Camera node. Experimental node, for both mono and color types of sensors. More...

#include <Camera.hpp>

Inheritance diagram for dai::node::Camera:

Public Member Functions
	Camera (const std::shared_ptr< PipelineImpl > &par, int64_t nodeId)

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

CameraBoardSocket	getBoardSocket () const

tl::optional< float >	getCalibrationAlpha () const
	Get calibration alpha parameter that determines FOV of undistorted frames. More...

std::string	getCamera () const

float	getFps () const

int	getHeight () const
	Get sensor resolution height. More...

CameraImageOrientation	getImageOrientation () const
	Get camera image orientation. More...

Properties::WarpMeshSource	getMeshSource () const
	Gets the source of the warp mesh. More...

std::tuple< int, int >	getMeshStep () const
	Gets the distance between mesh points. More...

int	getPreviewHeight () const
	Get preview height. More...

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

int	getPreviewWidth () const
	Get preview width. More...

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

int	getStillHeight () const
	Get still height. More...

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

int	getStillWidth () const
	Get still width. More...

int	getVideoHeight () const
	Get video height. More...

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

int	getVideoWidth () const
	Get video width. More...

int	getWidth () const
	Get sensor resolution width. More...

void	loadMeshData (span< const std::uint8_t > warpMesh)

void	loadMeshFile (const dai::Path &warpMesh)

void	setBoardSocket (CameraBoardSocket boardSocket)

void	setCalibrationAlpha (float alpha)
	Set calibration alpha parameter that determines FOV of undistorted frames. More...

void	setCamera (std::string name)

void	setFps (float fps)

void	setImageOrientation (CameraImageOrientation imageOrientation)
	Set camera image orientation. More...

void	setIsp3aFps (int isp3aFps)

void	setMeshSource (Properties::WarpMeshSource source)
	Set the source of the warp mesh or disable. More...

void	setMeshStep (int width, int height)

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

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

void	setRawOutputPacked (bool packed)

void	setSize (int width, int height)
	Set desired resolution. Sets sensor size to best fit. More...

void	setSize (std::tuple< int, int > size)
	Set desired resolution. Sets sensor size to best fit. More...

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

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

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

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

Public Member Functions inherited from dai::NodeCRTP< Node, Camera, CameraProperties >
std::unique_ptr< Node >	clone () const override

const char *	getName () const override

Public Member Functions inherited from dai::Node
virtual std::unique_ptr< Node >	clone () const =0
	Deep copy the node. More...

AssetManager &	getAssetManager ()
	Get node AssetManager as a reference. More...

const AssetManager &	getAssetManager () const
	Get node AssetManager as a const reference. More...

std::vector< Input * >	getInputRefs ()
	Retrieves reference to node inputs. More...

std::vector< const Input * >	getInputRefs () const
	Retrieves reference to node inputs. More...

std::vector< Input >	getInputs ()
	Retrieves all nodes inputs. More...

virtual const char *	getName () const =0
	Retrieves nodes name. More...

std::vector< Output * >	getOutputRefs ()
	Retrieves reference to node outputs. More...

std::vector< const Output * >	getOutputRefs () const
	Retrieves reference to node outputs. More...

std::vector< Output >	getOutputs ()
	Retrieves all nodes outputs. More...

Pipeline	getParentPipeline ()

const Pipeline	getParentPipeline () const

	Node (const std::shared_ptr< PipelineImpl > &p, Id nodeId, std::unique_ptr< Properties > props)
	Constructs Node. More...

virtual	~Node ()=default

Static Public Member Functions
static int	getScaledSize (int input, int num, int denom)

Public Attributes
Output	frameEvent {*this, "frameEvent", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

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	isp {*this, "isp", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Output	preview {*this, "preview", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Output	raw {*this, "raw", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Output	still {*this, "still", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Output	video {*this, "video", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Public Attributes inherited from dai::NodeCRTP< Node, Camera, CameraProperties >
Properties &	properties
	Underlying properties. More...

Public Attributes inherited from dai::Node
const Id	id
	Id of node. More...

Properties &	properties

Static Public Attributes
constexpr static const char *	NAME = "Camera"

Protected Member Functions
Properties &	getProperties ()

Protected Member Functions inherited from dai::Node
virtual tl::optional< OpenVINO::Version >	getRequiredOpenVINOVersion ()

void	setInputMapRefs (InputMap *inMapRef)

void	setInputMapRefs (std::initializer_list< InputMap * > l)

void	setInputRefs (Input *inRef)

void	setInputRefs (std::initializer_list< Input * > l)

void	setOutputMapRefs (OutputMap *outMapRef)

void	setOutputMapRefs (std::initializer_list< OutputMap * > l)

void	setOutputRefs (Output *outRef)

void	setOutputRefs (std::initializer_list< Output * > l)

Private Attributes
std::shared_ptr< RawCameraControl >	rawControl

Additional Inherited Members
Public Types inherited from dai::NodeCRTP< Node, Camera, CameraProperties >
using	Properties = CameraProperties

Public Types inherited from dai::Node
using	Id = std::int64_t
	Node identificator. Unique for every node on a single Pipeline. More...

Protected Attributes inherited from dai::Node
AssetManager	assetManager

std::unordered_map< std::string, InputMap * >	inputMapRefs

std::unordered_map< std::string, Input * >	inputRefs

std::unordered_map< std::string, OutputMap * >	outputMapRefs

std::unordered_map< std::string, Output * >	outputRefs

std::weak_ptr< PipelineImpl >	parent

copyable_unique_ptr< Properties >	propertiesHolder

Detailed Description

Camera node. Experimental node, for both mono and color types of sensors.

Definition at line 18 of file Camera.hpp.

Constructor & Destructor Documentation

◆ Camera() [1/2]

dai::node::Camera::Camera	(	const std::shared_ptr< PipelineImpl > &	par,
		int64_t	nodeId
	)

Constructs Camera node.

Definition at line 13 of file Camera.cpp.

◆ Camera() [2/2]

dai::node::Camera::Camera	(	const std::shared_ptr< PipelineImpl > &	par,
		int64_t	nodeId,
		std::unique_ptr< Properties >	props
	)

Definition at line 14 of file Camera.cpp.

Member Function Documentation

◆ getBoardSocket()

CameraBoardSocket dai::node::Camera::getBoardSocket ( ) const

Retrieves which board socket to use

Returns: Board socket to use

Definition at line 40 of file Camera.cpp.

◆ getCalibrationAlpha()

tl::optional< float > dai::node::Camera::getCalibrationAlpha ( ) const

Get calibration alpha parameter that determines FOV of undistorted frames.

Definition at line 274 of file Camera.cpp.

◆ getCamera()

std::string dai::node::Camera::getCamera ( ) const

Retrieves which camera to use by name

Returns: Name of the camera to use

Definition at line 48 of file Camera.cpp.

◆ getFps()

float dai::node::Camera::getFps ( ) const

Get rate at which camera should produce frames

Returns: Rate in frames per second

Definition at line 137 of file Camera.cpp.

◆ getHeight()

int dai::node::Camera::getHeight ( ) const

Get sensor resolution height.

Definition at line 199 of file Camera.cpp.

◆ getImageOrientation()

CameraImageOrientation dai::node::Camera::getImageOrientation ( ) const

Get camera image orientation.

Definition at line 58 of file Camera.cpp.

◆ getMeshSource()

Camera::Properties::WarpMeshSource dai::node::Camera::getMeshSource ( ) const

Gets the source of the warp mesh.

Definition at line 234 of file Camera.cpp.

◆ getMeshStep()

std::tuple< int, int > dai::node::Camera::getMeshStep ( ) const

Gets the distance between mesh points.

Definition at line 266 of file Camera.cpp.

◆ getPreviewHeight()

int dai::node::Camera::getPreviewHeight ( ) const

Get preview height.

Definition at line 156 of file Camera.cpp.

◆ getPreviewSize()

std::tuple< int, int > dai::node::Camera::getPreviewSize ( ) const

Get preview size as tuple.

Definition at line 148 of file Camera.cpp.

◆ getPreviewWidth()

int dai::node::Camera::getPreviewWidth ( ) const

Get preview width.

Definition at line 152 of file Camera.cpp.

◆ getProperties()

Camera::Properties & dai::node::Camera::getProperties ( )

protectedvirtual

Reimplemented from dai::Node.

Definition at line 29 of file Camera.cpp.

◆ getScaledSize()

static int dai::node::Camera::getScaledSize	(	int	input,
		int	num,
		int	denom
	)

static

Computes the scaled size given numerator and denominator

◆ getSize()

std::tuple< int, int > dai::node::Camera::getSize ( ) const

Get sensor resolution as size.

Definition at line 190 of file Camera.cpp.

◆ getStillHeight()

int dai::node::Camera::getStillHeight ( ) const

Get still height.

Definition at line 185 of file Camera.cpp.

◆ getStillSize()

std::tuple< int, int > dai::node::Camera::getStillSize ( ) const

Get still size as tuple.

Definition at line 175 of file Camera.cpp.

◆ getStillWidth()

int dai::node::Camera::getStillWidth ( ) const

Get still width.

Definition at line 181 of file Camera.cpp.

◆ getVideoHeight()

int dai::node::Camera::getVideoHeight ( ) const

Get video height.

Definition at line 170 of file Camera.cpp.

◆ getVideoSize()

std::tuple< int, int > dai::node::Camera::getVideoSize ( ) const

Get video size as tuple.

Definition at line 161 of file Camera.cpp.

◆ getVideoWidth()

int dai::node::Camera::getVideoWidth ( ) const

Get video width.

Definition at line 166 of file Camera.cpp.

◆ getWidth()

int dai::node::Camera::getWidth ( ) const

Get sensor resolution width.

Definition at line 195 of file Camera.cpp.

◆ loadMeshData()

void dai::node::Camera::loadMeshData ( span< const std::uint8_t > warpMesh )

Specify mesh calibration data for undistortion See loadMeshFiles for the expected data format

Definition at line 238 of file Camera.cpp.

◆ loadMeshFile()

void dai::node::Camera::loadMeshFile ( const dai::Path & warpMesh )

Specify local filesystem paths to the undistort mesh calibration files.

When a mesh calibration is set, it overrides the camera intrinsics/extrinsics matrices. Overrides useHomographyRectification behavior. Mesh format: a sequence of (y,x) points as 'float' with coordinates from the input image to be mapped in the output. The mesh can be subsampled, configured by setMeshStep.

With a 1280x800 resolution and the default (16,16) step, the required mesh size is:

width: 1280 / 16 + 1 = 81

height: 800 / 16 + 1 = 51

Definition at line 252 of file Camera.cpp.

◆ setBoardSocket()

void dai::node::Camera::setBoardSocket ( dai::CameraBoardSocket boardSocket )

Specify which board socket to use

Parameters

boardSocket Board socket to use

Definition at line 35 of file Camera.cpp.

◆ setCalibrationAlpha()

void dai::node::Camera::setCalibrationAlpha ( float alpha )

Set calibration alpha parameter that determines FOV of undistorted frames.

Definition at line 270 of file Camera.cpp.

◆ setCamera()

void dai::node::Camera::setCamera ( std::string name )

Specify which camera to use by name

Parameters

name	Name of the camera to use

Definition at line 44 of file Camera.cpp.

◆ setFps()

void dai::node::Camera::setFps ( float fps )

Set rate at which camera should produce frames

Parameters

fps	Rate in frames per second

Definition at line 129 of file Camera.cpp.

◆ setImageOrientation()

void dai::node::Camera::setImageOrientation ( CameraImageOrientation imageOrientation )

Set camera image orientation.

Definition at line 53 of file Camera.cpp.

◆ setIsp3aFps()

void dai::node::Camera::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.

Definition at line 133 of file Camera.cpp.

◆ setMeshSource()

void dai::node::Camera::setMeshSource ( Properties::WarpMeshSource source )

Set the source of the warp mesh or disable.

Definition at line 231 of file Camera.cpp.

◆ setMeshStep()

void dai::node::Camera::setMeshStep	(	int	width,
		int	height
	)

Set the distance between mesh points. Default: (32, 32)

Definition at line 262 of file Camera.cpp.

◆ setPreviewSize() [1/2]

void dai::node::Camera::setPreviewSize	(	int	width,
		int	height
	)

Set preview output size.

Definition at line 64 of file Camera.cpp.

◆ setPreviewSize() [2/2]

void dai::node::Camera::setPreviewSize ( std::tuple< int, int > size )

Set preview output size, as a tuple <width, height>

Definition at line 69 of file Camera.cpp.

◆ setRawOutputPacked()

void dai::node::Camera::setRawOutputPacked ( bool packed )

Configures whether the camera raw frames are saved as MIPI-packed to memory. The packed format is more efficient, consuming less memory on device, and less data to send to host: RAW10: 4 pixels saved on 5 bytes, RAW12: 2 pixels saved on 3 bytes. When packing is disabled (false), data is saved lsb-aligned, e.g. a RAW10 pixel will be stored as uint16, on bits 9..0: 0b0000'00pp'pppp'pppp. Default is auto: enabled for standard color/monochrome cameras where ISP can work with both packed/unpacked, but disabled for other cameras like ToF.

Definition at line 278 of file Camera.cpp.

◆ setSize() [1/2]

void dai::node::Camera::setSize	(	int	width,
		int	height
	)

Set desired resolution. Sets sensor size to best fit.

Definition at line 84 of file Camera.cpp.

◆ setSize() [2/2]

void dai::node::Camera::setSize ( std::tuple< int, int > size )

Set desired resolution. Sets sensor size to best fit.

Definition at line 89 of file Camera.cpp.

◆ setStillSize() [1/2]

void dai::node::Camera::setStillSize	(	int	width,
		int	height
	)

Set still output size.

Definition at line 94 of file Camera.cpp.

◆ setStillSize() [2/2]

void dai::node::Camera::setStillSize ( std::tuple< int, int > size )

Set still output size, as a tuple <width, height>

Definition at line 99 of file Camera.cpp.

◆ setVideoSize() [1/2]

void dai::node::Camera::setVideoSize	(	int	width,
		int	height
	)

Set video output size.

Definition at line 74 of file Camera.cpp.

◆ setVideoSize() [2/2]

void dai::node::Camera::setVideoSize ( std::tuple< int, int > size )

Set video output size, as a tuple <width, height>

Definition at line 79 of file Camera.cpp.

Member Data Documentation

◆ frameEvent

Output dai::node::Camera::frameEvent {*this, "frameEvent", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs metadata-only ImgFrame message as an early indicator of an incoming frame.

It's sent on the MIPI SoF (start-of-frame) event, just after the exposure of the current frame has finished and before the exposure for next frame starts. Could be used to synchronize various processes with camera capture. Fields populated: camera id, sequence number, timestamp

Definition at line 102 of file Camera.hpp.

◆ initialControl

CameraControl dai::node::Camera::initialControl

Initial control options to apply to sensor

Definition at line 43 of file Camera.hpp.

◆ inputConfig

Input dai::node::Camera::inputConfig {*this, "inputConfig", Input::Type::SReceiver, false, 8, {{DatatypeEnum::ImageManipConfig, false}}}

Input for ImageManipConfig message, which can modify crop parameters in runtime

Default queue is non-blocking with size 8

Definition at line 50 of file Camera.hpp.

◆ inputControl

Input dai::node::Camera::inputControl {*this, "inputControl", Input::Type::SReceiver, true, 8, {{DatatypeEnum::CameraControl, false}}}

Input for CameraControl message, which can modify camera parameters in runtime

Default queue is blocking with size 8

Definition at line 57 of file Camera.hpp.

◆ isp

Output dai::node::Camera::isp {*this, "isp", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries YUV420 planar (I420/IYUV) frame data.

Generated by the ISP engine, and the source for the 'video', 'preview' and 'still' outputs

Definition at line 85 of file Camera.hpp.

◆ NAME

constexpr static const char* dai::node::Camera::NAME = "Camera"

staticconstexpr

Definition at line 20 of file Camera.hpp.

◆ preview

Output dai::node::Camera::preview {*this, "preview", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries BGR/RGB planar/interleaved encoded frame data.

Suitable for use with NeuralNetwork node

Definition at line 71 of file Camera.hpp.

◆ raw

Output dai::node::Camera::raw {*this, "raw", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.

Captured directly from the camera sensor, and the source for the 'isp' output.

Definition at line 92 of file Camera.hpp.

◆ rawControl

std::shared_ptr<RawCameraControl> dai::node::Camera::rawControl

private

Definition at line 26 of file Camera.hpp.

◆ still

Output dai::node::Camera::still {*this, "still", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data.

The message is sent only when a CameraControl message arrives to inputControl with captureStill command set.

Definition at line 78 of file Camera.hpp.

◆ video

Output dai::node::Camera::video {*this, "video", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data.

Suitable for use with VideoEncoder node

Definition at line 64 of file Camera.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Camera() [1/2]

◆ Camera() [2/2]

Member Function Documentation

◆ getBoardSocket()

◆ getCalibrationAlpha()

◆ getCamera()

◆ getFps()

◆ getHeight()

◆ getImageOrientation()

◆ getMeshSource()

◆ getMeshStep()

◆ getPreviewHeight()

◆ getPreviewSize()

◆ getPreviewWidth()

◆ getProperties()

◆ getScaledSize()

◆ getSize()

◆ getStillHeight()

◆ getStillSize()

◆ getStillWidth()

◆ getVideoHeight()

◆ getVideoSize()

◆ getVideoWidth()

◆ getWidth()

◆ loadMeshData()

◆ loadMeshFile()

◆ setBoardSocket()

◆ setCalibrationAlpha()

◆ setCamera()

◆ setFps()

◆ setImageOrientation()

◆ setIsp3aFps()

◆ setMeshSource()

◆ setMeshStep()

◆ setPreviewSize() [1/2]

◆ setPreviewSize() [2/2]

◆ setRawOutputPacked()

◆ setSize() [1/2]

◆ setSize() [2/2]

◆ setStillSize() [1/2]

◆ setStillSize() [2/2]

◆ setVideoSize() [1/2]

◆ setVideoSize() [2/2]

Member Data Documentation

◆ frameEvent

◆ initialControl

◆ inputConfig

◆ inputControl

◆ isp

◆ NAME

◆ preview

◆ raw

◆ rawControl

◆ still

◆ video