Set lens position from calibration data

SzabolcsGergely · SzabolcsGergely · commit a53c0a4de4e3 · 2022-06-03T20:38:00.000+03:00
diff --git a/depthai-core b/depthai-core
@@ -1 +1 @@
-Subproject commit 5d7f8afea0a3346acbfa08ae47ee787c6eaa296c
+Subproject commit 9129750b487926d620cddbc403ba7e272877dfbd
diff --git a/examples/Script/script_forward_frames.py b/examples/Script/script_forward_frames.py
@@ -6,7 +6,6 @@
 pipeline = dai.Pipeline()
 
 cam = pipeline.create(dai.node.ColorCamera)
-cam.initialControl.setManualFocus(130)
 # Not needed, you can display 1080P frames as well
 cam.setIspScale(1,2)
 
diff --git a/examples/SpatialDetection/spatial_tiny_yolo.py b/examples/SpatialDetection/spatial_tiny_yolo.py
@@ -116,7 +116,7 @@
 
 stereo.depth.link(spatialDetectionNetwork.inputDepth)
 spatialDetectionNetwork.passthroughDepth.link(xoutDepth.input)
-spatialDetectionNetwork.outNetwork.link(nnNetworkOut.input);
+spatialDetectionNetwork.outNetwork.link(nnNetworkOut.input)
 
 # Connect to device and start pipeline
 with dai.Device(pipeline) as device:
diff --git a/examples/StereoDepth/rgb_depth_aligned.py b/examples/StereoDepth/rgb_depth_aligned.py
@@ -30,6 +30,7 @@ def updateBlendWeights(percent_rgb):
 
 # Create pipeline
 pipeline = dai.Pipeline()
+device = dai.Device()
 queueNames = []
 
 # Define sources and outputs
@@ -53,8 +54,13 @@ def updateBlendWeights(percent_rgb):
 if downscaleColor: camRgb.setIspScale(2, 3)
 # For now, RGB needs fixed focus to properly align with depth.
 # This value was used during calibration
-camRgb.initialControl.setManualFocus(130)
-
+try:
+    calibData = device.readCalibration()
+    lensPosition = calibData.getLensPosition(dai.CameraBoardSocket.RGB)
+    if lensPosition:
+        camRgb.initialControl.setManualFocus(lensPosition)
+except:
+    raise
 left.setResolution(monoResolution)
 left.setBoardSocket(dai.CameraBoardSocket.LEFT)
 left.setFps(fps)
@@ -74,7 +80,8 @@ def updateBlendWeights(percent_rgb):
 stereo.disparity.link(disparityOut.input)
 
 # Connect to device and start pipeline
-with dai.Device(pipeline) as device:
+with device:
+    device.startPipeline(pipeline)
 
     frameRgb = None
     frameDisp = None
diff --git a/examples/StereoDepth/rgb_depth_confidence_aligned.py b/examples/StereoDepth/rgb_depth_confidence_aligned.py
@@ -50,6 +50,7 @@ def updateConfBlendWeights(percent):
 
 # Create pipeline
 pipeline = dai.Pipeline()
+device = dai.Device()
 queueNames = []
 
 # Define sources and outputs
@@ -73,7 +74,13 @@ def updateConfBlendWeights(percent):
 if downscaleColor: camRgb.setIspScale(2, 3)
 # For now, RGB needs fixed focus to properly align with depth.
 # This value was used during calibration
-camRgb.initialControl.setManualFocus(130)
+try:
+    calibData = device.readCalibration()
+    lensPosition = calibData.getLensPosition(dai.CameraBoardSocket.RGB)
+    if lensPosition:
+        camRgb.initialControl.setManualFocus(lensPosition)
+except:
+    raise
 
 left.setResolution(monoResolution)
 left.setBoardSocket(dai.CameraBoardSocket.LEFT)
@@ -99,7 +106,8 @@ def updateConfBlendWeights(percent):
 stereo.confidenceMap.link(xoutConfMap.input)
 
 # Connect to device and start pipeline
-with dai.Device(pipeline) as device:
+with device:
+    device.startPipeline(pipeline)
 
     frameRgb = None
     frameDisp = None
diff --git a/examples/StereoDepth/stereo_depth_video.py b/examples/StereoDepth/stereo_depth_video.py
@@ -233,7 +233,8 @@ def getDisparityFrame(frame):
 if depth:
     streams.append("depth")
 
-calibData = dai.Device().readCalibration()
+device = dai.Device()
+calibData = device.readCalibration()
 leftMesh, rightMesh = getMesh(calibData)
 if generateMesh:
     meshLeft = list(leftMesh.tobytes())
@@ -245,7 +246,9 @@ def getDisparityFrame(frame):
 
 
 print("Creating DepthAI device")
-with dai.Device(pipeline) as device:
+with device:
+    device.startPipeline(pipeline)
+
     # Create a receive queue for each stream
     qList = [device.getOutputQueue(stream, 8, blocking=False) for stream in streams]
 
