Added ability to set the lens position via a float, to enable a more …

…precies movement. (#954)

* Added lensPositionRaw to ImgFrame and EncodedFrame

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 "f089593893c1b1ccb29c99ccdc9a0e723db57a3b")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "fdd7f9e70a4ce94924fb5342b6c3b9ec4712727a")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

include/depthai/pipeline/datatype/CameraControl.hpp

@@ -133,6 +133,14 @@ class CameraControl : public Buffer {
      */
     CameraControl& setManualFocus(uint8_t lensPosition);
 
+    /**
+     * Set a command to specify manual focus position (more precise control).
+     *
+     * @param lensPositionRaw specify lens position 0.0f .. 1.0f
+     * @return CameraControl&
+     */
+    CameraControl& setManualFocusRaw(float lensPositionRaw);
+
     // Exposure
     /**
      * Set a command to enable auto exposure
@@ -306,6 +314,11 @@ class CameraControl : public Buffer {
      */
     int getLensPosition() const;
 
+    /**
+     * Retrieves lens position, range 0.0f..1.0f.
+     */
+    float getLensPositionRaw() const;
+
     /**
      * Set explicit configuration.
      * @param config Explicit configuration

include/depthai/pipeline/datatype/EncodedFrame.hpp

@@ -55,6 +55,12 @@ class EncodedFrame : public Buffer {
      * Retrieves lens position, range 0..255. Returns -1 if not available
      */
     int getLensPosition() const;
+
+    /**
+     * Retrieves lens position, range 0.0f..1.0f. Returns -1 if not available
+     */
+    float getLensPositionRaw() const;
+
     /**
      * Retrieves the encoding quality
      */

include/depthai/pipeline/datatype/ImgFrame.hpp

@@ -99,6 +99,11 @@ class ImgFrame : public Buffer {
      */
     int getLensPosition() const;
 
+    /**
+     * Retrieves lens position, range 0.0f..1.0f. Returns -1 if not available
+     */
+    float getLensPositionRaw() const;
+
     // setters
     /**
      * Retrieves image timestamp related to dai::Clock::now()

src/pipeline/datatype/CameraControl.cpp

@@ -91,6 +91,12 @@ CameraControl& CameraControl::setManualFocus(uint8_t lensPosition) {
     return *this;
 }
 
+CameraControl& CameraControl::setManualFocusRaw(float lensPositionRaw) {
+    cfg.setCommand(RawCameraControl::Command::MOVE_LENS_RAW);
+    cfg.lensPositionRaw = lensPositionRaw;
+    return *this;
+}
+
 // Exposure
 CameraControl& CameraControl::setAutoExposureEnable() {
     cfg.setCommand(RawCameraControl::Command::AE_AUTO);
@@ -225,6 +231,10 @@ int CameraControl::getLensPosition() const {
     return cfg.lensPosition;
 }
 
+float CameraControl::getLensPositionRaw() const {
+    return cfg.lensPositionRaw;
+}
+
 dai::RawCameraControl CameraControl::get() const {
     return cfg;
 }

src/pipeline/datatype/EncodedFrame.cpp

@@ -30,6 +30,9 @@ int EncodedFrame::getColorTemperature() const {
 int EncodedFrame::getLensPosition() const {
     return frame.cam.lensPosition;
 }
+float EncodedFrame::getLensPositionRaw() const {
+    return frame.cam.lensPositionRaw;
+}
 unsigned int EncodedFrame::getQuality() const {
     return frame.quality;
 }

src/pipeline/datatype/ImgFrame.cpp

@@ -72,6 +72,10 @@ int ImgFrame::getLensPosition() const {
     return img.cam.lensPosition;
 }
 
+float ImgFrame::getLensPositionRaw() const {
+    return img.cam.lensPositionRaw;
+}
+
 // setters
 ImgFrame& ImgFrame::setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
     // Set timestamp from timepoint