`getConnectedCameraFeatures()` returns invalid `CameraSensorConfig`

[diablodale]

With OAK-D-LITE (one of them without an imu), a call to getConnectedCameraFeatures() returns invalid CameraSensorConfig entries. There are two config entries for both mono cameras on this device that are impossible. Below is the struct CameraFeatures for one of these mono cameras. We can see this is a camera named "left" (which is a non-color camera since it is always named "color"). We can see its supportedTypes contains only dai::CameraSensorType::MONO. Yet, when we look at dai::CameraFeatures::configs we can see 4 entries...and 2 of them are impossible. These two configs have dai::CameraSensorConfig::type = dai::CameraSensorType::COLOR. That is impossible. We have already proven this "left" dai::CameraSensorType::MONO camera. It is not possible for a MONO camera to have COLOR configs.

The invalid configs also appear with OAK-D-PRO-POE

I do see the depthai-shared comment

/* For some sensors it's not possible to determine if they are color or mono
* (e.g. OV9782 and OV9282), so this could return more than one entry
*/
std::vector<CameraSensorType> supportedTypes;

However supportedTypes contains only one (1) entry of MONO and therefore that comment is moot.

{
    "additionalNames": [],
    "calibrationResolution": {
        "fov": {
            "height": 815.0,
            "width": 1295.0,
            "x": 0.0,
            "y": 0.0
        },
        "height": 800,
        "maxFps": 129.60000610351563,
        "minFps": 1.687000036239624,
        "type": 1,
        "width": 1280
    },
    "configs": [
        {
            "fov": {
                "height": 720.0,
                "width": 1280.0,
                "x": 0.0,
                "y": 40.0
            },
            "height": 720,
            "maxFps": 143.10000610351563,
            "minFps": 1.687000036239624,
            "type": 1,
            "width": 1280
        },
        {
            "fov": {
                "height": 720.0,
                "width": 1280.0,
                "x": 0.0,
                "y": 40.0
            },
            "height": 720,
            "maxFps": 143.10000610351563,
            "minFps": 1.687000036239624,
            "type": 0,
            "width": 1280
        },
        {
            "fov": {
                "height": 800.0,
                "width": 1280.0,
                "x": 0.0,
                "y": 0.0
            },
            "height": 800,
            "maxFps": 129.60000610351563,
            "minFps": 1.687000036239624,
            "type": 1,
            "width": 1280
        },
        {
            "fov": {
                "height": 800.0,
                "width": 1280.0,
                "x": 0.0,
                "y": 0.0
            },
            "height": 800,
            "maxFps": 129.60000610351563,
            "minFps": 1.687000036239624,
            "type": 0,
            "width": 1280
        },
        {
            "fov": {
                "height": 800.0,
                "width": 1280.0,
                "x": 0.0,
                "y": 0.0
            },
            "height": 400,
            "maxFps": 255.6999969482422,
            "minFps": 1.687000036239624,
            "type": 1,
            "width": 640
        },
        {
            "fov": {
                "height": 800.0,
                "width": 1280.0,
                "x": 0.0,
                "y": 0.0
            },
            "height": 400,
            "maxFps": 255.6999969482422,
            "minFps": 1.687000036239624,
            "type": 0,
            "width": 640
        }
    ],
    "hasAutofocus": false,
    "hasAutofocusIC": false,
    "height": 800,
    "name": "left",
    "orientation": -1,
    "sensorName": "OV9282",
    "socket": 1,
    "supportedTypes": [
        1
    ],
    "width": 1280
},

[moratom]

@zrezke would you mind taking a look if the recent changes to properly recognize OV9782 on the SR and wide models could be the reason for this?

[zrezke]

Not introduced by those changes. But this errant config reporting is fixable for non FFC devices. I will fix it in FW,