Fixes and improvements for StereoDepth, ColorCamera

cmake/Depthai/DepthaiDeviceSideConfig.cmake

@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")  
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "8d27dfe16cbb72fa2649b87385a5a726127c4cfa")          
+set(DEPTHAI_DEVICE_SIDE_COMMIT "80b63be3ce97dc177df17865da85403ff08348ca")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

include/depthai/pipeline/datatype/CameraControl.hpp

@@ -105,10 +105,10 @@ class CameraControl : public Buffer {
     void setAutoExposureRegion(uint16_t startX, uint16_t startY, uint16_t width, uint16_t height);
 
     /**
-     * Set a command to specify auto exposure compenstaion
-     * @param compensation Compensation value between -128..127
+     * Set a command to specify auto exposure compensation
+     * @param compensation Compensation value between -9..9
      */
-    void setAutoExposureCompensation(int8_t compensation);
+    void setAutoExposureCompensation(int compensation);
 
     /**
      * Set a command to specify auto banding mode
@@ -119,7 +119,7 @@ class CameraControl : public Buffer {
     /**
      * Set a command to manually specify exposure
      * @param exposureTimeUs Exposure time in microseconds
-     * @param sensitivityIso Sensitivity as ISO value
+     * @param sensitivityIso Sensitivity as ISO value, usual range 100..1600
      */
     void setManualExposure(uint32_t exposureTimeUs, uint32_t sensitivityIso);
 
@@ -138,46 +138,40 @@ class CameraControl : public Buffer {
 
     // Other image controls
     /**
-     * Set a command to specify auto white balance lock
-     * @param lock Auto white balance lock mode enabled or disabled
-     */
-    void setBrightness(uint16_t value);  // TODO move to AE?
-
-    /**
-     * Set a command to specify auto white balance lock
-     * @param lock Auto white balance lock mode enabled or disabled
+     * Set a command to adjust image brightness
+     * @param value Brightness, range -10..10
      */
-    void setContrast(uint16_t value);
+    void setBrightness(int value);
 
     /**
-     * Set a command to specify saturation value
-     * @param value Saturation
+     * Set a command to adjust image contrast
+     * @param value Contrast, range -10..10
      */
-    void setSaturation(uint16_t value);
+    void setContrast(int value);
 
     /**
-     * Set a command to specify sharpness value
-     * @param value Sharpness
+     * Set a command to adjust image saturation
+     * @param value Saturation, range -10..10
      */
-    void setSharpness(uint16_t value);
+    void setSaturation(int value);
 
     /**
-     * Set a command to specify noise reduction strength
-     * @param value Noise reduction strength
+     * Set a command to adjust image sharpness
+     * @param value Sharpness, range 0..4
      */
-    void setNoiseReductionStrength(uint16_t value);
+    void setSharpness(int value);
 
     /**
-     * Set a command to specify luma denoise value
-     * @param value Luma denoise
+     * Set a command to adjust luma denoise amount
+     * @param value Luma denoise amount, range 0..4
      */
-    void setLumaDenoise(uint16_t value);
+    void setLumaDenoise(int value);
 
     /**
-     * Set a command to specify chroma denoise value
-     * @param value Chroma denoise
+     * Set a command to adjust chroma denoise amount
+     * @param value Chroma denoise amount, range 0..4
      */
-    void setChromaDenoise(uint16_t value);
+    void setChromaDenoise(int value);
 
     /**
      * Set a command to specify scene mode

include/depthai/pipeline/node/ColorCamera.hpp

@@ -25,6 +25,8 @@ class ColorCamera : public Node {
 
     std::shared_ptr<RawCameraControl> rawControl;
 
+    int getScaledSize(int input, int num, int denom) const;
+
    public:
     /**
      * Constructs ColorCamera node.
@@ -71,6 +73,20 @@ class ColorCamera : public Node {
      */
     Output still{*this, "still", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
+    /**
+     * Outputs ImgFrame message that carries YUV420 planar (I420/IYUV) frame data.
+     *
+     * Generated by the ISP engine, and the source for the 'video', 'preview' and 'still' outputs
+     */
+    Output isp{*this, "isp", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+
+    /**
+     * Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.
+     *
+     * Captured directly from the camera sensor, and the source for the 'isp' output.
+     */
+    Output raw{*this, "raw", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+
     /**
      * Specify which board socket to use
      * @param boardSocket Board socket to use
@@ -116,18 +132,47 @@ class ColorCamera : public Node {
     /// Set preview output size
     void setPreviewSize(int width, int height);
 
+    /// Set preview output size, as a tuple <width, height>
+    void setPreviewSize(std::tuple<int, int> size);
+
     /// Set video output size
     void setVideoSize(int width, int height);
 
+    /// Set video output size, as a tuple <width, height>
+    void setVideoSize(std::tuple<int, int> size);
+
     /// Set still output size
     void setStillSize(int width, int height);
 
+    /// Set still output size, as a tuple <width, height>
+    void setStillSize(std::tuple<int, int> size);
+
     /// Set sensor resolution
     void setResolution(Properties::SensorResolution resolution);
 
     /// Get sensor resolution
     Properties::SensorResolution getResolution() const;
 
+    /**
+     * Set 'isp' output scaling (numerator/denominator), preserving the aspect ratio.
+     * @param numerator Range 1..16
+     * @param denominator Range 1..63
+     */
+    void setIspScale(int numerator, int denominator);
+
+    /// Set 'isp' output scaling, as a tuple <numerator, denominator>
+    void setIspScale(std::tuple<int, int> scale);
+
+    /**
+     * Set 'isp' output scaling, per each direction. If the horizontal scaling factor
+     * (horizNum/horizDen) is different than the vertical scaling factor
+     * (vertNum/vertDen), a distorted (stretched or squished) image is generated
+     */
+    void setIspScale(int horizNum, int horizDenom, int vertNum, int vertDenom);
+
+    /// Set 'isp' output scaling, per each direction, as <numerator, denominator> tuples
+    void setIspScale(std::tuple<int, int> horizScale, std::tuple<int, int> vertScale);
+
     /**
      * Set rate at which camera should produce frames
      * @param fps Rate in frames per second
@@ -168,6 +213,13 @@ class ColorCamera : public Node {
     /// Get sensor resolution height
     int getResolutionHeight() const;
 
+    /// Get 'isp' output resolution as size, after scaling
+    std::tuple<int, int> getIspSize() const;
+    /// Get 'isp' output width
+    int getIspWidth() const;
+    /// Get 'isp' output height
+    int getIspHeight() const;
+
     /**
      * Specify sensor center crop.
      * Resolution size / video size

include/depthai/pipeline/node/StereoDepth.hpp

@@ -98,6 +98,17 @@ class StereoDepth : public Node {
      */
     void setMedianFilter(Properties::MedianFilter median);
 
+    /**
+     * @param align Set the disparity/depth alignment: centered (between the 'left' and 'right' inputs),
+     * or from the perspective of a rectified output stream
+     */
+    void setDepthAlign(Properties::DepthAlign align);
+
+    /**
+     * @param camera Set the camera from whose perspective the disparity/depth will be aligned
+     */
+    void setDepthAlign(CameraBoardSocket camera);
+
     /**
      * Confidence threshold for disparity calculation
      * @param confThr Confidence threshold value 0..255
@@ -138,15 +149,17 @@ class StereoDepth : public Node {
     void setRectifyMirrorFrame(bool enable);
 
     /**
-     * Enable outputting rectified frames. Optimizes computation on device side when disabled
+     * Enable outputting rectified frames. Optimizes computation on device side when disabled.
+     * DEPRECATED. The outputs are auto-enabled if used
      */
-    void setOutputRectified(bool enable);
+    [[deprecated("Function call should be removed")]] void setOutputRectified(bool enable);
 
     /**
      * Enable outputting 'depth' stream (converted from disparity).
-     * In certain configurations, this will disable 'disparity' stream
+     * In certain configurations, this will disable 'disparity' stream.
+     * DEPRECATED. The output is auto-enabled if used
      */
-    void setOutputDepth(bool enable);
+    [[deprecated("Function call should be removed")]] void setOutputDepth(bool enable);
 };
 
 }  // namespace node

src/pipeline/datatype/CameraControl.cpp

@@ -61,7 +61,7 @@ void CameraControl::setAutoExposureRegion(uint16_t startX, uint16_t startY, uint
     cfg.aeRegion.height = height;
     cfg.aeRegion.priority = 1;  // TODO
 }
-void CameraControl::setAutoExposureCompensation(int8_t compensation) {
+void CameraControl::setAutoExposureCompensation(int compensation) {
     cfg.setCommand(RawCameraControl::Command::EXPOSURE_COMPENSATION);
     cfg.expCompensation = compensation;
 }
@@ -87,31 +87,27 @@ void CameraControl::setAutoWhiteBalanceLock(bool lock) {
 }
 
 // Other image controls
-void CameraControl::setBrightness(uint16_t value) {
+void CameraControl::setBrightness(int value) {
     cfg.setCommand(RawCameraControl::Command::BRIGHTNESS);
     cfg.brightness = value;
 }
-void CameraControl::setContrast(uint16_t value) {
+void CameraControl::setContrast(int value) {
     cfg.setCommand(RawCameraControl::Command::CONTRAST);
     cfg.contrast = value;
 }
-void CameraControl::setSaturation(uint16_t value) {
+void CameraControl::setSaturation(int value) {
     cfg.setCommand(RawCameraControl::Command::SATURATION);
     cfg.saturation = value;
 }
-void CameraControl::setSharpness(uint16_t value) {
+void CameraControl::setSharpness(int value) {
     cfg.setCommand(RawCameraControl::Command::SHARPNESS);
     cfg.sharpness = value;
 }
-void CameraControl::setNoiseReductionStrength(uint16_t value) {
-    cfg.setCommand(RawCameraControl::Command::NOISE_REDUCTION_STRENGTH);
-    cfg.noiseReductionStrength = value;
-}
-void CameraControl::setLumaDenoise(uint16_t value) {
+void CameraControl::setLumaDenoise(int value) {
     cfg.setCommand(RawCameraControl::Command::LUMA_DENOISE);
     cfg.lumaDenoise = value;
 }
-void CameraControl::setChromaDenoise(uint16_t value) {
+void CameraControl::setChromaDenoise(int value) {
     cfg.setCommand(RawCameraControl::Command::CHROMA_DENOISE);
     cfg.chromaDenoise = value;
 }

src/pipeline/node/ColorCamera.cpp

@@ -23,7 +23,7 @@ std::string ColorCamera::getName() const {
 }
 
 std::vector<Node::Output> ColorCamera::getOutputs() {
-    return {video, preview, still};
+    return {raw, isp, video, preview, still};
 }
 
 std::vector<Node::Input> ColorCamera::getInputs() {
@@ -122,18 +122,49 @@ void ColorCamera::setPreviewSize(int width, int height) {
     properties.previewHeight = height;
 }
 
+void ColorCamera::setPreviewSize(std::tuple<int, int> size) {
+    setPreviewSize(std::get<0>(size), std::get<1>(size));
+}
+
 // set video output size
 void ColorCamera::setVideoSize(int width, int height) {
     properties.videoWidth = width;
     properties.videoHeight = height;
 }
 
+void ColorCamera::setVideoSize(std::tuple<int, int> size) {
+    setVideoSize(std::get<0>(size), std::get<1>(size));
+}
+
 // set still output size
 void ColorCamera::setStillSize(int width, int height) {
     properties.stillWidth = width;
     properties.stillHeight = height;
 }
 
+void ColorCamera::setStillSize(std::tuple<int, int> size) {
+    setStillSize(std::get<0>(size), std::get<1>(size));
+}
+
+void ColorCamera::setIspScale(int horizNum, int horizDenom, int vertNum, int vertDenom) {
+    properties.ispScale.horizNumerator = horizNum;
+    properties.ispScale.horizDenominator = horizDenom;
+    properties.ispScale.vertNumerator = vertNum;
+    properties.ispScale.vertDenominator = vertDenom;
+}
+
+void ColorCamera::setIspScale(int numerator, int denominator) {
+    setIspScale(numerator, denominator, numerator, denominator);
+}
+
+void ColorCamera::setIspScale(std::tuple<int, int> scale) {
+    setIspScale(std::get<0>(scale), std::get<1>(scale));
+}
+
+void ColorCamera::setIspScale(std::tuple<int, int> horizScale, std::tuple<int, int> vertScale) {
+    setIspScale(std::get<0>(horizScale), std::get<1>(horizScale), std::get<0>(vertScale), std::get<1>(vertScale));
+}
+
 void ColorCamera::setResolution(ColorCameraProperties::SensorResolution resolution) {
     properties.resolution = resolution;
 }
@@ -251,6 +282,34 @@ int ColorCamera::getResolutionHeight() const {
     return std::get<1>(getResolutionSize());
 }
 
+int ColorCamera::getScaledSize(int input, int num, int denom) const {
+    return (input * num - 1) / denom + 1;
+}
+
+int ColorCamera::getIspWidth() const {
+    int inW = getResolutionWidth();
+    int num = properties.ispScale.horizNumerator;
+    int den = properties.ispScale.horizDenominator;
+    if(num > 0 && den > 0) {
+        return getScaledSize(inW, num, den);
+    }
+    return inW;
+}
+
+int ColorCamera::getIspHeight() const {
+    int inH = getResolutionHeight();
+    int num = properties.ispScale.vertNumerator;
+    int den = properties.ispScale.vertDenominator;
+    if(num > 0 && den > 0) {
+        return getScaledSize(inH, num, den);
+    }
+    return inH;
+}
+
+std::tuple<int, int> ColorCamera::getIspSize() const {
+    return {getIspWidth(), getIspHeight()};
+}
+
 void ColorCamera::sensorCenterCrop() {
     properties.sensorCropX = ColorCameraProperties::AUTO;
     properties.sensorCropY = ColorCameraProperties::AUTO;