Added ability to set the lens position via a float, to enable a more precise movement. (#964)

* Added ability to set the lens position with a float value (more precise)

* I think this also includes an rpc fix by @jakgra

Author: zrezke

depthai-core

@@ -177,6 +177,7 @@ std::vector<const char *> camCtrlAttr;
         .def_readwrite("cmdMask", &RawCameraControl::cmdMask)
         .def_readwrite("autoFocusMode", &RawCameraControl::autoFocusMode)
         .def_readwrite("lensPosition", &RawCameraControl::lensPosition)
+        .def_readwrite("lensPositionRaw", &RawCameraControl::lensPositionRaw)
         .def_readwrite("expManual", &RawCameraControl::expManual)
         .def_readwrite("afRegion", &RawCameraControl::afRegion)
         .def_readwrite("awbMode", &RawCameraControl::awbMode)
@@ -218,6 +219,7 @@ std::vector<const char *> camCtrlAttr;
         .def("setAutoFocusLensRange", &CameraControl::setAutoFocusLensRange, py::arg("infinityPosition"), py::arg("macroPosition"), DOC(dai, CameraControl, setAutoFocusLensRange))
         .def("setAutoFocusRegion", &CameraControl::setAutoFocusRegion, py::arg("startX"), py::arg("startY"), py::arg("width"), py::arg("height"), DOC(dai, CameraControl, setAutoFocusRegion))
         .def("setManualFocus", &CameraControl::setManualFocus, py::arg("lensPosition"), DOC(dai, CameraControl, setManualFocus))
+        .def("setManualFocusRaw", &CameraControl::setManualFocusRaw, py::arg("lensPositionRaw"), DOC(dai, CameraControl, setManualFocusRaw))
         .def("setAutoExposureEnable", &CameraControl::setAutoExposureEnable, DOC(dai, CameraControl, setAutoExposureEnable))
         .def("setAutoExposureLock", &CameraControl::setAutoExposureLock, py::arg("lock"), DOC(dai, CameraControl, setAutoExposureLock))
         .def("setAutoExposureRegion", &CameraControl::setAutoExposureRegion, py::arg("startX"), py::arg("startY"), py::arg("width"), py::arg("height"), DOC(dai, CameraControl, setAutoExposureRegion))
@@ -246,6 +248,7 @@ std::vector<const char *> camCtrlAttr;
         .def("getExposureTime", &CameraControl::getExposureTime, DOC(dai, CameraControl, getExposureTime))
         .def("getSensitivity", &CameraControl::getSensitivity, DOC(dai, CameraControl, getSensitivity))
         .def("getLensPosition", &CameraControl::getLensPosition, DOC(dai, CameraControl, getLensPosition))
+        .def("getLensPositionRaw", &CameraControl::getLensPositionRaw, DOC(dai, CameraControl, getLensPositionRaw))
         .def("get",         &CameraControl::get, DOC(dai, CameraControl, get))
         ;
     // Add also enum attributes from RawCameraControl

src/pipeline/datatype/CameraControlBindings.cpp

@@ -99,6 +99,8 @@ void bind_encodedframe(pybind11::module &m, void *pCallstack) {
            DOC(dai, EncodedFrame, getColorTemperature))
       .def("getLensPosition", &EncodedFrame::getLensPosition,
            DOC(dai, EncodedFrame, getLensPosition))
+      .def("getLensPositionRaw", &EncodedFrame::getLensPositionRaw, 
+           DOC(dai, EncodedFrame, getLensPositionRaw))
       .def("getQuality", &EncodedFrame::getQuality,
            DOC(dai, EncodedFrame, getQuality))
       .def("getBitrate", &EncodedFrame::getBitrate,

src/pipeline/datatype/EncodedFrameBindings.cpp

@@ -131,6 +131,7 @@ void bind_imgframe(pybind11::module& m, void* pCallstack){
         .def("getSensitivity", &ImgFrame::getSensitivity, DOC(dai, ImgFrame, getSensitivity))
         .def("getColorTemperature", &ImgFrame::getColorTemperature, DOC(dai, ImgFrame, getColorTemperature))
         .def("getLensPosition", &ImgFrame::getLensPosition, DOC(dai, ImgFrame, getLensPosition))
+        .def("getLensPositionRaw", &ImgFrame::getLensPositionRaw, DOC(dai, ImgFrame, getLensPositionRaw))
 
         // OpenCV Support section
         .def("setFrame", [](dai::ImgFrame& frm, py::array arr){

src/pipeline/datatype/ImgFrameBindings.cpp

@@ -354,16 +354,16 @@ def exit_cleanly(signum, frame):
     # Manual exposure/focus set step
     EXP_STEP = 500  # us
     ISO_STEP = 50
-    LENS_STEP = 3
+    LENS_STEP = 1 / 1024
     DOT_STEP = 0.05
     FLOOD_STEP = 0.05
     DOT_MAX = 1
     FLOOD_MAX = 1
 
     # Defaults and limits for manual focus/exposure controls
-    lensPos = 150
-    lensMin = 0
-    lensMax = 255
+    lensPos = 0.59
+    lensMin = 0.0
+    lensMax = 1.0
 
     expTime = 20000
     expMin = 1
@@ -524,7 +524,7 @@ def exit_cleanly(signum, frame):
             lensPos = clamp(lensPos, lensMin, lensMax)
             print("Setting manual focus, lens position: ", lensPos)
             ctrl = dai.CameraControl()
-            ctrl.setManualFocus(lensPos)
+            ctrl.setManualFocusRaw(lensPos)
             controlQueue.send(ctrl)
         elif key in [ord('i'), ord('o'), ord('k'), ord('l')]:
             if key == ord('i'):