Updated ColorCamera docs (wrt ISP, sensor scaling, etc)

Author: Erol444

docs/source/_static/images/tutorials/isp.jpg

@@ -57,7 +57,7 @@ It interacts with the 3A algorithms: **auto-focus**, **auto-exposure**, and **au
 adjustments such as exposure time, sensitivity (ISO), and lens position (if the camera module has a motorized lens) at runtime.
 Click `here <https://en.wikipedia.org/wiki/Image_processor>`__ for more information.
 
-**Image Post-Processing** converts YUV420 planar frames from the **ISP** into :code:`video`/:code:`preview`/:code:`still` frames.
+**Image Post-Processing** converts YUV420 planar frames from the **ISP** into ``video``/ ``preview``/ ``still`` frames.
 
 ``still`` (when a capture is triggered) and ``isp`` work at the max camera resolution, while ``video`` and ``preview`` are
 limited to max 4K (3840 x 2160) resolution, which is cropped from ``isp``.
@@ -69,13 +69,46 @@ For IMX378 (12MP), the **post-processing** works like this:
     │ ISP ├────────────────►│  video  ├───────────────►│ preview  │
     └─────┘  max 3840x2160  └─────────┘  and cropping  └──────────┘
 
-.. image:: /_static/images/tutorials/isp.jpg
-
-The image above is the ``isp`` output from the ColorCamera (12MP resolution from IMX378). If you aren't downscaling ISP,
-the ``video`` output is cropped to 4k (max 3840x2160 due to the limitation of the ``video`` output) as represented by
-the blue rectangle. The Yellow rectangle represents a cropped ``preview`` output when the preview size is set to a 1:1 aspect
-ratio (eg. when using a 300x300 preview size for the MobileNet-SSD NN model) because the ``preview`` output is derived from
-the ``video`` output.
+If resolution was set to 12MP, and we were to use ``video``, we'd get a 4K frame (3840x2160) cropped from the center of the 12MP frame.
+
+Full FOV
+########
+
+Some sensors (let's take IXM378 for an example) will, by default, have 1080P resolution set, which is a crop from the full sensor resolution.
+You can print sensor features to see how FOV is affected by the selected sensor resolution:
+
+.. code-block:: python
+
+    import depthai as dai
+
+    with dai.Device() as device:
+        for cam in dev.getConnectedCameraFeatures():
+            print(cam)
+            #continue  # uncomment for less verbosity
+            for cfg in cam.configs:
+                print("   ", cfg)
+
+    ```
+    Running on OAK-D-S2 will print:
+
+    {socket: CAM_A, sensorName: IMX378, width: 4056, height: 3040, orientation: AUTO, supportedTypes: [COLOR], hasAutofocus: 1, hasAutofocusIC: 1, name: color}
+        {width: 1920, height: 1080, minFps: 2.03, maxFps: 60, type: COLOR, fov: {x:108, y: 440, width: 3840, height: 2160}}
+        {width: 3840, height: 2160, minFps: 1.42, maxFps: 42, type: COLOR, fov: {x:108, y: 440, width: 3840, height: 2160}}
+        {width: 4056, height: 3040, minFps: 1.42, maxFps: 30, type: COLOR, fov: {x:0, y: 0, width: 4056, height: 3040}}
+        {width: 1352, height: 1012, minFps: 1.25, maxFps: 52, type: COLOR, fov: {x:0, y: 0, width: 4056, height: 3036}}
+        {width: 2024, height: 1520, minFps: 2.03, maxFps: 85, type: COLOR, fov: {x:4, y: 0, width: 4048, height: 3040}}
+    {socket: CAM_B, sensorName: OV9282, width: 1280, height: 800, orientation: AUTO, supportedTypes: [MONO], hasAutofocus: 0, hasAutofocusIC: 0, name: left}
+        {width: 1280, height: 720, minFps: 1.687, maxFps: 143.1, type: MONO, fov: {x:0, y: 40, width: 1280, height: 720}}
+        {width: 1280, height: 800, minFps: 1.687, maxFps: 129.6, type: MONO, fov: {x:0, y: 0, width: 1280, height: 800}}
+        {width: 640, height: 400, minFps: 1.687, maxFps: 255.7, type: MONO, fov: {x:0, y: 0, width: 1280, height: 800}}
+    {socket: CAM_C, sensorName: OV9282, width: 1280, height: 800, orientation: AUTO, supportedTypes: [MONO], hasAutofocus: 0, hasAutofocusIC: 0, name: right}
+        {width: 1280, height: 720, minFps: 1.687, maxFps: 143.1, type: MONO, fov: {x:0, y: 40, width: 1280, height: 720}}
+        {width: 1280, height: 800, minFps: 1.687, maxFps: 129.6, type: MONO, fov: {x:0, y: 0, width: 1280, height: 800}}
+        {width: 640, height: 400, minFps: 1.687, maxFps: 255.7, type: MONO, fov: {x:0, y: 0, width: 1280, height: 800}}
+    ```
+
+So for IMX378, if we select 4K or 1080P resolution, FOV will be cropped ~5% horizontally and ~29% vertically. So we can either select ``THE_12_MP``,
+``THE_1352X1012``, or ``THE_2024X1520`` resolution to get the full sensor FOV.
 
 Usage
 #####