IR intensity API (#920)

* Ir brightness control based on normalized intensity, instead of current.

* Added IR intensity API.

* Update docstring. Point to correct device side commit.

* Bump core

* Use IR intensity API in cam_test.py

* Deprecated ir brightness api, fixed mono_preview_alternate_pro.py example

* cam test: use step 0.05 for both dot projector and flood light

* Update core

* synced depthai-shared with device side

* resolve shared issue.

* Bump core

examples/MonoCamera/mono_preview_alternate_pro.py

@@ -43,8 +43,8 @@
 script = pipeline.create(dai.node.Script)
 script.setProcessor(dai.ProcessorType.LEON_CSS)
 script.setScript("""
-    dotBright = 500  # Note: recommended to not exceed 765, for max duty cycle
-    floodBright = 200
+    dotBright = 0.8
+    floodBright = 0.1
     LOGGING = False  # Set `True` for latency/timings debugging
 
     node.warn(f'IR drivers detected: {str(Device.getIrDrivers())}')
@@ -57,8 +57,8 @@
 
         # Immediately reconfigure the IR driver.
         # Note the logic is inverted, as it applies for next frame
-        Device.setIrLaserDotProjectorBrightness(0 if flagDot else dotBright)
-        Device.setIrFloodLightBrightness(floodBright if flagDot else 0)
+        Device.setIrLaserDotProjectorIntensity(0 if flagDot else dotBright)
+        Device.setIrFloodLightIntensity(floodBright if flagDot else 0)
         if LOGGING: tIrSet = Clock.now()
 
         # Wait for the actual frames (after MIPI capture and ISP proc is done)

src/DeviceBindings.cpp

@@ -636,8 +636,26 @@ void DeviceBindings::bind(pybind11::module& m, void* pCallstack){
         .def("flashCalibration", [](DeviceBase& d, CalibrationHandler calibrationDataHandler) { py::gil_scoped_release release; return d.flashCalibration(calibrationDataHandler); }, py::arg("calibrationDataHandler"), DOC(dai, DeviceBase, flashCalibration))
         .def("setXLinkChunkSize", [](DeviceBase& d, int s) { py::gil_scoped_release release; d.setXLinkChunkSize(s); }, py::arg("sizeBytes"), DOC(dai, DeviceBase, setXLinkChunkSize))
         .def("getXLinkChunkSize", [](DeviceBase& d) { py::gil_scoped_release release; return d.getXLinkChunkSize(); }, DOC(dai, DeviceBase, getXLinkChunkSize))
-        .def("setIrLaserDotProjectorBrightness", [](DeviceBase& d, float m, int mask) { py::gil_scoped_release release; return d.setIrLaserDotProjectorBrightness(m, mask); }, py::arg("mA"), py::arg("mask") = -1, DOC(dai, DeviceBase, setIrLaserDotProjectorBrightness))
-        .def("setIrFloodLightBrightness", [](DeviceBase& d, float m, int mask) { py::gil_scoped_release release; return d.setIrFloodLightBrightness(m, mask); }, py::arg("mA"), py::arg("mask") = -1, DOC(dai, DeviceBase, setIrFloodLightBrightness))
+        .def("setIrLaserDotProjectorBrightness", [](DeviceBase& d, float mA, int mask) { 
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Use setIrLaserDotProjectorIntensity() instead.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            py::gil_scoped_release release;
+            bool result = d.setIrLaserDotProjectorBrightness(mA, mask);
+            HEDLEY_DIAGNOSTIC_POP
+            return result;
+        }, py::arg("mA"), py::arg("mask") = -1, DOC(dai, DeviceBase, setIrLaserDotProjectorBrightness))
+        .def("setIrFloodLightBrightness", [](DeviceBase& d, float mA, int mask) {
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Use setIrFloodLightIntensity() instead.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            py::gil_scoped_release release;
+            bool result = d.setIrFloodLightBrightness(mA, mask);
+            HEDLEY_DIAGNOSTIC_POP
+            return result;
+        }, py::arg("mA"), py::arg("mask") = -1, DOC(dai, DeviceBase, setIrFloodLightBrightness))
+        .def("setIrLaserDotProjectorIntensity", [](DeviceBase& d, float intensity, int mask) { py::gil_scoped_release release; return d.setIrLaserDotProjectorIntensity(intensity, mask); }, py::arg("intensity"), py::arg("mask") = -1, DOC(dai, DeviceBase, setIrLaserDotProjectorIntensity))
+        .def("setIrFloodLightIntensity", [](DeviceBase& d, float intensity, int mask) { py::gil_scoped_release release; return d.setIrFloodLightIntensity(intensity, mask); }, py::arg("intensity"), py::arg("mask") = -1, DOC(dai, DeviceBase, setIrFloodLightIntensity))
         .def("getIrDrivers", [](DeviceBase& d) { py::gil_scoped_release release; return d.getIrDrivers(); }, DOC(dai, DeviceBase, getIrDrivers))
         .def("isEepromAvailable", [](DeviceBase& d) { py::gil_scoped_release release; return d.isEepromAvailable(); }, DOC(dai, DeviceBase, isEepromAvailable))
         .def("flashCalibration2", [](DeviceBase& d, CalibrationHandler ch) { py::gil_scoped_release release; return d.flashCalibration2(ch); }, DOC(dai, DeviceBase, flashCalibration2))

utilities/cam_test.py

@@ -354,10 +354,10 @@ def exit_cleanly(signum, frame):
     EXP_STEP = 500  # us
     ISO_STEP = 50
     LENS_STEP = 3
-    DOT_STEP = 100
-    FLOOD_STEP = 100
-    DOT_MAX = 1200
-    FLOOD_MAX = 1500
+    DOT_STEP = 0.05
+    FLOOD_STEP = 0.05
+    DOT_MAX = 1
+    FLOOD_MAX = 1
 
     # Defaults and limits for manual focus/exposure controls
     lensPos = 150
@@ -556,25 +556,25 @@ def exit_cleanly(signum, frame):
             dotIntensity = dotIntensity - DOT_STEP
             if dotIntensity < 0:
                 dotIntensity = 0
-            device.setIrLaserDotProjectorBrightness(dotIntensity)
+            device.setIrLaserDotProjectorIntensity(dotIntensity)
             print(f'IR Dot intensity:', dotIntensity)
         elif key == ord('d'):
             dotIntensity = dotIntensity + DOT_STEP
             if dotIntensity > DOT_MAX:
                 dotIntensity = DOT_MAX
-            device.setIrLaserDotProjectorBrightness(dotIntensity)
+            device.setIrLaserDotProjectorIntensity(dotIntensity)
             print(f'IR Dot intensity:', dotIntensity)
         elif key == ord('w'):
             floodIntensity = floodIntensity + FLOOD_STEP
             if floodIntensity > FLOOD_MAX:
                 floodIntensity = FLOOD_MAX
-            device.setIrFloodLightBrightness(floodIntensity)
+            device.setIrFloodLightIntensity(floodIntensity)
             print(f'IR Flood intensity:', floodIntensity)
         elif key == ord('s'):
             floodIntensity = floodIntensity - FLOOD_STEP
             if floodIntensity < 0:
                 floodIntensity = 0
-            device.setIrFloodLightBrightness(floodIntensity)
+            device.setIrFloodLightIntensity(floodIntensity)
             print(f'IR Flood intensity:', floodIntensity)
         elif key >= 0 and chr(key) in '34567890[]p\\;\'':
             if key == ord('3'):