Class CameraControl

Defined in File CameraControl.hpp

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

public dai::Buffer (Class Buffer)

Class Documentation

class CameraControl : public dai::Buffer 

CameraControl message. Specifies various camera control commands like:

Still capture
Auto/manual focus
Auto/manual white balance
Auto/manual exposure
Anti banding
…

By default the camera enables 3A, with auto-focus in CONTINUOUS_VIDEO mode, auto-white-balance in AUTO mode, and auto-exposure with anti-banding for 50Hz mains frequency.

Public Types

enum class Command : uint8_t

Values:

enumerator START_STREAM

enumerator STOP_STREAM

enumerator STILL_CAPTURE

enumerator MOVE_LENS

enumerator AF_TRIGGER

enumerator AE_MANUAL

enumerator AE_AUTO

enumerator AWB_MODE

enumerator SCENE_MODE

enumerator ANTIBANDING_MODE

enumerator EXPOSURE_COMPENSATION

enumerator AE_LOCK

enumerator AE_TARGET_FPS_RANGE

enumerator AWB_LOCK

enumerator CAPTURE_INTENT

enumerator CONTROL_MODE

enumerator FRAME_DURATION

enumerator SENSITIVITY

enumerator EFFECT_MODE

enumerator AF_MODE

enumerator NOISE_REDUCTION_STRENGTH

enumerator SATURATION

enumerator BRIGHTNESS

enumerator STREAM_FORMAT

enumerator RESOLUTION

enumerator SHARPNESS

enumerator CUSTOM_USECASE

enumerator CUSTOM_CAPT_MODE

enumerator CUSTOM_EXP_BRACKETS

enumerator CUSTOM_CAPTURE

enumerator CONTRAST

enumerator AE_REGION

enumerator AF_REGION

enumerator LUMA_DENOISE

enumerator CHROMA_DENOISE

enumerator WB_COLOR_TEMP

enumerator EXTERNAL_TRIGGER

enumerator AF_LENS_RANGE

enumerator FRAME_SYNC

enumerator STROBE_CONFIG

enumerator STROBE_TIMINGS

enumerator MOVE_LENS_RAW

enumerator HDR

enum class AutoFocusMode : uint8_t

Values:

enumerator OFF: Autofocus disabled. Suitable for manual focus

enumerator AUTO: Basic automatic focus mode. In this mode, the lens does not move unless the autofocus trigger action is called.

enumerator MACRO: Close-up focusing mode - this mode is optimized for focusing on objects very close to the camera.

enumerator CONTINUOUS_VIDEO: In this mode, the AF algorithm modifies the lens position continually to attempt to provide a constantly-in-focus image stream. The focusing behavior should be suitable for good quality video recording; typically this means slower focus movement and no overshoots.

enumerator CONTINUOUS_PICTURE: In this mode, the AF algorithm modifies the lens position continually to attempt to provide a constantly-in-focus image stream. The focusing behavior should be suitable for still image capture; typically this means focusing as fast as possible

enumerator EDOF: Extended depth of field (digital focus) mode. The camera device will produce images with an extended depth of field automatically. AF triggers are ignored.

enum class AutoWhiteBalanceMode : uint8_t

Values:

enumerator OFF: The camera device’s auto-white balance routine is disabled.

enumerator AUTO: The camera device’s auto-white balance routine is active.

enumerator INCANDESCENT: The camera device’s auto-white balance routine is disabled; the camera device uses incandescent light as the assumed scene illumination for white balance.

enumerator FLUORESCENT: The camera device’s auto-white balance routine is disabled; the camera device uses fluorescent light as the assumed scene illumination for white balance.

enumerator WARM_FLUORESCENT: The camera device’s auto-white balance routine is disabled; the camera device uses warm fluorescent light as the assumed scene illumination for white balance.

enumerator DAYLIGHT: The camera device’s auto-white balance routine is disabled; the camera device uses daylight light as the assumed scene illumination for white balance.

enumerator CLOUDY_DAYLIGHT: The camera device’s auto-white balance routine is disabled; the camera device uses cloudy daylight light as the assumed scene illumination for white balance.

enumerator TWILIGHT: The camera device’s auto-white balance routine is disabled; the camera device uses twilight light as the assumed scene illumination for white balance.

enumerator SHADE: The camera device’s auto-white balance routine is disabled; the camera device uses shade light as the assumed scene illumination for white balance.

enum class SceneMode : uint8_t

Values:

enumerator UNSUPPORTED: Indicates that no scene modes are set for a given capture request.

enumerator FACE_PRIORITY: If face detection support exists, use face detection data for auto-focus, auto-white balance, and auto-exposure routines.

enumerator ACTION: Optimized for photos of quickly moving objects. Similar to SPORTS scene mode.

enumerator PORTRAIT: Optimized for still photos of people.

enumerator LANDSCAPE: Optimized for photos of distant macroscopic objects.

enumerator NIGHT: Optimized for low-light settings.

enumerator NIGHT_PORTRAIT: Optimized for still photos of people in low-light settings.

enumerator THEATRE: Optimized for dim, indoor settings where flash must remain off.

enumerator BEACH: Optimized for bright, outdoor beach settings.

enumerator SNOW: Optimized for bright, outdoor settings containing snow.

enumerator SUNSET: Optimized for scenes of the setting sun.

enumerator STEADYPHOTO: Optimized to avoid blurry photos due to small amounts of device motion (for example: due to hand shake).

enumerator FIREWORKS: Optimized for nighttime photos of fireworks.

enumerator SPORTS: Optimized for photos of quickly moving people.

enumerator PARTY: Optimized for dim, indoor settings with multiple moving people.

enumerator CANDLELIGHT: Optimized for dim settings where the main light source is a candle.

enumerator BARCODE: Optimized for accurately capturing a photo of barcode for use by camera applications that wish to read the barcode value.

enum class AntiBandingMode : uint8_t

Values:

enumerator OFF: The camera device will not adjust exposure duration to avoid banding problems.

enumerator MAINS_50_HZ: The camera device will adjust exposure duration to avoid banding problems with 50Hz illumination sources.

enumerator MAINS_60_HZ: The camera device will adjust exposure duration to avoid banding problems with 60Hz illumination sources.

enumerator AUTO: The camera device will automatically adapt its antibanding routine to the current illumination condition. This is the default mode if AUTO is available on given camera device.

enum class CaptureIntent : uint8_t

Values:

enumerator CUSTOM: The goal of this request doesn’t fall into the other categories. The camera device will default to preview-like behavior.

enumerator PREVIEW: This request is for a preview-like use case.

enumerator STILL_CAPTURE: This request is for a still capture-type use case.

enumerator VIDEO_RECORD: This request is for a video recording use case.

enumerator VIDEO_SNAPSHOT: This request is for a video snapshot (still image while recording video) use case. The camera device should take the highest-quality image possible (given the other settings) without disrupting the frame rate of video recording.

enumerator ZERO_SHUTTER_LAG: This request is for a ZSL usecase; the application will stream full-resolution images and reprocess one or several later for a final capture.

enum class ControlMode : uint8_t

Values:

enumerator OFF: Full application control of pipeline. All control by the device’s metering and focusing (3A) routines is disabled.

enumerator AUTO: Use settings for each individual 3A routine. Manual control of capture parameters is disabled.

enumerator USE_SCENE_MODE: Use a specific scene mode. Enabling this disables Auto-Exposure, AWB and AF controls;

enum class EffectMode : uint8_t

Values:

enumerator OFF: No color effect will be applied.

enumerator MONO: A “monocolor” effect where the image is mapped into a single color. This will typically be grayscale.

enumerator NEGATIVE: A “photo-negative” effect where the image’s colors are inverted.

enumerator SOLARIZE: A “solarisation” effect (Sabattier effect) where the image is wholly or partially reversed in tone.

enumerator SEPIA: A “sepia” effect where the image is mapped into warm gray, red, and brown tones.

enumerator POSTERIZE: A “posterization” effect where the image uses discrete regions of tone rather than a continuous gradient of tones.

enumerator WHITEBOARD: A “whiteboard” effect where the image is typically displayed as regions of white, with black or grey details.

enumerator BLACKBOARD: A “blackboard” effect where the image is typically displayed as regions of black, with white or grey details.

enumerator AQUA: An “aqua” effect where a blue hue is added to the image.

enum class FrameSyncMode : uint8_t

Values:

enumerator OFF

enumerator OUTPUT

enumerator INPUT

Public Functions

CameraControl() = default

CameraControl &setCaptureStill(bool capture): Set a command to capture a still image

CameraControl &setStartStreaming(): Set a command to start streaming

CameraControl &setStopStreaming(): Set a command to stop streaming

CameraControl &setExternalTrigger(int numFramesBurst, int numFramesDiscard)

Set a command to enable external trigger snapshot mode

A rising edge on the sensor FSIN pin will make it capture a sequence of numFramesBurst frames. First numFramesDiscard will be skipped as configured (can be set to 0 as well), as they may have degraded quality

CameraControl &setFrameSyncMode(FrameSyncMode mode): Set the frame sync mode for continuous streaming operation mode, translating to how the camera pin FSIN/FSYNC is used: input/output/disabled

CameraControl &setStrobeSensor(int activeLevel = 1): Enable STROBE output on sensor pin, optionally configuring the polarity. Note: for many sensors the polarity is high-active and not configurable

CameraControl &setStrobeExternal(int gpioNumber, int activeLevel = 1): Enable STROBE output driven by a MyriadX GPIO, optionally configuring the polarity This normally requires a FSIN/FSYNC/trigger input for MyriadX (usually GPIO 41), to generate timings

CameraControl &setStrobeDisable(): Disable STROBE output

CameraControl &setAutoFocusMode(AutoFocusMode mode): Set a command to specify autofocus mode. Default CONTINUOUS_VIDEO

CameraControl &setAutoFocusTrigger(): Set a command to trigger autofocus

CameraControl &setAutoFocusLensRange(int infinityPosition, int macroPosition): Set autofocus lens range, infinityPosition < macroPosition, valid values 0..255. May help to improve autofocus in case the lens adjustment is not typical/tuned

CameraControl &setAutoFocusRegion(uint16_t startX, uint16_t startY, uint16_t width, uint16_t height)

Set a command to specify focus region in pixels. Note: the region should be mapped to the configured sensor resolution, before ISP scaling

Parameters:

startX – X coordinate of top left corner of region
startY – Y coordinate of top left corner of region
width – Region width
height – Region height

CameraControl &setManualFocus(uint8_t lensPosition)

Set a command to specify manual focus position

Parameters:: lensPosition – specify lens position 0..255

CameraControl &setManualFocusRaw(float lensPositionRaw)

Set a command to specify manual focus position (more precise control).

Parameters:: lensPositionRaw – specify lens position 0.0f .. 1.0f
Returns:: CameraControl&

CameraControl &setAutoExposureEnable(): Set a command to enable auto exposure

CameraControl &setAutoExposureLock(bool lock)

Set a command to stop the auto-exposure algorithm. The latest AE sensor configuration is kept.

Parameters:: lock – Auto exposure lock mode enabled or disabled

CameraControl &setAutoExposureRegion(uint16_t startX, uint16_t startY, uint16_t width, uint16_t height)

Set a command to specify auto exposure region in pixels. Note: the region should be mapped to the configured sensor resolution, before ISP scaling

Parameters:

startX – X coordinate of top left corner of region
startY – Y coordinate of top left corner of region
width – Region width
height – Region height

CameraControl &setAutoExposureCompensation(int compensation)

Set a command to specify auto exposure compensation. This modifies the brightness target with positive nubers making the image brighter and negative numbers making the image darker.

Parameters:: compensation – Compensation value between -9..9, default 0

CameraControl &setAutoExposureLimit(uint32_t maxExposureTimeUs)

Set a command to specify the maximum exposure time limit for auto-exposure. By default the AE algorithm prioritizes increasing exposure over ISO, up to around frame-time (subject to further limits imposed by anti-banding)

Parameters:: maxExposureTimeUs – Maximum exposure time in microseconds

CameraControl &setAutoExposureLimit(std::chrono::microseconds maxExposureTime)

Set a command to specify the maximum exposure time limit for auto-exposure. By default the AE algorithm prioritizes increasing exposure over ISO, up to around frame-time (subject to further limits imposed by anti-banding)

Parameters:: maxExposureTime – Maximum exposure time

CameraControl &setAntiBandingMode(AntiBandingMode mode)

Set a command to specify anti-banding mode. Anti-banding / anti-flicker works in auto-exposure mode, by controlling the exposure time to be applied in multiples of half the mains period, for example in multiple of 10ms for 50Hz (period 20ms) AC-powered illumination sources.

If the scene would be too bright for the smallest exposure step (10ms in the example, with ISO at a minimum of 100), anti-banding is not effective.

Parameters:: mode – Anti-banding mode to use. Default: MAINS_50_HZ

CameraControl &setManualExposure(uint32_t exposureTimeUs, uint32_t sensitivityIso)

Set a command to manually specify exposure

Parameters:

exposureTimeUs – Exposure time in microseconds
sensitivityIso – Sensitivity as ISO value, usual range 100..1600

CameraControl &setManualExposure(std::chrono::microseconds exposureTime, uint32_t sensitivityIso)

Set a command to manually specify exposure

Parameters:

exposureTime – Exposure time
sensitivityIso – Sensitivity as ISO value, usual range 100..1600

CameraControl &setAutoWhiteBalanceMode(AutoWhiteBalanceMode mode)

Set a command to specify auto white balance mode

Parameters:: mode – Auto white balance mode to use. Default AUTO

CameraControl &setAutoWhiteBalanceLock(bool lock)

Set a command to specify auto white balance lock

Parameters:: lock – Auto white balance lock mode enabled or disabled

CameraControl &setManualWhiteBalance(int colorTemperatureK)

Set a command to manually specify white-balance color correction

Parameters:: colorTemperatureK – Light source color temperature in kelvins, range 1000..12000

CameraControl &setBrightness(int value)

Set a command to adjust image brightness

Parameters:: value – Brightness, range -10..10, default 0

CameraControl &setContrast(int value)

Set a command to adjust image contrast

Parameters:: value – Contrast, range -10..10, default 0

CameraControl &setSaturation(int value)

Set a command to adjust image saturation

Parameters:: value – Saturation, range -10..10, default 0

CameraControl &setSharpness(int value)

Set a command to adjust image sharpness

Parameters:: value – Sharpness, range 0..4, default 1

CameraControl &setLumaDenoise(int value)

Set a command to adjust luma denoise amount

Parameters:: value – Luma denoise amount, range 0..4, default 1

CameraControl &setChromaDenoise(int value)

Set a command to adjust chroma denoise amount

Parameters:: value – Chroma denoise amount, range 0..4, default 1

CameraControl &setSceneMode(SceneMode mode)

Set a command to specify scene mode

Parameters:: mode – Scene mode

CameraControl &setEffectMode(EffectMode mode)

Set a command to specify effect mode

Parameters:: mode – Effect mode

CameraControl &setMisc(std::string control, std::string value)

Set a miscellaneous control. The controls set by this function get appended to a list, processed after the standard controls

Parameters:

control – Control name
value – Value as a string

CameraControl &setMisc(std::string control, int value)

Set a miscellaneous control. The controls set by this function get appended to a list, processed after the standard controls

Parameters:

control – Control name
value – Value as an integer number

CameraControl &setMisc(std::string control, float value)

Set a miscellaneous control. The controls set by this function get appended to a list, processed after the standard controls

Parameters:

control – Control name
value – Value as a floating point number

void clearMiscControls(): Clear the list of miscellaneous controls set by setControl

std::vector<std::pair<std::string, std::string>> getMiscControls()

Get the list of miscellaneous controls set by setControl

Returns:: A list of <key, value> pairs as strings

CameraControl &setControlMode(ControlMode mode)

Set a command to specify control mode

Parameters:: mode – Control mode

CameraControl &setHdr(bool enable)

Whether or not to enable HDR (High Dynamic Range) mode

Parameters:: enable – True to enable HDR mode, false to disable

CameraControl &setCaptureIntent(CaptureIntent mode)

Set a command to specify capture intent mode

Parameters:: mode – Capture intent mode

bool getCaptureStill() const

Check whether command to capture a still is set

Returns:: True if capture still command is set

std::chrono::microseconds getExposureTime() const: Retrieves exposure time

int getSensitivity() const: Retrieves sensitivity, as an ISO value

int getLensPosition() const: Retrieves lens position, range 0..255. Returns -1 if not available

bool getHdr() const

Whether or not HDR (High Dynamic Range) mode is enabled

Returns:: True if HDR mode is enabled, false otherwise

inline void setCommand(Command cmd, bool value = true)

inline void clearCommand(Command cmd)

inline bool getCommand(Command cmd) const

~CameraControl() override

virtual void serialize(std::vector<std::uint8_t> &metadata, DatatypeEnum &datatype) const override

float getLensPositionRaw() const: Retrieves lens position, range 0.0f..1.0f.

Public Members

uint64_t cmdMask = 0

AutoFocusMode autoFocusMode = AutoFocusMode::CONTINUOUS_VIDEO 

uint8_t lensPosition = 0

Lens/VCM position, range: 0..255. Used with autoFocusMode = OFF. With current IMX378 modules:

max 255: macro focus, at 8cm distance
infinite focus at about 120..130 (may vary from module to module)
lower values lead to out-of-focus (lens too close to the sensor array)

float lensPositionRaw = 0

uint8_t lensPosAutoInfinity

uint8_t lensPosAutoMacro

ManualExposureParams expManual

RegionParams aeRegion

RegionParams afRegion

AutoWhiteBalanceMode awbMode

SceneMode sceneMode

AntiBandingMode antiBandingMode

CaptureIntent captureIntent

ControlMode controlMode

EffectMode effectMode

FrameSyncMode frameSyncMode

StrobeConfig strobeConfig

StrobeTimings strobeTimings

uint32_t aeMaxExposureTimeUs

bool aeLockMode = {false}

bool awbLockMode = {false}

int8_t expCompensation

int8_t brightness

int8_t contrast

int8_t saturation

uint8_t sharpness

uint8_t lumaDenoise

uint8_t chromaDenoise

uint16_t wbColorTemp

uint8_t lowPowerNumFramesBurst

uint8_t lowPowerNumFramesDiscard

bool enableHdr = {false}

std::vector<std::pair<std::string, std::string>> miscControls

struct ManualExposureParams

Public Functions

DEPTHAI_SERIALIZE(ManualExposureParams, exposureTimeUs, sensitivityIso, frameDurationUs)

Public Members

uint32_t exposureTimeUs

uint32_t sensitivityIso

uint32_t frameDurationUs

struct RegionParams

Public Functions

DEPTHAI_SERIALIZE(RegionParams, x, y, width, height, priority)

Public Members

uint16_t x

uint16_t y

uint16_t width

uint16_t height

uint32_t priority

struct StrobeConfig

Public Functions

DEPTHAI_SERIALIZE(StrobeConfig, enable, activeLevel, gpioNumber)

Public Members

uint8_t enable: Enable strobe output.

uint8_t activeLevel: 1 for normal polarity (high-active), 0 otherwise

int8_t gpioNumber: GPIO number to drive, or -1 if sensor driven.

struct StrobeTimings

Public Functions

DEPTHAI_SERIALIZE(StrobeTimings, exposureBeginOffsetUs, exposureEndOffsetUs, durationUs)

Public Members

int32_t exposureBeginOffsetUs: Start offset in microseconds, relative to exposure window.

int32_t exposureEndOffsetUs: End offset in microseconds, relative to exposure window.

uint32_t durationUs: Fixed duration in microseconds. If set (non-zero), overrides exposureEndOffsetUs