Multi output tensor

.gitignore

@@ -1,6 +1,6 @@
 # Microsoft Visual Studio Code
 .project
 .vscode/
-build/*
+build*/*
 # Auto-generated
 shared/version.hpp

host/core/nnet/nnet_packet.hpp

@@ -39,15 +39,6 @@ class NNetPacket
         }
     }
 
-    std::vector<std::shared_ptr<HostDataPacket>> getTensors()
-    {
-        return _tensors_raw_data;
-    }
-
-    unsigned getTensorsNumber() const
-    {
-        return _tensors_raw_data.size();
-    }
 
 #ifdef HOST_PYTHON_MODULE
     py::array* getTensor(unsigned index)

host/core/nnet/tensor_entry_container.hpp

@@ -43,7 +43,7 @@ class TensorEntryContainer
     {
         assert(nullptr != _tensors_info);
         // assert(nullptr != _tensors_raw_data);
-        assert(_tensors_info->size() == _tensors_raw_data.size());
+        // assert(_tensors_info->size() == _tensors_raw_data.size());
 
         std::vector<TensorEntry> entry;
 
@@ -52,11 +52,14 @@ class TensorEntryContainer
             TensorEntry te;
 
             const TensorInfo& ti = (*_tensors_info)[tensor_index];
-            const auto& trd = _tensors_raw_data[tensor_index];
+            const auto& trd = _tensors_raw_data[ti.offset == 0 ? tensor_index : 0];
 
             auto entry_byte_size = ti.getEntryByteSize();
-
-            te.raw_data = trd->data.data() + entry_index * entry_byte_size; // TODO: check whether it works for all outputs
+            if(ti.offset == 0)
+                te.raw_data = trd->data.data() + entry_index * entry_byte_size; // TODO: check whether it works for all outputs
+            else
+                te.raw_data = trd->data.data() + ti.offset;
+
             te.output_properties_type = ti.output_properties_type;
             te.output_properties_type_size = size_of_type(te.output_properties_type);
             te.properties_number = entry_byte_size / te.output_properties_type_size;

host/core/nnet/tensor_info.hpp

@@ -20,6 +20,8 @@ struct TensorInfo
     int nnet_input_width  = 0;
     int nnet_input_height = 0;
 
+    uint32_t offset = 0;
+
     std::vector<int> output_properties_dimensions;
 
     std::vector<std::vector<std::string>>                               output_property_key_index_to_string;

host/py_module/py_bindings.cpp

@@ -96,9 +96,11 @@ int  wdog_start(void)
 }
 int  wdog_stop(void)
 {
-    wdog_thread_alive = 0;
-    wd_thread.join();
-
+    if(wdog_thread_alive)
+    {
+        wdog_thread_alive = 0;
+        wd_thread.join();
+    }
     return 0;
 }
 
@@ -479,10 +481,13 @@ std::shared_ptr<CNNHostPipeline> create_pipeline(
             printf("CNN input num channels: %d\n", cnn_input_info.cnn_input_num_channels);
 
             // update tensor infos
-            for (auto &ti : tensors_info)
+            assert(!(tensors_info.size() > (sizeof(cnn_input_info.offsets)/sizeof(cnn_input_info.offsets[0]))));
+
+            for (int i = 0; i < tensors_info.size(); i++)
             {
-                ti.nnet_input_width  = cnn_input_info.cnn_input_width;
-                ti.nnet_input_height = cnn_input_info.cnn_input_height;
+                tensors_info[i].nnet_input_width  = cnn_input_info.cnn_input_width;
+                tensors_info[i].nnet_input_height = cnn_input_info.cnn_input_height;
+                tensors_info[i].offset = cnn_input_info.offsets[i];
             }
 
             c_streams_myriad_to_pc["previewout"].dimensions = {
@@ -752,8 +757,6 @@ PYBIND11_MODULE(depthai, m)
     py::class_<NNetPacket, std::shared_ptr<NNetPacket>>(m, "NNetPacket")
         .def("get_tensor", &NNetPacket::getTensor, py::return_value_policy::copy)
         .def("get_tensor", &NNetPacket::getTensorByName, py::return_value_policy::copy)
-        .def("get_tensors_number", &NNetPacket::getTensorsNumber)
-        .def("tensors", &NNetPacket::getTensors, py::return_value_policy::copy)
         .def("entries", &NNetPacket::getTensorEntryContainer, py::return_value_policy::copy)
         ;
 

shared/cnn_info.hpp

@@ -10,4 +10,5 @@ struct cnn_info
     uint16_t cnn_input_num_channels;
     uint16_t number_of_cmx_slices;
     uint16_t number_of_shaves;
+    uint32_t offsets[7];
 };

shared/version.hpp

@@ -1,4 +1,4 @@
 #pragma once
 
-const char *c_depthai_dev_version = "unknown";
+const char *c_depthai_dev_version = "c722ebde932d6627463321816a5654b5be6069e1";
 const char *c_depthai_version = "0.0.10a";