest/academy/applications/hand-eye/calibration-object.html
+
         Returns:
             The Pose of the marker center (4x4 transformation matrix)
         """
@@ -353,8 +361,8 @@ def detect_calibration_board(source):
     For further information please visit https://support.zivid.com.
 
     Args:
-        source: A frame containing an image of a calibration board or a camera pointed at
-            a calibration board
+        source: A Frame containing an image of a calibration board,
+            or a Camera pointed at a calibration board
 
     Raises:
         TypeError: If source is not of type Camera or Frame
@@ -410,10 +418,10 @@ def detect_markers(frame, allowed_marker_ids, marker_dictionary):
     For more information on ArUco markers specifically, see the OpenCV documentation on ArUco markers:
     https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html,
 
-    Frame need not contain all markers listed in allowedMarkerIds for a successful detection.
+    The frame need not contain all markers listed in allowedMarkerIds for a successful detection.
 
     Args:
-        frame: A frame containing an image of one or several fiducial markers
+        frame: A Frame containing an image of one or several fiducial markers
         allowed_marker_ids: List of the IDs of markers to be detected
         marker_dictionary: The name of the marker dictionary to use. The name must be one of the values returned by
             MarkerDictionary.valid_values()