Support for OAK-D Pro

[alex-luxonis]

Edit: simplified API added now:

    /**
     * Sets the brightness of the IR Laser Dot Projector. 
     * Limits: up to 765mA at 30% duty cycle, up to 1200mA at 6% duty cycle.
     * The duty cycle is controlled by `left` camera STROBE, aligned to start of exposure.
     * The emitter is turned off by default
     *
     * @param mA Current in mA that will determine brightness, 0 or negative to turn off
     * @param mask Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W-DEV
     * @returns True on success, false if not found or other failure
     */
    bool setIrLaserDotProjectorBrightness(float mA, int mask = -1);

    /**
     * Sets the brightness of the IR Flood Light. Limits: up to 1500mA at 30% duty cycle.
     * The duty cycle is controlled by the `left` camera STROBE, aligned to start of exposure.
     * If the dot projector is also enabled, its lower duty cycle limits take precedence.
     * The emitter is turned off by default
     *
     * @param mA Current in mA that will determine brightness, 0 or negative to turn off
     * @param mask Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W-DEV
     * @returns True on success, false if not found or other failure
     */
    bool setIrFloodLightBrightness(float mA, int mask = -1);

    /**
     * Retrieves detected IR laser/LED drivers.
     *
     * @returns Vector of tuples containing: driver name, I2C bus, I2C address.
     * For OAK-D-Pro it should be `[{"LM3644", 2, 0x63}]`
     */
    std::vector<std::tuple<std::string, int, int>> getIrDrivers();

Example on how the duty-cycle limitation is applied:

30 FPS, 30% duty cycle --> max 10ms from 33.3ms frame-time

frame-time |---------33.3ms---------|---------33.3ms---------|---------33.3ms---------|
exposure          <------20ms------>                <--10ms->                  <-8ms->
          _        _________                         ________                   ______
STROBE     |______|   10ms  |_______________________|  10ms  |_________________| 8ms  |

[artificiel]

hello! what is the status for OAK-D PRO support in C++? i went ahead on branch oak-d-pro_develop and fearlessly modified the depth_preview example.cpp with:

device.irWriteReg(0x2, 0x1);
device.irWriteReg(0x3, 0x0);
// etc.. as per the python example

... and it compiles and runs but it's not clear what the registers do, and hard to know what toggles are available. we have an OAK-D (non-pro) that works fine so we can compare/confirm with the fresh OAK-D PRO.

running on Apple M1 Silicon, getting the python stuff to work natively is a big pain (and we do not want to run rosetta and/or dual homebrew setups); and anyhow our target language is C++ and compiling and linking the libs into our software is quick and seamless (works superb with the OAK-D). so we'd like to be able to confirm our understanding of the PRO features without needing to run python.

a C++ example of the different registers would be great!

[alex-luxonis]

I should have mentioned here as well, a simpler API was added on the branch multi_cam_support in c4b5cc7
(will add it on this PR too)

The projectors are disabled by default, configured to align with camera exposure (by strobe), and this API is available:

    /**
     * Sets the brightness of the IR Laser Dot Projector. 
     * Theoretical maximum 1500mA, but recommended to not exceed 765mA.
     *
     * @param mA Current in mA that will determine brightness, 0 or negative to turn off
     * @param mask Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W-DEV
     */
    void setIrLaserDotProjectorBrightness(float mA, int mask = -1);

    /**
     * Sets the brightness of the IR Flood Light. Maximum 1500mA.
     *
     * @param mA Current in mA that will determine brightness, 0 or negative to turn off
     * @param mask Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W-DEV
     */
    void setIrFloodLightBrightness(float mA, int mask = -1);

Example for configuring:

device.setIrLaserDotProjectorBrightness(100);  // mA
device.setIrFloodLightBrightness(250);  // mA

[artificiel]

ah! that's nice. however checking out multi_cam_support does not compile here: (error pattern repeated a couple of times):

[  8%] Linking CXX static library libutility.a
[In file included from /Users/*/source_control/pro/depthai-core/src/pipeline/Pipeline.cpp:1:
In file included from /Users/*/source_control/pro/depthai-core/include/depthai/pipeline/Pipeline.hpp:13:
In file included from /Users/*/source_control/pro/depthai-core/include/depthai/device/Device.hpp:14:
In file included from /Users/*/source_control/pro/depthai-core/include/depthai/device/DeviceBase.hpp:17:
/Users/*/source_control/pro/depthai-core/include/depthai/common/CameraBoardSocket.hpp:22:38: error: no member named 'CAM_D' in 'dai::CameraBoardSocket'
        case dai::CameraBoardSocket::CAM_D:
             ~~~~~~~~~~~~~~~~~~~~~~~~^
/Users/*/source_control/pro/depthai-core/include/depthai/common/CameraBoardSocket.hpp:25:38: error: no member named 'CAM_E' in 'dai::CameraBoardSocket'
        case dai::CameraBoardSocket::CAM_E:
             ~~~~~~~~~~~~~~~~~~~~~~~~^
/Users/*/source_control/pro/depthai-core/include/depthai/common/CameraBoardSocket.hpp:28:38: error: no member named 'CAM_F' in 'dai::CameraBoardSocket'
        case dai::CameraBoardSocket::CAM_F:
             ~~~~~~~~~~~~~~~~~~~~~~~~^
/Users/*/source_control/pro/depthai-core/include/depthai/common/CameraBoardSocket.hpp:31:38: error: no member named 'CAM_G' in 'dai::CameraBoardSocket'
        case dai::CameraBoardSocket::CAM_G:
             ~~~~~~~~~~~~~~~~~~~~~~~~^
/Users/*/source_control/pro/depthai-core/include/depthai/common/CameraBoardSocket.hpp:34:38: error: no member named 'CAM_H' in 'dai::CameraBoardSocket'
        case dai::CameraBoardSocket::CAM_H:
             ~~~~~~~~~~~~~~~~~~~~~~~~^
In file included from /Users/*/source_control/pro/depthai-core/src/pipeline/Pipeline.cpp:1:
In file included from /Users/*/source_control/pro/depthai-core/include/depthai/pipeline/Pipeline.hpp:13:
In file included from /Users/*/source_control/pro/depthai-core/include/depthai/device/Device.hpp:14:
/Users/*/source_control/pro/depthai-core/include/depthai/device/DeviceBase.hpp:26:10: fatal error: 'depthai-shared/common/CameraProperties.hpp' file not found
#include "depthai-shared/common/CameraProperties.hpp"
         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
[  9%] Building CXX object CMakeFiles/depthai-core.dir/src/pipeline/Node.cpp.o
6 errors generated.

[alex-luxonis]

@artificiel Likely the depthai-shared submodule was not updated.
Could you do a git pull (just in case, to be on the latest), then:

git submodule update --recursive --init --progress

[artificiel]

ah the submodule... now it works, thanks!

[PeterQFR]

@alex-luxonis Is there support for for the IR settings as per the table luxonis/depthai-hardware#114?
such as
5. IR laser on for even frames, IR LED on for odd frames