Merge pull request #1833 from luxonis/bugfix/remove_unused_variable

Remove unused logger in SpatialUtils

Author: MaticTonin

bindings/python/src/pipeline/datatype/CameraControlBindings.cpp

@@ -80,7 +80,8 @@ void bind_cameracontrol(pybind11::module& m, void* pCallstack) {
         .value("AF_REGION", CameraControl::Command::AF_REGION)
         .value("LUMA_DENOISE", CameraControl::Command::LUMA_DENOISE)
         .value("CHROMA_DENOISE", CameraControl::Command::CHROMA_DENOISE)
-        .value("WB_COLOR_TEMP", CameraControl::Command::WB_COLOR_TEMP);
+        .value("WB_COLOR_TEMP", CameraControl::Command::WB_COLOR_TEMP)
+        .value("AE_MAX_ISO", CameraControl::Command::AE_MAX_ISO);
 
     camCtrlAttr.push_back("AutoFocusMode");
     cameraControlAutoFocusMode.value("OFF", CameraControl::AutoFocusMode::OFF)
@@ -237,6 +238,10 @@ void bind_cameracontrol(pybind11::module& m, void* pCallstack) {
              py::overload_cast<std::chrono::microseconds>(&CameraControl::setAutoExposureLimit),
              py::arg("maxExposureTime"),
              DOC(dai, CameraControl, setAutoExposureLimit, 2))
+        .def("setAutoExposureMaxISO",
+             &CameraControl::setAutoExposureMaxISO,
+             py::arg("aeMaxISO"),
+             DOC(dai, CameraControl, setAutoExposureMaxISO))
         .def("setAntiBandingMode", &CameraControl::setAntiBandingMode, py::arg("mode"), DOC(dai, CameraControl, setAntiBandingMode))
         .def("setManualExposure",
              py::overload_cast<uint32_t, uint32_t>(&CameraControl::setManualExposure),

cmake/Depthai/DepthaiDeviceRVC4Config.cmake

@@ -3,4 +3,4 @@
 set(DEPTHAI_DEVICE_RVC4_MATURITY "snapshot")
 
 # "version if applicable"
-set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+656f19d8caeedccb34cd4ba2fe4b2711affab61b")
+set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+d966b3faf3a09dccabc58eb60a783a664f0459ad")

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 "8d6a04d380ce182e0cb3a4694309426370295a9f")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "fe224dcd1222ce43d3afadb6524b2174e975559a")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

include/depthai/pipeline/datatype/CameraControl.hpp

@@ -122,6 +122,7 @@ class CameraControl : public Buffer {
         STROBE_TIMINGS = 54,
         MOVE_LENS_RAW = 55, /* lens position: 0.0 - 1.0 */
         HDR = 56,
+        AE_MAX_ISO = 57,
     };
 
     enum class AutoFocusMode : uint8_t {
@@ -561,6 +562,14 @@ class CameraControl : public Buffer {
      */
     CameraControl& setAutoExposureLimit(std::chrono::microseconds maxExposureTime);
 
+    /**
+     * Set a command to specify the maximum ISO sensitivity limit for auto-exposure.
+     * This limits the AE algorithm from increasing sensitivity beyond a certain point
+     * and can help to reduce noise in low-light conditions.
+     * @param aeMaxISO Maximum ISO
+     */
+    CameraControl& setAutoExposureMaxISO(int32_t aeMaxISO);
+
     /**
      * Set a command to specify anti-banding mode. Anti-banding / anti-flicker
      * works in auto-exposure mode, by controlling the exposure time to be applied
@@ -765,6 +774,7 @@ class CameraControl : public Buffer {
     StrobeConfig strobeConfig;
     StrobeTimings strobeTimings;
     uint32_t aeMaxExposureTimeUs;
+    int32_t aeMaxISO;
     bool aeLockMode{false};
     bool awbLockMode{false};
     int8_t expCompensation;     //  -9 ..  9
@@ -824,6 +834,7 @@ class CameraControl : public Buffer {
                       strobeConfig,
                       strobeTimings,
                       aeMaxExposureTimeUs,
+                      aeMaxISO,
                       expCompensation,
                       brightness,
                       contrast,

src/pipeline/datatype/CameraControl.cpp

@@ -122,6 +122,11 @@ CameraControl& CameraControl::setAutoExposureLimit(uint32_t maxExposureTimeUs) {
 CameraControl& CameraControl::setAutoExposureLimit(std::chrono::microseconds maxExposureTime) {
     return setAutoExposureLimit(maxExposureTime.count());
 }
+CameraControl& CameraControl::setAutoExposureMaxISO(int32_t aeMaxISO) {
+    setCommand(CameraControl::Command::AE_MAX_ISO);
+    this->aeMaxISO = aeMaxISO;
+    return *this;
+}
 CameraControl& CameraControl::setAntiBandingMode(AntiBandingMode mode) {
     setCommand(Command::ANTIBANDING_MODE);
     antiBandingMode = mode;

src/pipeline/utilities/SpatialLocationCalculator/SpatialUtils.cpp

@@ -302,8 +302,7 @@ dai::SpatialImgDetection computeSpatialDetection(const dai::ImgFrame& depthFrame
                                                  const int instanceIndex,
                                                  const dai::ImgTransformation& detectionsTransformation,
                                                  const int segMaskWidth,
-                                                 const int segMaskHeight,
-                                                 const std::shared_ptr<spdlog::async_logger>& logger) {
+                                                 const int segMaskHeight) {
     const uint32_t lowerThreshold = config.globalLowerThreshold;
     const uint32_t upperThreshold = config.globalUpperThreshold;
     const SpatialLocationCalculatorAlgorithm calculationAlgorithm = config.globalCalculationAlgorithm;
@@ -454,8 +453,7 @@ void computeSpatialDetections(const dai::ImgFrame& depthFrame,
                                                                                i,
                                                                                *detectionsTransformation,
                                                                                static_cast<int>(segmentationMaskWidth),
-                                                                               static_cast<int>(segmentationMaskHeight),
-                                                                               logger);
+                                                                               static_cast<int>(segmentationMaskHeight));
         spatialDetections.detections[i] = spatialImgDetection;
     }
 }

utilities/cam_test.py

@@ -7,6 +7,10 @@
   exposure time:     I   O      1..33000 [us]
   sensitivity iso:   K   L    100..1600
   focus:             ,   .      0..255 [far..near]
+for auto exposure:
+  Control:          key[dec/inc]  min..max
+  max exposure time:     g   h      1..33000 [us]
+  max ISO:               b   n      100..1600
 To go back to auto controls:
   'E' - autoexposure
   'F' - autofocus (continuous)
@@ -567,6 +571,7 @@ def socket_to_socket_opt(socket: dai.CameraBoardSocket) -> str:
     floodIntensity = 0
 
     expTimeLimit = 700
+    expMaxISO = 500
 
     awb_mode = Cycle(dai.CameraControl.AutoWhiteBalanceMode)
     anti_banding_mode = Cycle(dai.CameraControl.AntiBandingMode)
@@ -753,9 +758,20 @@ def controlQueueSend(ctrl):
                 expTimeLimit -= 50
             else:
                 expTimeLimit += 50
-            print("Exposure time limit: ", expTimeLimit)
+            print("Auto exposure time limit: ", expTimeLimit)
             ctrl = dai.CameraControl()
             ctrl.setAutoExposureLimit(expTimeLimit)
+            ctrl.setAutoExposureEnable()
+            controlQueueSend(ctrl)
+        elif key in [ord('b'), ord('n')]:
+            if key == ord('b'):
+                expMaxISO -= 50
+            else:
+                expMaxISO += 50
+            print("Auto exposure ISO limit: ", expMaxISO)
+            ctrl = dai.CameraControl()
+            ctrl.setAutoExposureMaxISO(expMaxISO)
+            ctrl.setAutoExposureEnable()
             controlQueueSend(ctrl)
         elif key == ord('1'):
             awb_lock = not awb_lock