ColorCamera.hpp

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#pragma once
 
#include <depthai/pipeline/datatype/CameraControl.hpp>
 
#include "depthai/pipeline/Node.hpp"
 
// shared
#include <depthai-shared/properties/ColorCameraProperties.hpp>
 
namespace dai {
namespace node {
 
class ColorCamera : public NodeCRTP<Node, ColorCamera, ColorCameraProperties> {
   public:
    constexpr static const char* NAME = "ColorCamera";
 
   protected:
    Properties& getProperties();
 
   private:
    std::shared_ptr<RawCameraControl> rawControl;
 
   public:
    ColorCamera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
    ColorCamera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
 
    int getScaledSize(int input, int num, int denom) const;
 
    CameraControl initialControl;
 
    Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, false, 8, {{DatatypeEnum::ImageManipConfig, false}}};
 
    Input inputControl{*this, "inputControl", Input::Type::SReceiver, true, 8, {{DatatypeEnum::CameraControl, false}}};
 
    Output video{*this, "video", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
    Output preview{*this, "preview", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
    Output still{*this, "still", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
    Output isp{*this, "isp", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
    Output raw{*this, "raw", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
    Output frameEvent{*this, "frameEvent", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
    void setBoardSocket(CameraBoardSocket boardSocket);
 
    CameraBoardSocket getBoardSocket() const;
 
    void setCamera(std::string name);
 
    std::string getCamera() const;
 
    [[deprecated("Use 'setBoardSocket()' instead")]] void setCamId(int64_t id);
 
    [[deprecated("Use 'setBoardSocket()' instead")]] int64_t getCamId() const;
 
    void setImageOrientation(CameraImageOrientation imageOrientation);
 
    CameraImageOrientation getImageOrientation() const;
 
    void setColorOrder(ColorCameraProperties::ColorOrder colorOrder);
 
    ColorCameraProperties::ColorOrder getColorOrder() const;
 
    void setInterleaved(bool interleaved);
 
    bool getInterleaved() const;
 
    void setFp16(bool fp16);
 
    bool getFp16() const;
 
    void setPreviewSize(int width, int height);
 
    void setPreviewSize(std::tuple<int, int> size);
 
    void setPreviewNumFramesPool(int num);
 
    void setVideoSize(int width, int height);
 
    void setVideoSize(std::tuple<int, int> size);
 
    void setVideoNumFramesPool(int num);
 
    void setStillSize(int width, int height);
 
    void setStillSize(std::tuple<int, int> size);
 
    void setStillNumFramesPool(int num);
 
    void setResolution(Properties::SensorResolution resolution);
 
    Properties::SensorResolution getResolution() const;
 
    void setRawNumFramesPool(int num);
 
    void setIspNumFramesPool(int num);
 
    void setNumFramesPool(int raw, int isp, int preview, int video, int still);
 
    void setIspScale(int numerator, int denominator);
 
    void setIspScale(std::tuple<int, int> scale);
 
    void setIspScale(int horizNum, int horizDenom, int vertNum, int vertDenom);
 
    void setIspScale(std::tuple<int, int> horizScale, std::tuple<int, int> vertScale);
 
    void setFps(float fps);
 
    [[deprecated("setIsp3aFps is unstable")]] void setIsp3aFps(int isp3aFps);
 
    // Set events on which frames will be received
    void setFrameEventFilter(const std::vector<dai::FrameEvent>& events);
 
    // Get events on which frames will be received
    std::vector<dai::FrameEvent> getFrameEventFilter() const;
 
    float getFps() const;
 
    std::tuple<int, int> getPreviewSize() const;
    int getPreviewWidth() const;
    int getPreviewHeight() const;
 
    std::tuple<int, int> getVideoSize() const;
    int getVideoWidth() const;
    int getVideoHeight() const;
 
    std::tuple<int, int> getStillSize() const;
    int getStillWidth() const;
    int getStillHeight() const;
 
    std::tuple<int, int> getResolutionSize() const;
    int getResolutionWidth() const;
    int getResolutionHeight() const;
 
    std::tuple<int, int> getIspSize() const;
    int getIspWidth() const;
    int getIspHeight() const;
 
    void sensorCenterCrop();
 
    void setSensorCrop(float x, float y);
 
    std::tuple<float, float> getSensorCrop() const;
    float getSensorCropX() const;
    float getSensorCropY() const;
 
    // Node properties configuration
    [[deprecated("Use 'inputConfig.setWaitForMessage()' instead")]] void setWaitForConfigInput(bool wait);
 
    [[deprecated("Use 'inputConfig.setWaitForMessage()' instead")]] bool getWaitForConfigInput() const;
 
    void setPreviewKeepAspectRatio(bool keep);
 
    bool getPreviewKeepAspectRatio();
 
    int getPreviewNumFramesPool();
    int getVideoNumFramesPool();
    int getStillNumFramesPool();
    int getRawNumFramesPool();
    int getIspNumFramesPool();
 
    void setRawOutputPacked(bool packed);
};
 
}  // namespace node
}  // namespace dai