CameraControl¶

This message is used for controlling the color camera as well as the mono camera. The message handles things like capturing still images, configuring auto focus, anti banding, white balance, scenes, effects etc.

Examples of functionality¶

Reference¶

class depthai.CameraControl

class AntiBandingMode

Members:

OFF

MAINS_50_HZ

MAINS_60_HZ

AUTO

property name

class AutoFocusMode

Members:

OFF

AUTO

MACRO

CONTINUOUS_VIDEO

CONTINUOUS_PICTURE

EDOF

property name

class AutoWhiteBalanceMode

Members:

OFF

AUTO

INCANDESCENT

FLUORESCENT

WARM_FLUORESCENT

DAYLIGHT

CLOUDY_DAYLIGHT

TWILIGHT

SHADE

property name

class CaptureIntent

Members:

CUSTOM

PREVIEW

STILL_CAPTURE

VIDEO_RECORD

VIDEO_SNAPSHOT

ZERO_SHUTTER_LAG

property name

class Command

Members:

START_STREAM

STOP_STREAM

STILL_CAPTURE

MOVE_LENS

AF_TRIGGER

AE_MANUAL

AE_AUTO

AWB_MODE

SCENE_MODE

ANTIBANDING_MODE

EXPOSURE_COMPENSATION

AE_LOCK

AE_TARGET_FPS_RANGE

AWB_LOCK

CAPTURE_INTENT

CONTROL_MODE

FRAME_DURATION

SENSITIVITY

EFFECT_MODE

AF_MODE

NOISE_REDUCTION_STRENGTH

SATURATION

BRIGHTNESS

STREAM_FORMAT

RESOLUTION

SHARPNESS

CUSTOM_USECASE

CUSTOM_CAPT_MODE

CUSTOM_EXP_BRACKETS

CUSTOM_CAPTURE

CONTRAST

AE_REGION

AF_REGION

LUMA_DENOISE

CHROMA_DENOISE

WB_COLOR_TEMP

property name

class ControlMode

Members:

OFF

AUTO

USE_SCENE_MODE

property name

class EffectMode

Members:

OFF

MONO

NEGATIVE

SOLARIZE

SEPIA

POSTERIZE

WHITEBOARD

BLACKBOARD

AQUA

property name

class FrameSyncMode

Members:

OFF

OUTPUT

INPUT

property name

class SceneMode

Members:

UNSUPPORTED

FACE_PRIORITY

ACTION

PORTRAIT

LANDSCAPE

NIGHT

NIGHT_PORTRAIT

THEATRE

BEACH

SNOW

SUNSET

STEADYPHOTO

FIREWORKS

SPORTS

PARTY

CANDLELIGHT

BARCODE

property name

get(self: depthai.CameraControl) → depthai.RawCameraControl

getCaptureStill(self: depthai.CameraControl) → bool

getData(self: object) → numpy.ndarray[numpy.uint8]

getExposureTime(self: depthai.CameraControl) → datetime.timedelta

getLensPosition(self: depthai.CameraControl) → int

getLensPositionRaw(self: depthai.CameraControl) → float

getRaw(self: depthai.ADatatype) → depthai.RawBuffer

getSensitivity(self: depthai.CameraControl) → int

getSequenceNum(self: depthai.Buffer) → int

getTimestamp(self: depthai.Buffer) → datetime.timedelta

getTimestampDevice(self: depthai.Buffer) → datetime.timedelta

set(self: depthai.CameraControl, config: depthai.RawCameraControl) → depthai.CameraControl

setAntiBandingMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.AntiBandingMode) → depthai.CameraControl

setAutoExposureCompensation(self: depthai.CameraControl, compensation: int) → depthai.CameraControl

setAutoExposureEnable(self: depthai.CameraControl) → depthai.CameraControl

setAutoExposureLimit(*args, **kwargs)

Overloaded function.

setAutoExposureLimit(self: depthai.CameraControl, maxExposureTimeUs: int) -> depthai.CameraControl
setAutoExposureLimit(self: depthai.CameraControl, maxExposureTime: datetime.timedelta) -> depthai.CameraControl

setAutoExposureLock(self: depthai.CameraControl, lock: bool) → depthai.CameraControl

setAutoExposureRegion(self: depthai.CameraControl, startX: int, startY: int, width: int, height: int) → depthai.CameraControl

setAutoFocusLensRange(self: depthai.CameraControl, infinityPosition: int, macroPosition: int) → depthai.CameraControl

setAutoFocusMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.AutoFocusMode) → depthai.CameraControl

setAutoFocusRegion(self: depthai.CameraControl, startX: int, startY: int, width: int, height: int) → depthai.CameraControl

setAutoFocusTrigger(self: depthai.CameraControl) → depthai.CameraControl

setAutoWhiteBalanceLock(self: depthai.CameraControl, lock: bool) → depthai.CameraControl

setAutoWhiteBalanceMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.AutoWhiteBalanceMode) → depthai.CameraControl

setBrightness(self: depthai.CameraControl, value: int) → depthai.CameraControl

setCaptureIntent(self: depthai.CameraControl, mode: depthai.RawCameraControl.CaptureIntent) → depthai.CameraControl

setCaptureStill(self: depthai.CameraControl, capture: bool) → depthai.CameraControl

setChromaDenoise(self: depthai.CameraControl, value: int) → depthai.CameraControl

setContrast(self: depthai.CameraControl, value: int) → depthai.CameraControl

setControlMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.ControlMode) → depthai.CameraControl

setData(*args, **kwargs)

Overloaded function.

setData(self: depthai.Buffer, arg0: list[int]) -> None
setData(self: depthai.Buffer, arg0: numpy.ndarray[numpy.uint8]) -> None

setEffectMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.EffectMode) → depthai.CameraControl

setExternalTrigger(self: depthai.CameraControl, numFramesBurst: int, numFramesDiscard: int) → depthai.CameraControl

setFrameSyncMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.FrameSyncMode) → depthai.CameraControl

setLumaDenoise(self: depthai.CameraControl, value: int) → depthai.CameraControl

setManualExposure(*args, **kwargs)

Overloaded function.

setManualExposure(self: depthai.CameraControl, exposureTimeUs: int, sensitivityIso: int) -> depthai.CameraControl
setManualExposure(self: depthai.CameraControl, exposureTime: datetime.timedelta, sensitivityIso: int) -> depthai.CameraControl

setManualFocus(self: depthai.CameraControl, lensPosition: int) → depthai.CameraControl

setManualFocusRaw(self: depthai.CameraControl, lensPositionRaw: float) → depthai.CameraControl

setManualWhiteBalance(self: depthai.CameraControl, colorTemperatureK: int) → depthai.CameraControl

setSaturation(self: depthai.CameraControl, value: int) → depthai.CameraControl

setSceneMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.SceneMode) → depthai.CameraControl

setSequenceNum(self: depthai.Buffer, arg0: int) → depthai.Buffer

setSharpness(self: depthai.CameraControl, value: int) → depthai.CameraControl

setStartStreaming(self: depthai.CameraControl) → depthai.CameraControl

setStopStreaming(self: depthai.CameraControl) → depthai.CameraControl

setStrobeDisable(self: depthai.CameraControl) → depthai.CameraControl

setStrobeExternal(self: depthai.CameraControl, gpioNumber: int, activeLevel: int) → depthai.CameraControl

setStrobeSensor(self: depthai.CameraControl, activeLevel: int) → depthai.CameraControl

setTimestamp(self: depthai.Buffer, arg0: datetime.timedelta) → depthai.Buffer

setTimestampDevice(self: depthai.Buffer, arg0: datetime.timedelta) → depthai.Buffer

class dai::CameraControl : public dai::Buffer ¶

CameraControl message. Specifies various camera control commands like:

Still capture
Auto/manual focus
Auto/manual white balance
Auto/manual exposure
Anti banding
…

By default the camera enables 3A, with auto-focus in CONTINUOUS_VIDEO mode, auto-white-balance in AUTO mode, and auto-exposure with anti-banding for 50Hz mains frequency.

Public Types

using AutoFocusMode = RawCameraControl::AutoFocusMode¶

using AntiBandingMode = RawCameraControl::AntiBandingMode¶

using AutoWhiteBalanceMode = RawCameraControl::AutoWhiteBalanceMode¶

using SceneMode = RawCameraControl::SceneMode¶

using EffectMode = RawCameraControl::EffectMode¶

using ControlMode = RawCameraControl::ControlMode¶

using CaptureIntent = RawCameraControl::CaptureIntent¶

using FrameSyncMode = RawCameraControl::FrameSyncMode¶

Public Functions

CameraControl()¶: Construct CameraControl message.

CameraControl(std::shared_ptr<RawCameraControl> ptr)¶

~CameraControl() = default¶

CameraControl &setCaptureStill(bool capture)¶: Set a command to capture a still image

CameraControl &setStartStreaming()¶: Set a command to start streaming

CameraControl &setStopStreaming()¶: Set a command to stop streaming

CameraControl &setExternalTrigger(int numFramesBurst, int numFramesDiscard)¶

Set a command to enable external trigger snapshot mode

A rising edge on the sensor FSIN pin will make it capture a sequence of numFramesBurst frames. First numFramesDiscard will be skipped as configured (can be set to 0 as well), as they may have degraded quality

CameraControl &setFrameSyncMode(FrameSyncMode mode)¶: Set the frame sync mode for continuous streaming operation mode, translating to how the camera pin FSIN/FSYNC is used: input/output/disabled

CameraControl &setStrobeSensor(int activeLevel = 1)¶: Enable STROBE output on sensor pin, optionally configuring the polarity. Note: for many sensors the polarity is high-active and not configurable

CameraControl &setStrobeExternal(int gpioNumber, int activeLevel = 1)¶: Enable STROBE output driven by a MyriadX GPIO, optionally configuring the polarity This normally requires a FSIN/FSYNC/trigger input for MyriadX (usually GPIO 41), to generate timings

CameraControl &setStrobeDisable()¶: Disable STROBE output

CameraControl &setAutoFocusMode(AutoFocusMode mode)¶: Set a command to specify autofocus mode. Default CONTINUOUS_VIDEO

CameraControl &setAutoFocusTrigger()¶: Set a command to trigger autofocus

CameraControl &setAutoFocusLensRange(int infinityPosition, int macroPosition)¶: Set autofocus lens range, infinityPosition < macroPosition, valid values 0..255. May help to improve autofocus in case the lens adjustment is not typical/tuned

CameraControl &setAutoFocusRegion(uint16_t startX, uint16_t startY, uint16_t width, uint16_t height)¶

Set a command to specify focus region in pixels. Note: the region should be mapped to the configured sensor resolution, before ISP scaling

Parameters

startX: X coordinate of top left corner of region
startY: Y coordinate of top left corner of region
width: Region width
height: Region height

CameraControl &setManualFocus(uint8_t lensPosition)¶

Set a command to specify manual focus position

Parameters

lensPosition: specify lens position 0..255

CameraControl &setManualFocusRaw(float lensPositionRaw)¶

Set a command to specify manual focus position (more precise control).

Return

CameraControl&

Parameters

lensPositionRaw: specify lens position 0.0f .. 1.0f

CameraControl &setAutoExposureEnable()¶: Set a command to enable auto exposure

CameraControl &setAutoExposureLock(bool lock)¶

Set a command to specify lock auto exposure

Parameters

lock: Auto exposure lock mode enabled or disabled

CameraControl &setAutoExposureRegion(uint16_t startX, uint16_t startY, uint16_t width, uint16_t height)¶

Set a command to specify auto exposure region in pixels. Note: the region should be mapped to the configured sensor resolution, before ISP scaling

Parameters

startX: X coordinate of top left corner of region
startY: Y coordinate of top left corner of region
width: Region width
height: Region height

CameraControl &setAutoExposureCompensation(int compensation)¶

Set a command to specify auto exposure compensation

Parameters

compensation: Compensation value between -9..9, default 0

CameraControl &setAutoExposureLimit(uint32_t maxExposureTimeUs)¶

Set a command to specify the maximum exposure time limit for auto-exposure. By default the AE algorithm prioritizes increasing exposure over ISO, up to around frame-time (subject to further limits imposed by anti-banding)

Parameters

maxExposureTimeUs: Maximum exposure time in microseconds

CameraControl &setAutoExposureLimit(std::chrono::microseconds maxExposureTime)¶

Set a command to specify the maximum exposure time limit for auto-exposure. By default the AE algorithm prioritizes increasing exposure over ISO, up to around frame-time (subject to further limits imposed by anti-banding)

Parameters

maxExposureTime: Maximum exposure time

CameraControl &setAntiBandingMode(AntiBandingMode mode)¶

Set a command to specify anti-banding mode. Anti-banding / anti-flicker works in auto-exposure mode, by controlling the exposure time to be applied in multiples of half the mains period, for example in multiple of 10ms for 50Hz (period 20ms) AC-powered illumination sources.

If the scene would be too bright for the smallest exposure step (10ms in the example, with ISO at a minimum of 100), anti-banding is not effective.

Parameters

mode: Anti-banding mode to use. Default: MAINS_50_HZ

CameraControl &setManualExposure(uint32_t exposureTimeUs, uint32_t sensitivityIso)¶

Set a command to manually specify exposure

Parameters

exposureTimeUs: Exposure time in microseconds
sensitivityIso: Sensitivity as ISO value, usual range 100..1600

CameraControl &setManualExposure(std::chrono::microseconds exposureTime, uint32_t sensitivityIso)¶

Set a command to manually specify exposure

Parameters

exposureTime: Exposure time
sensitivityIso: Sensitivity as ISO value, usual range 100..1600

CameraControl &setAutoWhiteBalanceMode(AutoWhiteBalanceMode mode)¶

Set a command to specify auto white balance mode

Parameters

mode: Auto white balance mode to use. Default AUTO

CameraControl &setAutoWhiteBalanceLock(bool lock)¶

Set a command to specify auto white balance lock

Parameters

lock: Auto white balance lock mode enabled or disabled

CameraControl &setManualWhiteBalance(int colorTemperatureK)¶

Set a command to manually specify white-balance color correction

Parameters

colorTemperatureK: Light source color temperature in kelvins, range 1000..12000

CameraControl &setBrightness(int value)¶

Set a command to adjust image brightness

Parameters

value: Brightness, range -10..10, default 0

CameraControl &setContrast(int value)¶

Set a command to adjust image contrast

Parameters

value: Contrast, range -10..10, default 0

CameraControl &setSaturation(int value)¶

Set a command to adjust image saturation

Parameters

value: Saturation, range -10..10, default 0

CameraControl &setSharpness(int value)¶

Set a command to adjust image sharpness

Parameters

value: Sharpness, range 0..4, default 1

CameraControl &setLumaDenoise(int value)¶

Set a command to adjust luma denoise amount

Parameters

value: Luma denoise amount, range 0..4, default 1

CameraControl &setChromaDenoise(int value)¶

Set a command to adjust chroma denoise amount

Parameters

value: Chroma denoise amount, range 0..4, default 1

CameraControl &setSceneMode(SceneMode mode)¶

Set a command to specify scene mode

Parameters

mode: Scene mode

CameraControl &setEffectMode(EffectMode mode)¶

Set a command to specify effect mode

Parameters

mode: Effect mode

CameraControl &setControlMode(ControlMode mode)¶

Set a command to specify control mode

Parameters

mode: Control mode

CameraControl &setCaptureIntent(CaptureIntent mode)¶

Set a command to specify capture intent mode

Parameters

mode: Capture intent mode

bool getCaptureStill() const¶

Check whether command to capture a still is set

Return: True if capture still command is set

std::chrono::microseconds getExposureTime() const¶: Retrieves exposure time

int getSensitivity() const¶: Retrieves sensitivity, as an ISO value

int getLensPosition() const¶: Retrieves lens position, range 0..255. Returns -1 if not available

float getLensPositionRaw() const¶: Retrieves lens position, range 0.0f..1.0f.

CameraControl &set(dai::RawCameraControl config)¶

Set explicit configuration.

Parameters

config: Explicit configuration

dai::RawCameraControl get() const¶

Retrieve configuration data for CameraControl.

Return: config for CameraControl

Private Functions

std::shared_ptr<RawBuffer> serialize() const override¶

Private Members

RawCameraControl &cfg¶

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