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RVC4 manual focus #1206

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RVC4 manual focus #1206

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f18682c
Bumped FW
jakgra Jan 7, 2025
adfa1c7
Added test for manual focus
Jan 10, 2025
e819eca
Merge remote-tracking branch 'origin/v3_develop' into rvc4_manual_focus
Jan 10, 2025
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2 changes: 1 addition & 1 deletion cmake/Depthai/DepthaiDeviceRVC4Config.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -4,4 +4,4 @@ set(DEPTHAI_DEVICE_RVC4_MATURITY "snapshot")

# "version if applicable"
# set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+93f7b75a885aa32f44c5e9f53b74470c49d2b1af")
set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+670797e3b8cbc185c7d457e24382495200486573")
set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+5c6b7bd7d23f9bd8cfba3a0feb2e10ab6101e48a")
4 changes: 4 additions & 0 deletions tests/CMakeLists.txt
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Expand Up @@ -405,6 +405,10 @@ dai_set_test_labels(image_manip_v2_node_test ondevice rvc2_all rvc4 ci)
dai_add_test(benchmark_test src/ondevice_tests/pipeline/node/benchmark_test.cpp)
dai_set_test_labels(benchmark_test ondevice rvc2_all rvc4 ci)

# Manual focus test
dai_add_test(manual_focus_test src/ondevice_tests/manual_focus_test.cpp)
dai_set_test_labels(manual_focus_test rvc2_all rvc4 ci)

# IMU tests
dai_add_test(imu_test src/ondevice_tests/pipeline/node/imu_test.cpp)
dai_set_test_labels(imu_test ondevice rvc4 ci) # Many RVC2 devices do not have an IMU which supports the whole test suite
29 changes: 29 additions & 0 deletions tests/src/ondevice_tests/manual_focus_test.cpp
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@@ -0,0 +1,29 @@
#include <catch2/catch_all.hpp>

#include "depthai/depthai.hpp"

TEST_CASE("Test manual focus") {
dai::Pipeline pipeline;
auto fps = 30.0f;
auto camRgb = pipeline.create<dai::node::Camera>()->build();
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Will this always default to the color cam? Or should we discover the color cam first and then set the socket?

auto* output = camRgb->requestOutput(std::make_pair(640, 480), std::nullopt, dai::ImgResizeMode::CROP, fps);
auto outputQueue = output->createOutputQueue();
auto controlQueue = camRgb->inputControl.createInputQueue();
pipeline.start();
for(auto requestedLensPos : {0.5f, 0.8f, 1.0f, 0.733f, 0.444f, 0.2101f, 0.0f}) {
auto ctrl = std::make_shared<dai::CameraControl>();
ctrl->setManualFocusRaw(requestedLensPos);
std::cout << "Setting lens position to " << requestedLensPos << "\n" << std::flush;
controlQueue->send(ctrl);
auto lastLensPosition = -1.0f;
for(int idx = 0; idx < static_cast<int>(fps); ++idx) {
auto imgFrame = outputQueue->get<dai::ImgFrame>();
lastLensPosition = imgFrame->getLensPositionRaw();
}
std::cout << "Lens position after 1s was: " << lastLensPosition << "\n" << std::flush;
auto lensPositionDiff = std::abs(lastLensPosition - requestedLensPos);
std::cout << "Diff was: " << lensPositionDiff << "\n" << std::flush;
REQUIRE(lensPositionDiff < 0.001);
}
pipeline.stop();
}
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