Merge branch 'main' into update_depth_visualziation

docs/requirements_mkdoc.txt

@@ -1 +1 @@
-git+https://github.com/luxonis/pybind11_mkdoc.git@47a353ae22a3ca2fe1ca47f47b38613dcfb1043b
+git+https://github.com/luxonis/pybind11_mkdoc.git@59746f8d1645c9f00ebfb534186334d0154b5bd6

docs/source/components/nodes/stereo_depth.rst

@@ -1,7 +1,8 @@
 StereoDepth
 ###########
 
-StereoDepth node calculates the disparity/depth from the stereo camera pair (2x :ref:`MonoCamera <MonoCamera>`/:ref:`ColorCamera`).
+StereoDepth node calculates the disparity and/or depth from the stereo camera pair (2x :ref:`MonoCamera <MonoCamera>`/:ref:`ColorCamera`).
+We suggest following :ref:`Configuring Stereo Depth` tutorial to achieve the best depth results.
 
 How to place it
 ===============

docs/source/includes/footer-short.rst

@@ -1,28 +1,5 @@
 .. raw:: html
 
-    <h2>Got questions?</h2>
+   <h2>Got questions?</h2>
 
-We're always happy to help with code or other questions you might have.
-
-.. raw:: html
-
-     <div class="cta-row cta-row-short">
-         <div class="cta-box">
-            <a href="https://discord.gg/luxonis">
-               <img src="https://docs.luxonis.com/en/latest/_images/discord.png" alt="Discord"/>
-               <h5 class="cta-title">Community Discord</h5>
-            </a>
-         </div>
-         <div class="cta-box">
-            <a href="https://discuss.luxonis.com/">
-               <img src="https://docs.luxonis.com/en/latest/_images/forum.png" alt="forum"/>
-               <h5 class="cta-title">Discussion Forum</h5>
-            </a>
-         </div>
-         <div class="cta-box">
-            <a href="mailto:[email protected]">
-               <img src="https://docs.luxonis.com/en/latest/_images/email.png" alt="forum"/>
-               <h5 class="cta-title">Email Support</h5>
-            </a>
-         </div>
-      </div>
+   Head over to <a href="https://discuss.luxonis.com/"><strong>Discussion Forum</strong></a> for technical support or any other questions you might have.

docs/source/samples/Script/script_uart.rst

@@ -0,0 +1,49 @@
+Script UART communication
+=========================
+
+This example uses :ref:`Script` node for `UART communication <https://en.wikipedia.org/wiki/Universal_asynchronous_receiver-transmitter>`__. Note that OAK
+cameras don't have UART pins easily disposed, and we soldered wires on `OAK-FFC-4P <https://docs.luxonis.com/projects/hardware/en/latest/pages/DD2090.html>`__
+to expose UART pins.
+
+.. note::
+
+    This should only be run on OAK-FFC-4P, as other OAK cameras might have different GPIO configuration.
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/nbS1BczO5sE" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+
+.. figure:: https://user-images.githubusercontent.com/18037362/232458809-a36dc418-6bb5-411f-9172-5130a926191d.jpg
+
+    Oscilloscope connected to the OAK-FFC-4P UART pins
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Script/script_uart.py>`__
+
+        .. literalinclude:: ../../../../examples/Script/script_uart.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Not yet available
+
+
+.. include::  /includes/footer-short.rst

docs/source/tutorials/code_samples.rst

@@ -122,6 +122,7 @@ are presented with code.
 - :ref:`Script HTTP server` - Serve still image over HTTP response (only OAK-POE devices)
 - :ref:`Script MJPEG server` - Serve MJPEG video stream over HTTP response (only OAK-POE devices)
 - :ref:`Script NNData example` - Constructs :ref:`NNData` in Script node and sends it to the host
+- :ref:`Script UART communication` - UART communication with Script node
 
 .. rubric:: SpatialDetection
 

docs/source/tutorials/configuring-stereo-depth.rst

@@ -277,7 +277,7 @@ just note it's a very large output (eg. 1280*800*96 => 98MB for each frame).
 
 Stereo Subpixel mode will calculate subpixel disparity by looking at the confidence values of the 2 neighboring disparity pixels in each direction.
 In the above example graph, in normal mode, StereoDepth would just get the max disparity = 34 pixels, but in Subpixel
-mode, it will return a bit more, eg. 37.375 pixels, as confidences for pixels 35 and 36 are quite high as well.
+mode, it will return a bit more, eg. 34.375 pixels, as confidences for pixels 35 and 36 are quite high as well.
 
 **TL;DR:** Stereo Subpixel mode should always provide more accurate depth, but will consume additional HW resources (see :ref:`Stereo depth FPS` for impact).
 
@@ -287,7 +287,7 @@ Stereo subpixel effect on layering
 Default stereo depth output has 0..95 disparity pixels, which would produce 96 unique depth values. This can especially be seen when using pointcloud representation
 and seeing how there are discrete "layers" of points, instead of a smooth transition:
 
-.. image:: /_static/images/components/layered-pointcloud.png
+.. image:: /_static/images/components/pointcloud_layering.jpg
 
 This layering can especially be seen at longer distances, where these layers are exponentially further apart.
 
@@ -375,7 +375,7 @@ as the other 2 methods above do.
 Disparity shift will shift the starting point of the disparity search, which will significantly decrease MaxZ, but
 it will also decrease the MinZ. Disparity shift can be combined with extended/subpixel/LR-check modes.
 
-.. image:: https://user-images.githubusercontent.com/18037362/189375017-2fa137d2-ad6b-46de-8899-6304bbc6c9d7.png
+.. image:: /_static/images/components/disparity_shift.png
 
 The **Left graph** shows min and max disparity and depth for OAK-D (7.5cm baseline, 800P resolution, ~70° HFOV) by default (disparity shift=0). See :ref:`Depth from disparity`.
 Since hardware (stereo block) has a fixed 95 pixel disparity search, DepthAI will search from 0 pixels (depth=INF) to 95 pixels (depth=71cm).

docs/source/tutorials/low-latency.rst

@@ -133,7 +133,7 @@ Bandwidth
 
 With large, unencoded frames, one can quickly saturate the bandwidth even at 30FPS, especially on PoE devices (1gbps link):
 
-.. code-block::bash
+.. code-block::
 
   4K NV12/YUV420 frames: 3840 * 2160 * 1.5 * 30fps * 8bits = 3 gbps
   1080P NV12/YUV420 frames: 1920 * 1080 * 1.5 * 30fps * 8bits = 747 mbps

examples/Script/script_uart.py

@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+'''
+NOTE: This should only be run on OAK-FFC-4P, as other OAK cameras might have different GPIO configuration!
+'''
+import depthai as dai
+import time
+
+# Start defining a pipeline
+pipeline = dai.Pipeline()
+
+script = pipeline.create(dai.node.Script)
+script.setScript("""
+    import serial
+    import time
+
+    ser = serial.Serial("/dev/ttyS0", baudrate=115200)
+    i = 0
+    while True:
+        i += 1
+        time.sleep(0.1)
+        serString = f'TEST_{i}'
+        ser.write(serString.encode())
+""")
+# Define script for output
+script.setProcessor(dai.ProcessorType.LEON_CSS)
+
+
+config = dai.Device.Config()
+# Get argument first
+GPIO = dai.BoardConfig.GPIO
+config.board.gpio[15] = GPIO(GPIO.OUTPUT, GPIO.ALT_MODE_2)
+config.board.gpio[16] = GPIO(GPIO.INPUT, GPIO.ALT_MODE_2)
+config.board.uart[0] = dai.BoardConfig.UART()
+
+
+with dai.Device(config) as device:
+    device.startPipeline(pipeline)
+    print("Pipeline started")
+    while True:
+        time.sleep(1)