ColorCamera node. For use with color sensors. More...

#include <ColorCamera.hpp>

Inheritance diagram for dai::node::ColorCamera:

Public Member Functions
	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)

CameraBoardSocket	getBoardSocket () const

std::string	getCamera () const

int64_t	getCamId () const
	Get which color camera to use. More...

ColorCameraProperties::ColorOrder	getColorOrder () const
	Get color order of preview output frames. RGB or BGR. More...

bool	getFp16 () const
	Get fp16 (0..255) data of preview output frames. More...

float	getFps () const

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

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

bool	getInterleaved () const
	Get planar or interleaved data of preview output frames. More...

int	getIspHeight () const
	Get 'isp' output height. More...

int	getIspNumFramesPool ()
	Get number of frames in isp pool. More...

std::tuple< int, int >	getIspSize () const
	Get 'isp' output resolution as size, after scaling. More...

int	getIspWidth () const
	Get 'isp' output width. More...

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

bool	getPreviewKeepAspectRatio ()

int	getPreviewNumFramesPool ()
	Get number of frames in preview pool. More...

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

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

int	getRawNumFramesPool ()
	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...

int	getScaledSize (int input, int num, int denom) const

std::tuple< float, float >	getSensorCrop () const

float	getSensorCropX () const
	Get sensor top left x crop coordinate. More...

float	getSensorCropY () const
	Get sensor top left y crop coordinate. More...

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

int	getStillNumFramesPool ()
	Get number of frames in still pool. 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...

int	getVideoNumFramesPool ()
	Get number of frames in video pool. More...

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

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

bool	getWaitForConfigInput () const

void	sensorCenterCrop ()

void	setBoardSocket (CameraBoardSocket boardSocket)

void	setCamera (std::string name)

void	setCamId (int64_t id)
	Set which color camera to use. More...

void	setColorOrder (ColorCameraProperties::ColorOrder colorOrder)
	Set color order of preview output images. RGB or BGR. More...

void	setFp16 (bool fp16)
	Set fp16 (0..255) data type of preview output frames. More...

void	setFps (float fps)

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

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

void	setInterleaved (bool interleaved)
	Set planar or interleaved data of preview output frames. More...

void	setIsp3aFps (int isp3aFps)

void	setIspNumFramesPool (int num)
	Set number of frames in isp pool. More...

void	setIspScale (int horizNum, int horizDenom, int vertNum, int vertDenom)

void	setIspScale (int numerator, int denominator)

void	setIspScale (std::tuple< int, int > horizScale, std::tuple< int, int > vertScale)
	Set 'isp' output scaling, per each direction, as <numerator, denominator> tuples. More...

void	setIspScale (std::tuple< int, int > scale)
	Set 'isp' output scaling, as a tuple <numerator, denominator> More...

void	setNumFramesPool (int raw, int isp, int preview, int video, int still)
	Set number of frames in all pools. More...

void	setPreviewKeepAspectRatio (bool keep)

void	setPreviewNumFramesPool (int num)
	Set number of frames in preview pool. More...

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

void	setRawOutputPacked (bool packed)

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

void	setSensorCrop (float x, float y)

void	setStillNumFramesPool (int num)
	Set number of frames in preview pool. 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	setVideoNumFramesPool (int num)
	Set number of frames in preview pool. 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...

void	setWaitForConfigInput (bool wait)

Public Member Functions inherited from dai::NodeCRTP< Node, ColorCamera, ColorCameraProperties >
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	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, ColorCamera, ColorCameraProperties >
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 = "ColorCamera"

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, ColorCamera, ColorCameraProperties >
using	Properties = ColorCameraProperties

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

ColorCamera node. For use with color sensors.

Definition at line 16 of file ColorCamera.hpp.

Constructor & Destructor Documentation

◆ ColorCamera() [1/2]

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

Constructs ColorCamera node.

Definition at line 10 of file ColorCamera.cpp.

◆ ColorCamera() [2/2]

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

Definition at line 11 of file ColorCamera.cpp.

Member Function Documentation

◆ getBoardSocket()

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

Retrieves which board socket to use

Returns: Board socket to use

Definition at line 40 of file ColorCamera.cpp.

◆ getCamera()

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

Retrieves which camera to use by name

Returns: Name of the camera to use

Definition at line 48 of file ColorCamera.cpp.

◆ getCamId()

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

Get which color camera to use.

Definition at line 75 of file ColorCamera.cpp.

◆ getColorOrder()

ColorCameraProperties::ColorOrder dai::node::ColorCamera::getColorOrder ( ) const

Get color order of preview output frames. RGB or BGR.

Definition at line 96 of file ColorCamera.cpp.

◆ getFp16()

bool dai::node::ColorCamera::getFp16 ( ) const

Get fp16 (0..255) data of preview output frames.

Definition at line 116 of file ColorCamera.cpp.

◆ getFps()

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

Get rate at which camera should produce frames

Returns: Rate in frames per second

Definition at line 192 of file ColorCamera.cpp.

◆ getFrameEventFilter()

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

Definition at line 188 of file ColorCamera.cpp.

◆ getImageOrientation()

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

Get camera image orientation.

Definition at line 85 of file ColorCamera.cpp.

◆ getInterleaved()

bool dai::node::ColorCamera::getInterleaved ( ) const

Get planar or interleaved data of preview output frames.

Definition at line 106 of file ColorCamera.cpp.

◆ getIspHeight()

int dai::node::ColorCamera::getIspHeight ( ) const

Get 'isp' output height.

Definition at line 451 of file ColorCamera.cpp.

◆ getIspNumFramesPool()

int dai::node::ColorCamera::getIspNumFramesPool ( )

Get number of frames in isp pool.

Definition at line 551 of file ColorCamera.cpp.

◆ getIspSize()

std::tuple< int, int > dai::node::ColorCamera::getIspSize ( ) const

Get 'isp' output resolution as size, after scaling.

Definition at line 461 of file ColorCamera.cpp.

◆ getIspWidth()

int dai::node::ColorCamera::getIspWidth ( ) const

Get 'isp' output width.

Definition at line 441 of file ColorCamera.cpp.

◆ getPreviewHeight()

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

Get preview height.

Definition at line 211 of file ColorCamera.cpp.

◆ getPreviewKeepAspectRatio()

bool dai::node::ColorCamera::getPreviewKeepAspectRatio ( )

See also: setPreviewKeepAspectRatio

Returns: Preview keep aspect ratio option

Definition at line 511 of file ColorCamera.cpp.

◆ getPreviewNumFramesPool()

int dai::node::ColorCamera::getPreviewNumFramesPool ( )

Get number of frames in preview pool.

Definition at line 539 of file ColorCamera.cpp.

◆ getPreviewSize()

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

Get preview size as tuple.

Definition at line 203 of file ColorCamera.cpp.

◆ getPreviewWidth()

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

Get preview width.

Definition at line 207 of file ColorCamera.cpp.

◆ getProperties()

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

protectedvirtual

Reimplemented from dai::Node.

Definition at line 29 of file ColorCamera.cpp.

◆ getRawNumFramesPool()

int dai::node::ColorCamera::getRawNumFramesPool ( )

Get number of frames in raw pool.

Definition at line 548 of file ColorCamera.cpp.

◆ getResolution()

ColorCameraProperties::SensorResolution dai::node::ColorCamera::getResolution ( ) const

Get sensor resolution.

Definition at line 172 of file ColorCamera.cpp.

◆ getResolutionHeight()

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

Get sensor resolution height.

Definition at line 433 of file ColorCamera.cpp.

◆ getResolutionSize()

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

Get sensor resolution as size.

Definition at line 367 of file ColorCamera.cpp.

◆ getResolutionWidth()

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

Get sensor resolution width.

Definition at line 429 of file ColorCamera.cpp.

◆ getScaledSize()

int dai::node::ColorCamera::getScaledSize	(	int	input,
		int	num,
		int	denom
	)		const

Computes the scaled size given numerator and denominator

Definition at line 437 of file ColorCamera.cpp.

◆ getSensorCrop()

std::tuple< float, float > dai::node::ColorCamera::getSensorCrop ( ) const

Returns: Sensor top left crop coordinates

Definition at line 481 of file ColorCamera.cpp.

◆ getSensorCropX()

float dai::node::ColorCamera::getSensorCropX ( ) const

Get sensor top left x crop coordinate.

Definition at line 491 of file ColorCamera.cpp.

◆ getSensorCropY()

float dai::node::ColorCamera::getSensorCropY ( ) const

Get sensor top left y crop coordinate.

Definition at line 495 of file ColorCamera.cpp.

◆ getStillHeight()

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

Get still height.

Definition at line 362 of file ColorCamera.cpp.

◆ getStillNumFramesPool()

int dai::node::ColorCamera::getStillNumFramesPool ( )

Get number of frames in still pool.

Definition at line 545 of file ColorCamera.cpp.

◆ getStillSize()

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

Get still size as tuple.

Definition at line 289 of file ColorCamera.cpp.

◆ getStillWidth()

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

Get still width.

Definition at line 358 of file ColorCamera.cpp.

◆ getVideoHeight()

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

Get video height.

Definition at line 284 of file ColorCamera.cpp.

◆ getVideoNumFramesPool()

int dai::node::ColorCamera::getVideoNumFramesPool ( )

Get number of frames in video pool.

Definition at line 542 of file ColorCamera.cpp.

◆ getVideoSize()

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

Get video size as tuple.

Definition at line 216 of file ColorCamera.cpp.

◆ getVideoWidth()

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

Get video width.

Definition at line 280 of file ColorCamera.cpp.

◆ getWaitForConfigInput()

bool dai::node::ColorCamera::getWaitForConfigInput ( ) const

See also: setWaitForConfigInput

Returns: True if wait for inputConfig message, false otherwise

Definition at line 503 of file ColorCamera.cpp.

◆ sensorCenterCrop()

void dai::node::ColorCamera::sensorCenterCrop ( )

Specify sensor center crop. Resolution size / video size

Definition at line 465 of file ColorCamera.cpp.

◆ setBoardSocket()

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

Specify which board socket to use

Parameters

boardSocket Board socket to use

Definition at line 35 of file ColorCamera.cpp.

◆ setCamera()

void dai::node::ColorCamera::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 ColorCamera.cpp.

◆ setCamId()

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

Set which color camera to use.

Definition at line 53 of file ColorCamera.cpp.

◆ setColorOrder()

void dai::node::ColorCamera::setColorOrder ( ColorCameraProperties::ColorOrder colorOrder )

Set color order of preview output images. RGB or BGR.

Definition at line 91 of file ColorCamera.cpp.

◆ setFp16()

void dai::node::ColorCamera::setFp16 ( bool fp16 )

Set fp16 (0..255) data type of preview output frames.

Definition at line 111 of file ColorCamera.cpp.

◆ setFps()

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

Set rate at which camera should produce frames

Parameters

fps	Rate in frames per second

Definition at line 176 of file ColorCamera.cpp.

◆ setFrameEventFilter()

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

Definition at line 184 of file ColorCamera.cpp.

◆ setImageOrientation()

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

Set camera image orientation.

Definition at line 80 of file ColorCamera.cpp.

◆ setInterleaved()

void dai::node::ColorCamera::setInterleaved ( bool interleaved )

Set planar or interleaved data of preview output frames.

Definition at line 101 of file ColorCamera.cpp.

◆ setIsp3aFps()

void dai::node::ColorCamera::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 180 of file ColorCamera.cpp.

◆ setIspNumFramesPool()

void dai::node::ColorCamera::setIspNumFramesPool ( int num )

Set number of frames in isp pool.

Definition at line 535 of file ColorCamera.cpp.

◆ setIspScale() [1/4]

void dai::node::ColorCamera::setIspScale	(	int	horizNum,
		int	horizDenom,
		int	vertNum,
		int	vertDenom
	)

Set 'isp' output scaling, per each direction. If the horizontal scaling factor (horizNum/horizDen) is different than the vertical scaling factor (vertNum/vertDen), a distorted (stretched or squished) image is generated

Definition at line 150 of file ColorCamera.cpp.

◆ setIspScale() [2/4]

void dai::node::ColorCamera::setIspScale	(	int	numerator,
		int	denominator
	)

Set 'isp' output scaling (numerator/denominator), preserving the aspect ratio. The fraction numerator/denominator is simplified first to a irreducible form, then a set of hardware scaler constraints applies: max numerator = 16, max denominator = 63

Definition at line 157 of file ColorCamera.cpp.

◆ setIspScale() [3/4]

void dai::node::ColorCamera::setIspScale	(	std::tuple< int, int >	horizScale,
		std::tuple< int, int >	vertScale
	)

Set 'isp' output scaling, per each direction, as <numerator, denominator> tuples.

Definition at line 165 of file ColorCamera.cpp.

◆ setIspScale() [4/4]

void dai::node::ColorCamera::setIspScale ( std::tuple< int, int > scale )

Set 'isp' output scaling, as a tuple <numerator, denominator>

Definition at line 161 of file ColorCamera.cpp.

◆ setNumFramesPool()

void dai::node::ColorCamera::setNumFramesPool	(	int	raw,
		int	isp,
		int	preview,
		int	video,
		int	still
	)

Set number of frames in all pools.

Definition at line 515 of file ColorCamera.cpp.

◆ setPreviewKeepAspectRatio()

void dai::node::ColorCamera::setPreviewKeepAspectRatio ( bool keep )

Specifies whether preview output should preserve aspect ratio, after downscaling from video size or not.

Parameters

keep	If true, a larger crop region will be considered to still be able to create the final image in the specified aspect ratio. Otherwise video size is resized to fit preview size

Definition at line 507 of file ColorCamera.cpp.

◆ setPreviewNumFramesPool()

void dai::node::ColorCamera::setPreviewNumFramesPool ( int num )

Set number of frames in preview pool.

Definition at line 523 of file ColorCamera.cpp.

◆ setPreviewSize() [1/2]

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

Set preview output size.

Definition at line 121 of file ColorCamera.cpp.

◆ setPreviewSize() [2/2]

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

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

Definition at line 126 of file ColorCamera.cpp.

◆ setRawNumFramesPool()

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

Set number of frames in raw pool.

Definition at line 532 of file ColorCamera.cpp.

◆ setRawOutputPacked()

void dai::node::ColorCamera::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 555 of file ColorCamera.cpp.

◆ setResolution()

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

Set sensor resolution.

Definition at line 169 of file ColorCamera.cpp.

◆ setSensorCrop()

void dai::node::ColorCamera::setSensorCrop	(	float	x,
		float	y
	)

Specifies the cropping that happens when converting ISP to video output. By default, video will be center cropped from the ISP output. Note that this doesn't actually do on-sensor cropping (and MIPI-stream only that region), but it does postprocessing on the ISP (on RVC).

Parameters

x	Top left X coordinate
y	Top left Y coordinate

Definition at line 470 of file ColorCamera.cpp.

◆ setStillNumFramesPool()

void dai::node::ColorCamera::setStillNumFramesPool ( int num )

Set number of frames in preview pool.

Definition at line 529 of file ColorCamera.cpp.

◆ setStillSize() [1/2]

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

Set still output size.

Definition at line 141 of file ColorCamera.cpp.

◆ setStillSize() [2/2]

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

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

Definition at line 146 of file ColorCamera.cpp.

◆ setVideoNumFramesPool()

void dai::node::ColorCamera::setVideoNumFramesPool ( int num )

Set number of frames in preview pool.

Definition at line 526 of file ColorCamera.cpp.

◆ setVideoSize() [1/2]

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

Set video output size.

Definition at line 131 of file ColorCamera.cpp.

◆ setVideoSize() [2/2]

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

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

Definition at line 136 of file ColorCamera.cpp.

◆ setWaitForConfigInput()

void dai::node::ColorCamera::setWaitForConfigInput ( bool wait )

Specify to wait until inputConfig receives a configuration message, before sending out a frame.

Parameters

wait	True to wait for inputConfig message, false otherwise

Definition at line 499 of file ColorCamera.cpp.

Member Data Documentation

◆ frameEvent

Output dai::node::ColorCamera::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 100 of file ColorCamera.hpp.

◆ initialControl

CameraControl dai::node::ColorCamera::initialControl

Initial control options to apply to sensor

Definition at line 41 of file ColorCamera.hpp.

◆ inputConfig

Input dai::node::ColorCamera::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 48 of file ColorCamera.hpp.

◆ inputControl

Input dai::node::ColorCamera::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 55 of file ColorCamera.hpp.

◆ isp

Output dai::node::ColorCamera::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 83 of file ColorCamera.hpp.

◆ NAME

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

staticconstexpr

Definition at line 18 of file ColorCamera.hpp.

◆ preview

Output dai::node::ColorCamera::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 69 of file ColorCamera.hpp.

◆ raw

Output dai::node::ColorCamera::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 90 of file ColorCamera.hpp.

◆ rawControl

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

private

Definition at line 24 of file ColorCamera.hpp.

◆ still

Output dai::node::ColorCamera::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 76 of file ColorCamera.hpp.

◆ video

Output dai::node::ColorCamera::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 62 of file ColorCamera.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

◆ ColorCamera() [1/2]

◆ ColorCamera() [2/2]

Member Function Documentation

◆ getBoardSocket()

◆ getCamera()

◆ getCamId()

◆ getColorOrder()

◆ getFp16()

◆ getFps()

◆ getFrameEventFilter()

◆ getImageOrientation()

◆ getInterleaved()

◆ getIspHeight()

◆ getIspNumFramesPool()

◆ getIspSize()

◆ getIspWidth()

◆ getPreviewHeight()

◆ getPreviewKeepAspectRatio()

◆ getPreviewNumFramesPool()

◆ getPreviewSize()

◆ getPreviewWidth()

◆ getProperties()

◆ getRawNumFramesPool()

◆ getResolution()

◆ getResolutionHeight()

◆ getResolutionSize()

◆ getResolutionWidth()

◆ getScaledSize()

◆ getSensorCrop()

◆ getSensorCropX()

◆ getSensorCropY()

◆ getStillHeight()

◆ getStillNumFramesPool()

◆ getStillSize()

◆ getStillWidth()

◆ getVideoHeight()

◆ getVideoNumFramesPool()

◆ getVideoSize()

◆ getVideoWidth()

◆ getWaitForConfigInput()

◆ sensorCenterCrop()

◆ setBoardSocket()

◆ setCamera()

◆ setCamId()

◆ setColorOrder()

◆ setFp16()

◆ setFps()

◆ setFrameEventFilter()

◆ setImageOrientation()

◆ setInterleaved()

◆ setIsp3aFps()

◆ setIspNumFramesPool()

◆ setIspScale() [1/4]

◆ setIspScale() [2/4]

◆ setIspScale() [3/4]

◆ setIspScale() [4/4]

◆ setNumFramesPool()

◆ setPreviewKeepAspectRatio()

◆ setPreviewNumFramesPool()

◆ setPreviewSize() [1/2]

◆ setPreviewSize() [2/2]

◆ setRawNumFramesPool()

◆ setRawOutputPacked()

◆ setResolution()

◆ setSensorCrop()

◆ setStillNumFramesPool()

◆ setStillSize() [1/2]

◆ setStillSize() [2/2]

◆ setVideoNumFramesPool()

◆ setVideoSize() [1/2]

◆ setVideoSize() [2/2]

◆ setWaitForConfigInput()