Class ColorCamera

Defined in File ColorCamera.hpp

Inheritance Relationships

Base Type

public dai::NodeCRTP< Node, ColorCamera, ColorCameraProperties > (Template Class NodeCRTP)

Class Documentation

class ColorCamera : public dai::NodeCRTP<Node, ColorCamera, ColorCameraProperties>

ColorCamera node. For use with color sensors.

Public Functions

ColorCamera(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId): Constructs ColorCamera node.

ColorCamera(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId, std::unique_ptr<Properties> props)

int getScaledSize(int input, int num, int denom) const: Computes the scaled size given numerator and denominator

void setBoardSocket(CameraBoardSocket boardSocket)

Specify which board socket to use

Parameters:: boardSocket – Board socket to use

CameraBoardSocket getBoardSocket() const

Retrieves which board socket to use

Returns:: Board socket to use

void setCamera(std::string name)

Specify which camera to use by name

Parameters:: name – Name of the camera to use

std::string getCamera() const

Retrieves which camera to use by name

Returns:: Name of the camera to use

void setCamId(int64_t id): Set which color camera to use.

int64_t getCamId() const: Get which color camera to use.

void setImageOrientation(CameraImageOrientation imageOrientation): Set camera image orientation.

CameraImageOrientation getImageOrientation() const: Get camera image orientation.

void setColorOrder(ColorCameraProperties::ColorOrder colorOrder): Set color order of preview output images. RGB or BGR.

ColorCameraProperties::ColorOrder getColorOrder() const: Get color order of preview output frames. RGB or BGR.

void setInterleaved(bool interleaved): Set planar or interleaved data of preview output frames.

bool getInterleaved() const: Get planar or interleaved data of preview output frames.

void setFp16(bool fp16): Set fp16 (0..255) data type of preview output frames.

bool getFp16() const: Get fp16 (0..255) data of preview output frames.

void setPreviewSize(int width, int height): Set preview output size.

void setPreviewSize(std::tuple<int, int> size): Set preview output size, as a tuple <width, height>

void setPreviewNumFramesPool(int num): Set number of frames in preview pool.

void setVideoSize(int width, int height): Set video output size.

void setVideoSize(std::tuple<int, int> size): Set video output size, as a tuple <width, height>

void setVideoNumFramesPool(int num): Set number of frames in preview pool.

void setStillSize(int width, int height): Set still output size.

void setStillSize(std::tuple<int, int> size): Set still output size, as a tuple <width, height>

void setStillNumFramesPool(int num): Set number of frames in preview pool.

void setResolution(Properties::SensorResolution resolution): Set sensor resolution.

Properties::SensorResolution getResolution() const: Get sensor resolution.

void setRawNumFramesPool(int num): Set number of frames in raw pool.

void setIspNumFramesPool(int num): Set number of frames in isp pool.

void setNumFramesPool(int raw, int isp, int preview, int video, int still): Set number of frames in all pools.

void setIspScale(int numerator, int denominator): Set ‘isp’ output scaling (numerator/denominator), preserving the aspect ratio. The fraction numerator/denominator is simplified first to a irreducible form, then a set of hardware scaler constraints applies: max numerator = 16, max denominator = 63

void setIspScale(std::tuple<int, int> scale): Set ‘isp’ output scaling, as a tuple <numerator, denominator>

void setIspScale(int horizNum, int horizDenom, int vertNum, int vertDenom): Set ‘isp’ output scaling, per each direction. If the horizontal scaling factor (horizNum/horizDen) is different than the vertical scaling factor (vertNum/vertDen), a distorted (stretched or squished) image is generated

void setIspScale(std::tuple<int, int> horizScale, std::tuple<int, int> vertScale): Set ‘isp’ output scaling, per each direction, as <numerator, denominator> tuples.

void setFps(float fps)

Set rate at which camera should produce frames

Parameters:: fps – Rate in frames per second

void setIsp3aFps(int isp3aFps): Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.). Default (0) matches the camera FPS, meaning that 3A is running on each frame. Reducing the rate of 3A reduces the CPU usage on CSS, but also increases the convergence rate of 3A. Note that camera controls will be processed at this rate. E.g. if camera is running at 30 fps, and camera control is sent at every frame, but 3A fps is set to 15, the camera control messages will be processed at 15 fps rate, which will lead to queueing.

void setFrameEventFilter(const std::vector<dai::FrameEvent> &events)

std::vector<dai::FrameEvent> getFrameEventFilter() const

float getFps() const

Get rate at which camera should produce frames

Returns:: Rate in frames per second

std::tuple<int, int> getPreviewSize() const: Get preview size as tuple.

int getPreviewWidth() const: Get preview width.

int getPreviewHeight() const: Get preview height.

std::tuple<int, int> getVideoSize() const: Get video size as tuple.

int getVideoWidth() const: Get video width.

int getVideoHeight() const: Get video height.

std::tuple<int, int> getStillSize() const: Get still size as tuple.

int getStillWidth() const: Get still width.

int getStillHeight() const: Get still height.

std::tuple<int, int> getResolutionSize() const: Get sensor resolution as size.

int getResolutionWidth() const: Get sensor resolution width.

int getResolutionHeight() const: Get sensor resolution height.

std::tuple<int, int> getIspSize() const: Get ‘isp’ output resolution as size, after scaling.

int getIspWidth() const: Get ‘isp’ output width.

int getIspHeight() const: Get ‘isp’ output height.

void sensorCenterCrop(): Specify sensor center crop. Resolution size / video size

void setSensorCrop(float x, float y)

Specifies the cropping that happens when converting ISP to video output. By default, video will be center cropped from the ISP output. Note that this doesn’t actually do on-sensor cropping (and MIPI-stream only that region), but it does postprocessing on the ISP (on RVC).

Parameters:

x – Top left X coordinate
y – Top left Y coordinate

std::tuple<float, float> getSensorCrop() const

Returns:: Sensor top left crop coordinates

float getSensorCropX() const: Get sensor top left x crop coordinate.

float getSensorCropY() const: Get sensor top left y crop coordinate.

void setWaitForConfigInput(bool wait)

Specify to wait until inputConfig receives a configuration message, before sending out a frame.

Parameters:: wait – True to wait for inputConfig message, false otherwise

bool getWaitForConfigInput() const