Set camera tuning blob path per socket

README.md

@@ -258,6 +258,10 @@ To use this target clang format must be installed, preferably clang-format-18
 ```
 sudo apt install clang-format-18
 ```
+or using pip
+```
+python -m pip install clang-format~=18.0
+```
 
 And to apply formatting
 ```

bindings/python/src/pipeline/PipelineBindings.cpp

@@ -86,6 +86,8 @@ void PipelineBindings::bind(pybind11::module& m, void* pCallstack) {
         .def_readwrite("pipelineVersion", &GlobalProperties::pipelineVersion)
         .def_readwrite("cameraTuningBlobSize", &GlobalProperties::cameraTuningBlobSize, DOC(dai, GlobalProperties, cameraTuningBlobSize))
         .def_readwrite("cameraTuningBlobUri", &GlobalProperties::cameraTuningBlobUri, DOC(dai, GlobalProperties, cameraTuningBlobUri))
+        .def_readwrite("cameraSocketTuningBlobSize", &GlobalProperties::cameraSocketTuningBlobSize, DOC(dai, GlobalProperties, cameraSocketTuningBlobSize))
+        .def_readwrite("cameraSocketTuningBlobUri", &GlobalProperties::cameraSocketTuningBlobUri, DOC(dai, GlobalProperties, cameraSocketTuningBlobUri))
         .def_readwrite("xlinkChunkSize", &GlobalProperties::xlinkChunkSize, DOC(dai, GlobalProperties, xlinkChunkSize))
         .def_readwrite("sippBufferSize", &GlobalProperties::sippBufferSize, DOC(dai, GlobalProperties, sippBufferSize))
         .def_readwrite("sippDmaBufferSize", &GlobalProperties::sippDmaBufferSize, DOC(dai, GlobalProperties, sippDmaBufferSize));
@@ -156,7 +158,8 @@ void PipelineBindings::bind(pybind11::module& m, void* pCallstack) {
              static_cast<AssetManager& (Pipeline::*)()>(&Pipeline::getAssetManager),
              py::return_value_policy::reference_internal,
              DOC(dai, Pipeline, getAssetManager))
-        .def("setCameraTuningBlobPath", &Pipeline::setCameraTuningBlobPath, py::arg("path"), DOC(dai, Pipeline, setCameraTuningBlobPath))
+        .def("setCameraTuningBlobPath", py::overload_cast<const fs::path&>(&Pipeline::setCameraTuningBlobPath), py::arg("path"), DOC(dai, Pipeline, setCameraTuningBlobPath))
+        .def("setCameraTuningBlobPath", py::overload_cast<CameraBoardSocket, const fs::path&>(&Pipeline::setCameraTuningBlobPath), py::arg("socket"), py::arg("path"), DOC(dai, Pipeline, setCameraTuningBlobPath, 2))
         .def("setXLinkChunkSize", &Pipeline::setXLinkChunkSize, py::arg("sizeBytes"), DOC(dai, Pipeline, setXLinkChunkSize))
         .def("setSippBufferSize", &Pipeline::setSippBufferSize, py::arg("sizeBytes"), DOC(dai, Pipeline, setSippBufferSize))
         .def("setSippDmaBufferSize", &Pipeline::setSippDmaBufferSize, py::arg("sizeBytes"), DOC(dai, Pipeline, setSippDmaBufferSize))

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 "f81edb9c2328ee1f80a6f80c3fade0af0076a3ff")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "67c2d2856fedb2772ec66ed42f16ea08062bbcab")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

include/depthai/pipeline/Pipeline.hpp

@@ -22,6 +22,7 @@
 #include "depthai/pipeline/PipelineSchema.hpp"
 #include "depthai/properties/GlobalProperties.hpp"
 #include "depthai/utility/RecordReplay.hpp"
+#include "depthai/common/CameraBoardSocket.hpp"
 
 namespace dai {
 
@@ -55,6 +56,7 @@ class PipelineImpl : public std::enable_shared_from_this<PipelineImpl> {
     PipelineSchema getPipelineSchema(SerializationType type = DEFAULT_SERIALIZATION_TYPE) const;
     Device::Config getDeviceConfig() const;
     void setCameraTuningBlobPath(const fs::path& path);
+    void setCameraTuningBlobPath(CameraBoardSocket socket, const fs::path& path);
     void setXLinkChunkSize(int sizeBytes);
     GlobalProperties getGlobalProperties() const;
     void setGlobalProperties(GlobalProperties globalProperties);
@@ -419,6 +421,11 @@ class Pipeline {
     void setCameraTuningBlobPath(const fs::path& path) {
         impl()->setCameraTuningBlobPath(path);
     }
+
+    /// Set a camera IQ (Image Quality) tuning blob, used for specific board socket
+    void setCameraTuningBlobPath(CameraBoardSocket socket, const fs::path& path) {
+        impl()->setCameraTuningBlobPath(socket, path);
+    }
 
     /**
      * Set chunk size for splitting device-sent XLink packets, in bytes. A larger value could

include/depthai/properties/GlobalProperties.hpp

@@ -45,6 +45,15 @@ struct GlobalProperties : PropertiesSerializable<Properties, GlobalProperties> {
      */
     std::string cameraTuningBlobUri;
 
+    /**
+     * Socket specific camera tuning blob size in bytes
+     */
+    std::unordered_map<CameraBoardSocket, std::uint32_t> cameraSocketTuningBlobSize;
+    /**
+     * Socket specific camera tuning blob uri
+     */
+    std::unordered_map<CameraBoardSocket, std::string> cameraSocketTuningBlobUri;
+
     /**
      * Chunk size for splitting device-sent XLink packets, in bytes. A larger value could
      * increase performance, with 0 disabling chunking. A negative value won't modify the
@@ -79,6 +88,8 @@ DEPTHAI_SERIALIZE_EXT(GlobalProperties,
                       pipelineVersion,
                       cameraTuningBlobSize,
                       cameraTuningBlobUri,
+                      cameraSocketTuningBlobSize,
+                      cameraSocketTuningBlobUri,
                       calibData,
                       eepromId,
                       xlinkChunkSize,

src/pipeline/Pipeline.cpp

@@ -349,6 +349,16 @@ void PipelineImpl::setCameraTuningBlobPath(const fs::path& path) {
     globalProperties.cameraTuningBlobSize = static_cast<uint32_t>(asset->data.size());
 }
 
+void PipelineImpl::setCameraTuningBlobPath(CameraBoardSocket socket, const fs::path& path) {
+    std::string assetKey = "camTuning";
+    assetKey += "_" + std::to_string(static_cast<int>(socket));
+
+    auto asset = assetManager.set(assetKey, path);
+
+    globalProperties.cameraSocketTuningBlobUri[socket] = asset->getRelativeUri();
+    globalProperties.cameraSocketTuningBlobSize[socket] = static_cast<uint32_t>(asset->data.size());
+}
+
 void PipelineImpl::setXLinkChunkSize(int sizeBytes) {
     globalProperties.xlinkChunkSize = sizeBytes;
 }

tests/src/ondevice_tests/filesystem_test.cpp

@@ -338,6 +338,13 @@ TEST_CASE("std::filesystem::path with AssetManager, StereoDepth") {
     CHECK_NOTHROW(pipeline.setCameraTuningBlobPath(path4));
     pipeline.getAssetManager().remove("camTuning");
 
+    CHECK_NOTHROW(pipeline.setCameraTuningBlobPath(CameraBoardSocket::CAM_A, string4.c_str()));
+    pipeline.getAssetManager().remove("camTuning_0");
+    CHECK_NOTHROW(pipeline.setCameraTuningBlobPath(CameraBoardSocket::CAM_A, string4));
+    pipeline.getAssetManager().remove("camTuning_0");
+    CHECK_NOTHROW(pipeline.setCameraTuningBlobPath(CameraBoardSocket::CAM_A, path4));
+    pipeline.getAssetManager().remove("camTuning_0");
+
     auto depth = pipeline.create<dai::node::StereoDepth>();
     CHECK_NOTHROW(depth->loadMeshFiles(string4.c_str(), string4.c_str()));
     depth->getAssetManager().remove("meshLeft");
@@ -356,6 +363,11 @@ TEST_CASE("std::filesystem::path with AssetManager, StereoDepth") {
     CHECK_NOTHROW(pipeline.setCameraTuningBlobPath(widePath4));
     pipeline.getAssetManager().remove("camTuning");
 
+    CHECK_NOTHROW(pipeline.setCameraTuningBlobPath(CameraBoardSocket::CAM_A, widePath4.c_str()));
+    pipeline.getAssetManager().remove("camTuning_0");
+    CHECK_NOTHROW(pipeline.setCameraTuningBlobPath(CameraBoardSocket::CAM_A, widePath4));
+    pipeline.getAssetManager().remove("camTuning_0");
+
     CHECK_NOTHROW(depth->loadMeshFiles(widePath4.c_str(), widePath4.c_str()));
     depth->getAssetManager().remove("meshLeft");
     depth->getAssetManager().remove("meshRight");
@@ -371,6 +383,7 @@ TEST_CASE("std::filesystem::path with AssetManager, StereoDepth") {
     const auto stdPath4 = std::filesystem::u8path(string4);
     #endif
     CHECK_NOTHROW(pipeline.setCameraTuningBlobPath(stdPath4));
+    CHECK_NOTHROW(pipeline.setCameraTuningBlobPath(CameraBoardSocket::CAM_A, stdPath4));
     CHECK_NOTHROW(depth->loadMeshFiles(stdPath4, stdPath4));
 #endif
 

utilities/cam_test.py

@@ -121,6 +121,24 @@ def socket_type_pair(arg):
     is_thermal = True if type in ['th', 'thermal'] else False
     return [socket, is_color, is_tof, is_thermal]
 
+def camera_tuning_item(arg: str):
+    """
+    Accept either:
+      - PATH
+      - SOCKET,PATH
+    Returns (socket_or_all, Path).
+    """
+    # Case 1: plain path = global tuning for all cameras
+    if ',' not in arg:
+        return ("__all__", Path(arg))
+
+    # Case 2: socket,path
+    socket, path_str = arg.split(',', 1)
+
+    if socket not in ALL_SOCKETS:
+        raise argparse.ArgumentTypeError(f"Unknown camera socket: {socket}")
+
+    return (socket, Path(path_str))
 
 parser = argparse.ArgumentParser(add_help=False)
 parser.add_argument('-cams', '--cameras', type=socket_type_pair, nargs='+',
@@ -141,8 +159,8 @@ def socket_type_pair(arg):
                     help="Downscale the ISP output by this factor")
 parser.add_argument('-rs', '--resizable-windows', action='store_true',
                     help="Make OpenCV windows resizable. Note: may introduce some artifacts")
-parser.add_argument('-tun', '--camera-tuning', type=Path,
-                    help="Path to custom camera tuning database")
+parser.add_argument('-tun', '--camera-tuning', type=camera_tuning_item, nargs='+', default=[],
+                    help="Camera tuning database. Either a single PATH, which will apply to all cameras, or one or more SOCKET,PATH pairs. Example: -tun /path/to/tuning.db  or  -tun rgb,/path/to/rgb.db right,/path/to/right.db")
 parser.add_argument('-raw', '--enable-raw', default=False, action="store_true",
                     help='Enable the RAW camera streams')
 parser.add_argument('-tofraw', '--tof-raw', action='store_true',
@@ -357,7 +375,20 @@ def socket_to_socket_opt(socket: dai.CameraBoardSocket) -> str:
                 streams.append(streamName)
 
     if args.camera_tuning:
-        pipeline.setCameraTuningBlobPath(str(args.camera_tuning))
+        if len(args.camera_tuning) == 1 and args.camera_tuning[0][0] == "__all__":
+            # Single tuning for all cameras
+            tuning_path = args.camera_tuning[0][1]
+            print(f'Applying camera tuning from {tuning_path} to all cameras')
+            pipeline.setCameraTuningBlobPath(str(tuning_path))
+        else:
+            # Per-socket tuning
+            for socket, tuning_path in args.camera_tuning:
+                if socket == "__all__":
+                    print(f'Cannot apply all tuning to all and specific sockets at the same time.')
+                    exit(1)
+                cam_socket = cam_socket_opts[socket]
+                print(f'Applying camera tuning from {tuning_path} to camera socket {socket}')
+                pipeline.setCameraTuningBlobPath(cam_socket, str(tuning_path))
 
     stereo = None