Merge branch 'main' into fov_tutorial

Author: Erol444

docs/source/components/messages/edge_detector_config.rst

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+EdgeDetectorConfig
+==================
+
+This message is used to configure the :ref:`EdgeDetector` node.
+You can set the horizontal and vertical Sobel filter kernel.
+
+Examples of functionality
+#########################
+
+- :ref:`Edge detector`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.EdgeDetectorConfig
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::EdgeDetectorConfig
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst

docs/source/components/nodes/edge_detector.rst

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+EdgeDetector
+============
+
+Edge detector uses `Sobel filter <https://en.wikipedia.org/wiki/Sobel_operator>`__ to create an image that emphasises edges.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    edgeDetector = pipeline.createEdgeDetector()
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto edgeDetector = pipeline.create<dai::node::EdgeDetector>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+                 ┌───────────────────┐
+  inputImage     │                   │
+  ──────────────►│                   │
+                 │                   │ outputImage
+                 │   EdgeDetector    ├───────────►
+  inputConfig    │                   │
+  ──────────────►│                   │
+                 │                   │
+                 └───────────────────┘
+
+**Message types**
+
+- :code:`inputImage` - :ref:`ImgFrame`
+- :code:`inputConfig` - :ref:`EdgeDetectorConfig`
+- :code:`outputImage` - :ref:`ImgFrame`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+      pipeline = dai.Pipeline()
+      edgeDetector = pipeline.createEdgeDetector()
+
+      sobelHorizontalKernel = [[1, 0, -1], [2, 0, -2], [1, 0, -1]]
+      sobelVerticalKernel = [[1, 2, 1], [0, 0, 0], [-1, -2, -1]]
+      edgeDetector.initialConfig.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel)
+
+  .. code-tab:: c++
+
+      dai::Pipeline pipeline;
+      auto edgeDetector = pipeline.create<dai::node::EdgeDetector>();
+
+      std::vector<std::vector<int>> sobelHorizontalKernel = {{1, 0, -1}, {2, 0, -2}, {1, 0, -1}};
+      std::vector<std::vector<int>> sobelVerticalKernel = {{1, 2, 1}, {0, 0, 0}, {-1, -2, -1}};
+      edgeDetector->setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel);
+
+Examples of functionality
+#########################
+
+- :ref:`Edge detector`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.EdgeDetector
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::EdgeDetector
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst