cam_test: add B key to toggle HDR exposure base,

RVC2 FW CameraControl: setMisc add "hdr-exposure-base": "long" (default), "middle" option. Operation:
- from the BASE exposure (AE or user), with the default "long":
 -- long   = BASE
 -- middle = BASE / hdr-exposure-ratio
 -- short  = BASE / hdr-exposure-ratio / hdr-exposure-ratio

- with the option "middle":
 -- long   = BASE * hdr-exposure-ratio
 -- middle = BASE
 -- short  = BASE / hdr-exposure-ratio

Allow "hdr-exposure-ratio" = 1, at runtime only (not initialControl), to disable HDR and compare the effect.
Fix a bug in handling "hdr-local-tone-weight" control.

Author: alex-luxonis

depthai-core

@@ -276,6 +276,17 @@ def socket_to_socket_opt(socket: dai.CameraBoardSocket) -> str:
         cam_type_thermal[socket] = is_thermal
         print(socket.rjust(7), ':', 'tof' if is_tof else 'color' if is_color else 'thermal' if is_thermal else 'mono')
 
+    print('misc controls:', args.misc_controls)
+    args_misc_dict = dict(args.misc_controls)
+
+    hdr_exp_ratio = int(math.log2(float(args_misc_dict.get('hdr-exposure-ratio', 1))))
+    hdr_exp_base = args_misc_dict.get('hdr-exposure-base', 'long')
+    hdr_local_tone_weight = int(32 * float(args_misc_dict.get('hdr-local-tone-weight', 0.75)))
+    hdr_on = (hdr_exp_ratio > 0)
+    if hdr_on and args.fps > 10:
+        print('WARNING: HDR enabled for IMX582/IMX586, limiting FPS to 10')
+        args.fps = 10
+
     # Start defining a pipeline
     pipeline = dai.Pipeline()
     # Uncomment to get better throughput
@@ -370,7 +381,8 @@ def socket_to_socket_opt(socket: dai.CameraBoardSocket) -> str:
         # cam[c].initialControl.setMisc("binning-mode", "sum")  # default: "avg"
         # cam[c].initialControl.setMisc("manual-exposure-handling", "fast")  # default: "default"
         # cam[c].initialControl.setMisc("hdr-exposure-ratio", 4)  # enables HDR when set `> 1`, current options: 2, 4, 8
-        # cam[c].initialControl.setMisc("hdr-local-tone-weight", 75)  # default 75, range 0..100
+        # cam[c].initialControl.setMisc("hdr-exposure-base", "middle")  # default "long"
+        # cam[c].initialControl.setMisc("hdr-local-tone-weight", 0.75)  # default 0.75, range 0..1
         # cam[c].initialControl.setMisc("high-conversion-gain", 0)  # 1 to enable (default on supported sensors)
         for kvPair in args.misc_controls:
             cam[c].initialControl.setMisc(*kvPair)
@@ -549,12 +561,6 @@ def socket_to_socket_opt(socket: dai.CameraBoardSocket) -> str:
     control = 'none'
     show = args.show_meta
     high_conversion_gain = 1
-    print(args.misc_controls)
-    args_misc_dict = dict(args.misc_controls)
-    
-    hdr_exp_ratio = int(math.log2(float(args_misc_dict.get('hdr-exposure-ratio', 1))))
-    hdr_local_tone_weight = int(32 * float(args_misc_dict.get('hdr-local-tone-weight', 0.75)))
-    hdr_on = (hdr_exp_ratio > 0)
 
     jet_custom = cv2.applyColorMap(
         np.arange(256, dtype=np.uint8), cv2.COLORMAP_JET)
@@ -756,6 +762,15 @@ def socket_to_socket_opt(socket: dai.CameraBoardSocket) -> str:
             ctrl = dai.CameraControl()
             ctrl.setAutoExposureLock(ae_lock)
             controlQueue.send(ctrl)
+        elif key == ord('b'):
+            if hdr_on:
+                hdr_exp_base = 'middle' if hdr_exp_base == 'long' else 'long'
+                print(f"HDR exposure base: {hdr_exp_base}")
+                ctrl = dai.CameraControl()
+                ctrl.setMisc("hdr-exposure-base", hdr_exp_base)
+                controlQueue.send(ctrl)
+            else:
+                print("HDR was not enabled, start with `-misc hdr-exposure-ratio=2` or higher to enable")
         elif key == ord('a'):
             dotIntensity = dotIntensity - DOT_STEP
             if dotIntensity < 0:
@@ -879,7 +894,7 @@ def socket_to_socket_opt(socket: dai.CameraBoardSocket) -> str:
             elif control == 'hdr_exp_ratio':
                 hdr_exp_ratio = clamp(hdr_exp_ratio + change, 0, 3)
                 value = pow(2, hdr_exp_ratio)
-                print("HDR exposure ratio:", value)
+                print("HDR exposure ratio:", value, '(HDR disabled)' if value == 1 else '')
                 ctrl.setMisc("hdr-exposure-ratio", value)
             elif control == 'hdr_local_tone_weight':
                 hdr_local_tone_weight = clamp(hdr_local_tone_weight + change, 0, 32)