CameraControl.hpp

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#pragma once
 
#include <chrono>
#include <unordered_map>
#include <vector>
 
#include "depthai-shared/datatype/RawCameraControl.hpp"
#include "depthai/pipeline/datatype/Buffer.hpp"
 
namespace dai {
 
class CameraControl : public Buffer {
    std::shared_ptr<RawBuffer> serialize() const override;
    RawCameraControl& cfg;
 
   public:
    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;
 
    CameraControl();
    explicit CameraControl(std::shared_ptr<RawCameraControl> ptr);
    virtual ~CameraControl() = default;
 
    CameraControl& setCaptureStill(bool capture);
 
    CameraControl& setStartStreaming();
 
    CameraControl& setStopStreaming();
 
    CameraControl& setExternalTrigger(int numFramesBurst, int numFramesDiscard);
 
    CameraControl& setFrameSyncMode(FrameSyncMode mode);
 
    CameraControl& setStrobeSensor(int activeLevel = 1);
 
    CameraControl& setStrobeExternal(int gpioNumber, int activeLevel = 1);
 
    // TODO API to set strobe line directly high/low (not following the exposure window)
    // TODO API to set strobe timings, as offsets in relation to exposure window, or fixed duration
 
    CameraControl& setStrobeDisable();
 
    // Focus
    CameraControl& setAutoFocusMode(AutoFocusMode mode);
 
    CameraControl& setAutoFocusTrigger();
 
    CameraControl& setAutoFocusLensRange(int infinityPosition, int macroPosition);
 
    CameraControl& setAutoFocusRegion(uint16_t startX, uint16_t startY, uint16_t width, uint16_t height);
 
    CameraControl& setManualFocus(uint8_t lensPosition);
 
    CameraControl& setManualFocusRaw(float lensPositionRaw);
 
    // Exposure
    CameraControl& setAutoExposureEnable();
 
    CameraControl& setAutoExposureLock(bool lock);
 
    CameraControl& setAutoExposureRegion(uint16_t startX, uint16_t startY, uint16_t width, uint16_t height);
 
    CameraControl& setAutoExposureCompensation(int compensation);
 
    CameraControl& setAutoExposureLimit(uint32_t maxExposureTimeUs);
 
    CameraControl& setAutoExposureLimit(std::chrono::microseconds maxExposureTime);
 
    CameraControl& setAntiBandingMode(AntiBandingMode mode);
 
    CameraControl& setManualExposure(uint32_t exposureTimeUs, uint32_t sensitivityIso);
 
    CameraControl& setManualExposure(std::chrono::microseconds exposureTime, uint32_t sensitivityIso);
 
    // White Balance
    CameraControl& setAutoWhiteBalanceMode(AutoWhiteBalanceMode mode);
 
    CameraControl& setAutoWhiteBalanceLock(bool lock);
 
    CameraControl& setManualWhiteBalance(int colorTemperatureK);
 
    // Other image controls
    CameraControl& setBrightness(int value);
 
    CameraControl& setContrast(int value);
 
    CameraControl& setSaturation(int value);
 
    CameraControl& setSharpness(int value);
 
    CameraControl& setLumaDenoise(int value);
 
    CameraControl& setChromaDenoise(int value);
 
    CameraControl& setSceneMode(SceneMode mode);
 
    CameraControl& setEffectMode(EffectMode mode);
 
    CameraControl& setControlMode(ControlMode mode);
 
    CameraControl& setCaptureIntent(CaptureIntent mode);
 
    CameraControl& setMisc(std::string control, std::string value);
 
    CameraControl& setMisc(std::string control, int value);
 
    CameraControl& setMisc(std::string control, float value);
 
    void clearMiscControls();
 
    std::vector<std::pair<std::string, std::string>> getMiscControls();
 
    // Functions to retrieve properties
    bool getCaptureStill() const;
 
    std::chrono::microseconds getExposureTime() const;
 
    int getSensitivity() const;
 
    int getLensPosition() const;
 
    float getLensPositionRaw() const;
 
    CameraControl& set(dai::RawCameraControl config);
 
    dai::RawCameraControl get() const;
};
 
}  // namespace dai