Add runtime stereo calib reconfig

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 "afbcd8ce64e3fadb9c981890b31575e635a64322")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "8f7256cfebe29b56e649b0ee6aedba3fa20c5142")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

include/depthai/common/CameraFeatures.hpp

@@ -49,8 +49,7 @@ inline std::ostream& operator<<(std::ostream& out, const dai::CameraSensorConfig
  out << "minFps: " << config.minFps << ", ";
  out << "maxFps: " << config.maxFps << ", ";
  out << "type: " << config.type << ", ";
- out << "fov: "
- << "{x:" << config.fov.x << ", ";
+ out << "fov: " << "{x:" << config.fov.x << ", ";
  out << "y: " << config.fov.y << ", ";
  out << "width: " << config.fov.width << ", ";
  out << "height: " << config.fov.height << "}";

include/depthai/device/DeviceBase.hpp

@@ -758,6 +758,23 @@ class DeviceBase {
  */
  void flashCalibration2(CalibrationHandler calibrationDataHandler);
 
+ /**
+ * Sets the Calibration at runtime. This is not persistent and will be lost after device reset.
+ *
+ * @throws std::runtime_exception if failed to set the calibration
+ * @param calibrationObj CalibrationHandler object which is loaded with calibration information.
+ *
+ */
+ void setCalibration(CalibrationHandler calibrationDataHandler);
+
+ /**
+ * Retrieves the CalibrationHandler object containing the non-persistent calibration
+ *
+ * @throws std::runtime_exception if failed to get the calibration
+ * @returns The CalibrationHandler object containing the non-persistent calibration
+ */
+ CalibrationHandler getCalibration();
+
  /**
  * Fetches the EEPROM data from the device and loads it into CalibrationHandler object
  * If no calibration is flashed, it returns default

src/device/DeviceBase.cpp

@@ -1348,6 +1348,26 @@ void DeviceBase::flashCalibration2(CalibrationHandler calibrationDataHandler) {
  }
 }
 
+void DeviceBase::setCalibration(CalibrationHandler calibrationDataHandler) {
+ bool success;
+ std::string errorMsg;
+ std::tie(success, errorMsg) = pimpl->rpcClient->call("setCalibration", calibrationDataHandler.getEepromData()).as<std::tuple<bool, std::string>>();
+ if(!success) {
+ throw std::runtime_error(errorMsg);
+ }
+}
+
+CalibrationHandler DeviceBase::getCalibration() {
+ bool success;
+ std::string errorMsg;
+ dai::EepromData eepromData;
+ std::tie(success, errorMsg, eepromData) = pimpl->rpcClient->call("getCalibration").as<std::tuple<bool, std::string, dai::EepromData>>();
+ if(!success) {
+ throw EepromError(errorMsg);
+ }
+ return CalibrationHandler(eepromData);
+}
+
 CalibrationHandler DeviceBase::readCalibration() {
  dai::EepromData eepromData{};
  try {

tests/src/stability_stress_test.cpp

@@ -340,9 +340,7 @@ int main(int argc, char** argv) {
  unique_lock<mutex> l(countersMtx);
 
  bool failed = counters.size() == 0;
- cout << "[" << duration_cast<seconds>(steady_clock::now() - timeoutStopwatch).count() << "s] "
- << "Usb speed " << usb_speed << " "
- << "FPS: ";
+ cout << "[" << duration_cast<seconds>(steady_clock::now() - timeoutStopwatch).count() << "s] " << "Usb speed " << usb_speed << " " << "FPS: ";
  for(const auto& kv : counters) {
  if(kv.second == 0) {
  failed = true;