Ir brightness control based on normalized intensity, instead of current.

examples/SpatialDetection/spatial_calculator_multi_roi.cpp

@@ -61,7 +61,7 @@ int main() {
 
     // Connect to device and start pipeline
     dai::Device device(pipeline);
-    device.setIrLaserDotProjectorBrightness(1000);
+    device.setIrLaserDotProjectorBrightness(0.7f);
 
     // Output queue will be used to get the depth frames from the outputs defined above
     auto depthQueue = device.getOutputQueue("depth", 4, false);

include/depthai/device/DeviceBase.hpp

@@ -485,27 +485,28 @@ class DeviceBase {
     LogLevel getLogOutputLevel();
 
     /**
-     * Sets the brightness of the IR Laser Dot Projector. Limits: up to 765mA at 30% duty cycle, up to 1200mA at 6% duty cycle.
+     * Sets the brightness of the IR Laser Dot Projector. Limits: up to 765mA at 30% frame time duty cycle when exposure time is longer than 30% frame time.
+     * Otherwise, duty cycle is 100% of exposure time, with increased current 765mA + linearly interpolated based on difference between 30% frame time and exposure time. 
      * The duty cycle is controlled by `left` camera STROBE, aligned to start of exposure.
      * The emitter is turned off by default
      *
-     * @param mA Current in mA that will determine brightness, 0 or negative to turn off
+     * @param intensity Intensity on range 0 to 1, that will determine brightness. 0 or negative to turn off
      * @param mask Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W-DEV
      * @returns True on success, false if not found or other failure
      */
-    bool setIrLaserDotProjectorBrightness(float mA, int mask = -1);
+    bool setIrLaserDotProjectorBrightness(float intensity, int mask = -1);
 
     /**
-     * Sets the brightness of the IR Flood Light. Limits: up to 1500mA at 30% duty cycle.
+     * Sets the brightness of the IR Flood Light. Limits: Intensity is directly normalized to 0 - 1500mA current.
+     * The duty cycle is 30% when exposure time is longer than 30% frame time. Otherwise, duty cycle is 100% of exposure time.
      * The duty cycle is controlled by the `left` camera STROBE, aligned to start of exposure.
-     * If the dot projector is also enabled, its lower duty cycle limits take precedence.
      * The emitter is turned off by default
      *
-     * @param mA Current in mA that will determine brightness, 0 or negative to turn off
+     * @param intensity Intensity on range 0 to 1, that will determine brightness, 0 or negative to turn off
      * @param mask Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W-DEV
      * @returns True on success, false if not found or other failure
      */
-    bool setIrFloodLightBrightness(float mA, int mask = -1);
+    bool setIrFloodLightBrightness(float intensity, int mask = -1);
 
     /**
      * Retrieves detected IR laser/LED drivers.

src/device/DeviceBase.cpp

@@ -1084,12 +1084,12 @@ LogLevel DeviceBase::getLogOutputLevel() {
     return pimpl->getLogLevel();
 }
 
-bool DeviceBase::setIrLaserDotProjectorBrightness(float mA, int mask) {
-    return pimpl->rpcClient->call("setIrLaserDotProjectorBrightness", mA, mask);
+bool DeviceBase::setIrLaserDotProjectorBrightness(float intensity, int mask) {
+    return pimpl->rpcClient->call("setIrLaserDotProjectorBrightness", intensity, mask);
 }
 
-bool DeviceBase::setIrFloodLightBrightness(float mA, int mask) {
-    return pimpl->rpcClient->call("setIrFloodLightBrightness", mA, mask);
+bool DeviceBase::setIrFloodLightBrightness(float intensity, int mask) {
+    return pimpl->rpcClient->call("setIrFloodLightBrightness", intensity, mask);
 }
 
 std::vector<std::tuple<std::string, int, int>> DeviceBase::getIrDrivers() {