MonoCamera node. For use with grayscale sensors. More...

#include <MonoCamera.hpp>

Inheritance diagram for dai::node::MonoCamera:

Public Member Functions
CameraBoardSocket	getBoardSocket () const

std::string	getCamera () const

int64_t	getCamId () const

float	getFps () const

std::vector< dai::FrameEvent >	getFrameEventFilter () const

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

int	getNumFramesPool () const
	Get number of frames in main (ISP output) pool. More...

int	getRawNumFramesPool () const
	Get number of frames in raw pool. More...

Properties::SensorResolution	getResolution () const
	Get sensor resolution. More...

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

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

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

	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)

void	setBoardSocket (CameraBoardSocket boardSocket)

void	setCamera (std::string name)

void	setCamId (int64_t id)

void	setFps (float fps)

void	setFrameEventFilter (const std::vector< dai::FrameEvent > &events)

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

void	setIsp3aFps (int isp3aFps)

void	setNumFramesPool (int num)
	Set number of frames in main (ISP output) pool. More...

void	setRawNumFramesPool (int num)
	Set number of frames in raw pool. More...

void	setRawOutputPacked (bool packed)

void	setResolution (Properties::SensorResolution resolution)
	Set sensor resolution. More...

Public Member Functions inherited from dai::NodeCRTP< Node, MonoCamera, MonoCameraProperties >
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

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

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}}}

Public Attributes inherited from dai::NodeCRTP< Node, MonoCamera, MonoCameraProperties >
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 = "MonoCamera"

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, MonoCamera, MonoCameraProperties >
using	Properties = MonoCameraProperties

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

MonoCamera node. For use with grayscale sensors.

Definition at line 17 of file MonoCamera.hpp.

Constructor & Destructor Documentation

◆ MonoCamera() [1/2]

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

Definition at line 8 of file MonoCamera.cpp.

◆ MonoCamera() [2/2]

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

Definition at line 9 of file MonoCamera.cpp.

Member Function Documentation

◆ getBoardSocket()

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

Retrieves which board socket to use

Returns: Board socket to use

Definition at line 32 of file MonoCamera.cpp.

◆ getCamera()

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

Retrieves which camera to use by name

Returns: Name of the camera to use

Definition at line 40 of file MonoCamera.cpp.

◆ getCamId()

int64_t dai::node::MonoCamera::getCamId ( ) const

Definition at line 67 of file MonoCamera.cpp.

◆ getFps()

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

Get rate at which camera should produce frames

Returns: Rate in frames per second

Definition at line 106 of file MonoCamera.cpp.

◆ getFrameEventFilter()

std::vector< dai::FrameEvent > dai::node::MonoCamera::getFrameEventFilter ( ) const

Definition at line 94 of file MonoCamera.cpp.

◆ getImageOrientation()

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

Get camera image orientation.

Definition at line 77 of file MonoCamera.cpp.

◆ getNumFramesPool()

int dai::node::MonoCamera::getNumFramesPool ( ) const

Get number of frames in main (ISP output) pool.

Definition at line 156 of file MonoCamera.cpp.

◆ getProperties()

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

protectedvirtual

Reimplemented from dai::Node.

Definition at line 21 of file MonoCamera.cpp.

◆ getRawNumFramesPool()

int dai::node::MonoCamera::getRawNumFramesPool ( ) const

Get number of frames in raw pool.

Definition at line 159 of file MonoCamera.cpp.

◆ getResolution()

MonoCameraProperties::SensorResolution dai::node::MonoCamera::getResolution ( ) const

Get sensor resolution.

Definition at line 86 of file MonoCamera.cpp.

◆ getResolutionHeight()

int dai::node::MonoCamera::getResolutionHeight ( ) const

Get sensor resolution height.

Definition at line 145 of file MonoCamera.cpp.

◆ getResolutionSize()

std::tuple< int, int > dai::node::MonoCamera::getResolutionSize ( ) const

Get sensor resolution as size.

Definition at line 116 of file MonoCamera.cpp.

◆ getResolutionWidth()

int dai::node::MonoCamera::getResolutionWidth ( ) const

Get sensor resolution width.

Definition at line 141 of file MonoCamera.cpp.

◆ setBoardSocket()

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

Specify which board socket to use

Parameters

boardSocket Board socket to use

Definition at line 27 of file MonoCamera.cpp.

◆ setCamera()

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

Specify which camera to use by name

Parameters

name	Name of the camera to use

Definition at line 36 of file MonoCamera.cpp.

◆ setCamId()

void dai::node::MonoCamera::setCamId ( int64_t id )

Definition at line 45 of file MonoCamera.cpp.

◆ setFps()

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

Set rate at which camera should produce frames

Parameters

fps	Rate in frames per second

Definition at line 98 of file MonoCamera.cpp.

◆ setFrameEventFilter()

void dai::node::MonoCamera::setFrameEventFilter ( const std::vector< dai::FrameEvent > & events )

Definition at line 90 of file MonoCamera.cpp.

◆ setImageOrientation()

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

Set camera image orientation.

Definition at line 72 of file MonoCamera.cpp.

◆ setIsp3aFps()

void dai::node::MonoCamera::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 102 of file MonoCamera.cpp.

◆ setNumFramesPool()

void dai::node::MonoCamera::setNumFramesPool ( int num )

Set number of frames in main (ISP output) pool.

Definition at line 149 of file MonoCamera.cpp.

◆ setRawNumFramesPool()

void dai::node::MonoCamera::setRawNumFramesPool ( int num )

Set number of frames in raw pool.

Definition at line 152 of file MonoCamera.cpp.

◆ setRawOutputPacked()

void dai::node::MonoCamera::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 163 of file MonoCamera.cpp.

◆ setResolution()

void dai::node::MonoCamera::setResolution ( Properties::SensorResolution resolution )

Set sensor resolution.

Definition at line 82 of file MonoCamera.cpp.

Member Data Documentation

◆ frameEvent

Output dai::node::MonoCamera::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 64 of file MonoCamera.hpp.

◆ initialControl

CameraControl dai::node::MonoCamera::initialControl

Initial control options to apply to sensor

Definition at line 34 of file MonoCamera.hpp.

◆ inputControl

Input dai::node::MonoCamera::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 40 of file MonoCamera.hpp.

◆ NAME

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

staticconstexpr

Definition at line 19 of file MonoCamera.hpp.

◆ out

Output dai::node::MonoCamera::out {*this, "out", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries RAW8 encoded (grayscale) frame data.

Suitable for use StereoDepth node. Processed by ISP

Definition at line 47 of file MonoCamera.hpp.

◆ raw

Output dai::node::MonoCamera::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

Definition at line 54 of file MonoCamera.hpp.

◆ rawControl

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

private

Definition at line 22 of file MonoCamera.hpp.

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

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MonoCamera() [1/2]

◆ MonoCamera() [2/2]

Member Function Documentation

◆ getBoardSocket()

◆ getCamera()

◆ getCamId()

◆ getFps()

◆ getFrameEventFilter()

◆ getImageOrientation()

◆ getNumFramesPool()

◆ getProperties()

◆ getRawNumFramesPool()

◆ getResolution()

◆ getResolutionHeight()

◆ getResolutionSize()

◆ getResolutionWidth()

◆ setBoardSocket()

◆ setCamera()

◆ setCamId()

◆ setFps()

◆ setFrameEventFilter()

◆ setImageOrientation()

◆ setIsp3aFps()

◆ setNumFramesPool()

◆ setRawNumFramesPool()

◆ setRawOutputPacked()

◆ setResolution()

Member Data Documentation

◆ frameEvent

◆ initialControl

◆ inputControl

◆ NAME

◆ out

◆ raw

◆ rawControl