IR Intensity API (#924)

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

* Added IR intensity API

* Update docstring. Point to correct device side commit.

* Deprecated ir brightness api, fixed spatial_calculator_multi_roi example.

* Update depthai-shared, update FW.

* Sync shared with device side

* Update shared on device and host

* Bump FW to latest develop

* Bump FW - bumped shared to latest.

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 "3181f130742ed4f18341970a936afbdcfeaddbc9")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "9f8bc9fe677b7a1fce27f78448fe348ce6e122e0")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

examples/SpatialDetection/spatial_calculator_multi_roi.cpp

@@ -61,7 +61,7 @@ int main() {
 
     // Connect to device and start pipeline
     dai::Device device(pipeline);
-    device.setIrLaserDotProjectorBrightness(1000);
+    device.setIrLaserDotProjectorIntensity(0.7f);
 
     // Output queue will be used to get the depth frames from the outputs defined above
     auto depthQueue = device.getOutputQueue("depth", 4, false);
@@ -106,4 +106,4 @@ int main() {
         }
     }
     return 0;
-}
+}

include/depthai/device/DeviceBase.hpp

@@ -494,7 +494,7 @@ class DeviceBase {
      * @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);
+    [[deprecated("Use setIrLaserDotProjectorIntensity(float intensity) instead.")]] bool setIrLaserDotProjectorBrightness(float mA, int mask = -1);
 
     /**
      * Sets the brightness of the IR Flood Light. Limits: up to 1500mA at 30% duty cycle.
@@ -506,7 +506,31 @@ class DeviceBase {
      * @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);
+    [[deprecated("Use setIrFloodLightIntensity(float intensity) instead.")]] bool setIrFloodLightBrightness(float mA, int mask = -1);
+
+    /**
+     * Sets the intensity of the IR Laser Dot Projector. Limits: up to 765mA at 30% frame time duty cycle when exposure time is longer than 30% frame time.
+     * Otherwise, duty cycle is 100% of exposure time, with current increased up to max 1200mA to make up for shorter duty cycle.
+     * The duty cycle is controlled by `left` camera STROBE, aligned to start of exposure.
+     * The emitter is turned off by default
+     *
+     * @param intensity Intensity on range 0 to 1, 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 setIrLaserDotProjectorIntensity(float intensity, int mask = -1);
+
+    /**
+     * Sets the intensity of the IR Flood Light. Limits: Intensity is directly normalized to 0 - 1500mA current.
+     * The duty cycle is 30% when exposure time is longer than 30% frame time. Otherwise, duty cycle is 100% of exposure time.
+     * The duty cycle is controlled by the `left` camera STROBE, aligned to start of exposure.
+     * The emitter is turned off by default
+     *
+     * @param intensity Intensity on range 0 to 1, 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 setIrFloodLightIntensity(float intensity, int mask = -1);
 
     /**
      * Retrieves detected IR laser/LED drivers.

src/device/DeviceBase.cpp

@@ -1089,11 +1089,19 @@ LogLevel DeviceBase::getLogOutputLevel() {
 }
 
 bool DeviceBase::setIrLaserDotProjectorBrightness(float mA, int mask) {
-    return pimpl->rpcClient->call("setIrLaserDotProjectorBrightness", mA, mask);
+    return pimpl->rpcClient->call("setIrLaserDotProjectorBrightness", mA, mask, false);
+}
+
+bool DeviceBase::setIrLaserDotProjectorIntensity(float intensity, int mask) {
+    return pimpl->rpcClient->call("setIrLaserDotProjectorBrightness", intensity, mask, true);
 }
 
 bool DeviceBase::setIrFloodLightBrightness(float mA, int mask) {
-    return pimpl->rpcClient->call("setIrFloodLightBrightness", mA, mask);
+    return pimpl->rpcClient->call("setIrFloodLightBrightness", mA, mask, false);
+}
+
+bool DeviceBase::setIrFloodLightIntensity(float intensity, int mask) {
+    return pimpl->rpcClient->call("setIrFloodLightBrightness", intensity, mask, true);
 }
 
 std::vector<std::tuple<std::string, int, int>> DeviceBase::getIrDrivers() {