Add 3A skipping option to reduce CPU usage

Author: SzabolcsGergely

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 "1b9a2401edd53bf26e8af00b71dc0941c1217b31")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "8f6a30a17a5c7076c6b05260f9c07ab80f54ab12")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

include/depthai/pipeline/node/Camera.hpp

@@ -198,6 +198,13 @@ class Camera : public NodeCRTP<Node, Camera, CameraProperties> {
      */
     void setFps(float fps);
 
+    /**
+     * Image tuning, 3A rate.
+     * Default (0) matches the camera FPS, meaning that statistics for auto exposure are collected on each frame.
+     * Reducing the rate of 3A reduces the CPU usage on MSS, but also reduces the convergence rate of 3A.
+     */
+    void set3AFpsDenominator(int denominator);
+
     /**
      * Get rate at which camera should produce frames
      * @returns Rate in frames per second

include/depthai/pipeline/node/ColorCamera.hpp

@@ -222,6 +222,13 @@ class ColorCamera : public NodeCRTP<Node, ColorCamera, ColorCameraProperties> {
      */
     void setFps(float fps);
 
+    /**
+     * Image tuning, 3A rate.
+     * Default (0) matches the camera FPS, meaning that statistics for auto exposure are collected on each frame.
+     * Reducing the rate of 3A reduces the CPU usage on MSS, but also reduces the convergence rate of 3A.
+     */
+    void set3AFpsDenominator(int denominator);
+
     // Set events on which frames will be received
     void setFrameEventFilter(const std::vector<dai::FrameEvent>& events);
 

include/depthai/pipeline/node/MonoCamera.hpp

@@ -117,6 +117,13 @@ class MonoCamera : public NodeCRTP<Node, MonoCamera, MonoCameraProperties> {
      */
     void setFps(float fps);
 
+    /**
+     * Image tuning, 3A rate.
+     * Default (0) matches the camera FPS, meaning that statistics for auto exposure are collected on each frame.
+     * Reducing the rate of 3A reduces the CPU usage on MSS, but also reduces the convergence rate of 3A.
+     */
+    void set3AFpsDenominator(int denominator);
+
     /**
      * Get rate at which camera should produce frames
      * @returns Rate in frames per second

shared/depthai-shared

@@ -130,6 +130,10 @@ void Camera::setFps(float fps) {
     properties.fps = fps;
 }
 
+void Camera::set3AFpsDenominator(int denominator) {
+    properties.imageTuningFpsDenominator = denominator;
+}
+
 float Camera::getFps() const {
     // if AUTO
     if(properties.fps == CameraProperties::AUTO || properties.fps == 0) {

src/pipeline/node/Camera.cpp

@@ -177,6 +177,10 @@ void ColorCamera::setFps(float fps) {
     properties.fps = fps;
 }
 
+void ColorCamera::set3AFpsDenominator(int denominator) {
+    properties.imageTuningFpsDenominator = denominator;
+}
+
 void ColorCamera::setFrameEventFilter(const std::vector<dai::FrameEvent>& events) {
     properties.eventFilter = events;
 }

src/pipeline/node/ColorCamera.cpp

@@ -99,6 +99,10 @@ void MonoCamera::setFps(float fps) {
     properties.fps = fps;
 }
 
+void MonoCamera::set3AFpsDenominator(int denominator) {
+    properties.imageTuningFpsDenominator = denominator;
+}
+
 float MonoCamera::getFps() const {
     // if AUTO
     if(properties.fps == -1 || properties.fps == 0) {