MonoCamera.hpp

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#pragma once
 
#include <depthai/pipeline/datatype/CameraControl.hpp>
 
#include "depthai/common/CameraBoardSocket.hpp"
#include "depthai/pipeline/Node.hpp"
 
// shared
#include <depthai-shared/properties/MonoCameraProperties.hpp>
 
namespace dai {
namespace node {
 
class MonoCamera : public NodeCRTP<Node, MonoCamera, MonoCameraProperties> {
   public:
    constexpr static const char* NAME = "MonoCamera";
 
   private:
    std::shared_ptr<RawCameraControl> rawControl;
 
   protected:
    Properties& getProperties();
 
   public:
    MonoCamera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
    MonoCamera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
 
    CameraControl initialControl;
 
    Input inputControl{*this, "inputControl", Input::Type::SReceiver, true, 8, {{DatatypeEnum::CameraControl, false}}};
 
    Output out{*this, "out", 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;
 
    // Set which mono camera to use
    [[deprecated("Use 'setBoardSocket()' instead.")]] void setCamId(int64_t id);
 
    // Get which mono camera to use
    [[deprecated("Use 'getBoardSocket()' instead.")]] int64_t getCamId() const;
 
    void setImageOrientation(CameraImageOrientation imageOrientation);
 
    CameraImageOrientation getImageOrientation() const;
 
    void setResolution(Properties::SensorResolution resolution);
 
    Properties::SensorResolution getResolution() const;
 
    // 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;
 
    void setFps(float fps);
 
    [[deprecated("setIsp3aFps is unstable")]] void setIsp3aFps(int isp3aFps);
 
    float getFps() const;
 
    std::tuple<int, int> getResolutionSize() const;
    int getResolutionWidth() const;
    int getResolutionHeight() const;
 
    void setNumFramesPool(int num);
    void setRawNumFramesPool(int num);
 
    int getNumFramesPool() const;
    int getRawNumFramesPool() const;
 
    void setRawOutputPacked(bool packed);
};
 
}  // namespace node
}  // namespace dai