CameraControl

This message is used for controlling the color camera as well as the mono camera. The message handles things like capturing still images, configuring auto focus, anti banding, white balance, scenes, effects etc.

Examples of functionality

• RGB Camera Control

• Mono Camera Control

• Auto Exposure on ROI

Reference

Python

C++

class depthai.CameraControl

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.

class AntiBandingMode

Members:

OFF

MAINS_50_HZ

MAINS_60_HZ

AUTO

property name

class AutoFocusMode

Members:

OFF

AUTO

MACRO

CONTINUOUS_VIDEO

CONTINUOUS_PICTURE

EDOF

property name

class AutoWhiteBalanceMode

Members:

OFF

AUTO

INCANDESCENT

FLUORESCENT

WARM_FLUORESCENT

DAYLIGHT

CLOUDY_DAYLIGHT

TWILIGHT

SHADE

property name

class Command

Members:

START_STREAM

STOP_STREAM

STILL_CAPTURE

MOVE_LENS

AF_TRIGGER

AE_MANUAL

AE_AUTO

AWB_MODE

SCENE_MODE

ANTIBANDING_MODE

EXPOSURE_COMPENSATION

AE_LOCK

AE_TARGET_FPS_RANGE

AWB_LOCK

CAPTURE_INTENT

CONTROL_MODE

FRAME_DURATION

SENSITIVITY

EFFECT_MODE

AF_MODE

NOISE_REDUCTION_STRENGTH

SATURATION

BRIGHTNESS

STREAM_FORMAT

RESOLUTION

SHARPNESS

CUSTOM_USECASE

CUSTOM_CAPT_MODE

CUSTOM_EXP_BRACKETS

CUSTOM_CAPTURE

CONTRAST

AE_REGION

AF_REGION

LUMA_DENOISE

CHROMA_DENOISE

WB_COLOR_TEMP

property name

class EffectMode

Members:

OFF

MONO

NEGATIVE

SOLARIZE

SEPIA

POSTERIZE

WHITEBOARD

BLACKBOARD

AQUA

property name

class FrameSyncMode

Members:

OFF

OUTPUT

INPUT

property name

class SceneMode

Members:

UNSUPPORTED

FACE_PRIORITY

ACTION

PORTRAIT

LANDSCAPE

NIGHT

NIGHT_PORTRAIT

THEATRE

BEACH

SNOW

SUNSET

STEADYPHOTO

FIREWORKS

SPORTS

PARTY

CANDLELIGHT

BARCODE

property name

get(self: depthai.CameraControl) → depthai.RawCameraControl

Retrieve configuration data for CameraControl.

Returns

config for CameraControl

getCaptureStill(self: depthai.CameraControl) → bool

Check whether command to capture a still is set

Returns

True if capture still command is set

getData(self: object) → numpy.ndarray[numpy.uint8]

Get non-owning reference to internal buffer

Returns

Reference to internal buffer

getExposureTime(self: depthai.CameraControl) → datetime.timedelta

Retrieves exposure time

getLensPosition(self: depthai.CameraControl) → int

Retrieves lens position, range 0..255. Returns -1 if not available

getRaw(self: depthai.ADatatype) → depthai.RawBuffer

getSensitivity(self: depthai.CameraControl) → int

Retrieves sensitivity, as an ISO value

getSequenceNum(self: depthai.Buffer) → int

Retrieves sequence number

getTimestamp(self: depthai.Buffer) → datetime.timedelta

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self: depthai.Buffer) → datetime.timedelta

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

set(self: depthai.CameraControl, config: depthai.RawCameraControl) → depthai.CameraControl

Set explicit configuration.

Parameter config:

Explicit configuration

setAntiBandingMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.AntiBandingMode) → depthai.CameraControl

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.

Parameter mode:

Anti-banding mode to use. Default: MAINS_50_HZ

setAutoExposureCompensation(self: depthai.CameraControl, compensation: int) → depthai.CameraControl

Set a command to specify auto exposure compensation

Parameter compensation:

Compensation value between -9..9, default 0

setAutoExposureEnable(self: depthai.CameraControl) → depthai.CameraControl

Set a command to enable auto exposure

setAutoExposureLock(self: depthai.CameraControl, lock: bool) → depthai.CameraControl

Set a command to specify lock auto exposure

Parameter lock:

Auto exposure lock mode enabled or disabled

setAutoExposureRegion(self: depthai.CameraControl, startX: int, startY: int, width: int, height: int) → depthai.CameraControl

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

Parameter startX:

X coordinate of top left corner of region

Parameter startY:

Y coordinate of top left corner of region

Parameter width:

Region width

Parameter height:

Region height

setAutoFocusLensRange(self: depthai.CameraControl, infinityPosition: int, macroPosition: int) → depthai.CameraControl

Set autofocus lens range, infinityPosition < macroPosition, valid values 0..255. May help to improve autofocus in case the lens adjustment is not typical/tuned

setAutoFocusMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.AutoFocusMode) → depthai.CameraControl

Set a command to specify autofocus mode. Default CONTINUOUS_VIDEO

setAutoFocusRegion(self: depthai.CameraControl, startX: int, startY: int, width: int, height: int) → depthai.CameraControl

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

Parameter startX:

X coordinate of top left corner of region

Parameter startY:

Y coordinate of top left corner of region

Parameter width:

Region width

Parameter height:

Region height

setAutoFocusTrigger(self: depthai.CameraControl) → depthai.CameraControl

Set a command to trigger autofocus

setAutoWhiteBalanceLock(self: depthai.CameraControl, lock: bool) → depthai.CameraControl

Set a command to specify auto white balance lock

Parameter lock:

Auto white balance lock mode enabled or disabled

setAutoWhiteBalanceMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.AutoWhiteBalanceMode) → depthai.CameraControl

Set a command to specify auto white balance mode

Parameter mode:

Auto white balance mode to use. Default AUTO

setBrightness(self: depthai.CameraControl, value: int) → depthai.CameraControl

Set a command to adjust image brightness

Parameter value:

Brightness, range -10..10, default 0

setCaptureStill(self: depthai.CameraControl, capture: bool) → depthai.CameraControl

Set a command to capture a still image

setChromaDenoise(self: depthai.CameraControl, value: int) → depthai.CameraControl

Set a command to adjust chroma denoise amount

Parameter value:

Chroma denoise amount, range 0..4, default 1

setContrast(self: depthai.CameraControl, value: int) → depthai.CameraControl

Set a command to adjust image contrast

Parameter value:

Contrast, range -10..10, default 0

setData(*args, **kwargs)

Overloaded function.

1. setData(self: depthai.Buffer, arg0: List[int]) -> None

Parameter data:

Copies data to internal buffer

2. setData(self: depthai.Buffer, arg0: numpy.ndarray[numpy.uint8]) -> None

Parameter data:

Copies data to internal buffer

setEffectMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.EffectMode) → depthai.CameraControl

Set a command to specify effect mode

Parameter mode:

Effect mode

setExternalTrigger(self: depthai.CameraControl, numFramesBurst: int, numFramesDiscard: int) → depthai.CameraControl

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

setFrameSyncMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.FrameSyncMode) → depthai.CameraControl

Set the frame sync mode for continuous streaming operation mode, translating to how the camera pin FSIN/FSYNC is used: input/output/disabled

setLumaDenoise(self: depthai.CameraControl, value: int) → depthai.CameraControl

Set a command to adjust luma denoise amount

Parameter value:

Luma denoise amount, range 0..4, default 1

setManualExposure(*args, **kwargs)

Overloaded function.

1. setManualExposure(self: depthai.CameraControl, exposureTimeUs: int, sensitivityIso: int) -> depthai.CameraControl

Set a command to manually specify exposure

Parameter exposureTimeUs:

Exposure time in microseconds

Parameter sensitivityIso:

Sensitivity as ISO value, usual range 100..1600

2. setManualExposure(self: depthai.CameraControl, exposureTime: datetime.timedelta, sensitivityIso: int) -> None

Set a command to manually specify exposure

Parameter exposureTime:

Exposure time

Parameter sensitivityIso:

Sensitivity as ISO value, usual range 100..1600

setManualFocus(self: depthai.CameraControl, lensPosition: int) → depthai.CameraControl

Set a command to specify manual focus position

Parameter lensPosition:

specify lens position 0..255

setManualWhiteBalance(self: depthai.CameraControl, colorTemperatureK: int) → depthai.CameraControl

Set a command to manually specify white-balance color correction

Parameter colorTemperatureK:

Light source color temperature in kelvins, range 1000..12000

setSaturation(self: depthai.CameraControl, value: int) → depthai.CameraControl

Set a command to adjust image saturation

Parameter value:

Saturation, range -10..10, default 0

setSceneMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.SceneMode) → depthai.CameraControl

Set a command to specify scene mode

Parameter mode:

Scene mode

setSequenceNum(self: depthai.Buffer, arg0: int) → depthai.Buffer

Retrieves sequence number

setSharpness(self: depthai.CameraControl, value: int) → depthai.CameraControl

Set a command to adjust image sharpness

Parameter value:

Sharpness, range 0..4, default 1

setStartStreaming(self: depthai.CameraControl) → depthai.CameraControl

Set a command to start streaming

setStopStreaming(self: depthai.CameraControl) → depthai.CameraControl

Set a command to stop streaming

setStrobeDisable(self: depthai.CameraControl) → depthai.CameraControl

Disable STROBE output

setStrobeExternal(self: depthai.CameraControl, gpioNumber: int, activeLevel: int) → depthai.CameraControl

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

setStrobeSensor(self: depthai.CameraControl, activeLevel: int) → depthai.CameraControl

Enable STROBE output on sensor pin, optionally configuring the polarity. Note: for many sensors the polarity is high-active and not configurable

setTimestamp(self: depthai.Buffer, arg0: datetime.timedelta) → depthai.Buffer

Sets timestamp related to dai::Clock::now()

setTimestampDevice(self: depthai.Buffer, arg0: datetime.timedelta) → depthai.Buffer

Sets timestamp related to dai::Clock::now()

class dai::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

using AutoFocusMode = RawCameraControl::AutoFocusMode

using AntiBandingMode = RawCameraControl::AntiBandingMode

using AutoWhiteBalanceMode = RawCameraControl::AutoWhiteBalanceMode

using SceneMode = RawCameraControl::SceneMode

using EffectMode = RawCameraControl::EffectMode

using FrameSyncMode = RawCameraControl::FrameSyncMode

Public Functions

CameraControl()

Construct CameraControl message.

CameraControl(std::shared_ptr<RawCameraControl> ptr)

~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 &setAutoExposureEnable()

Set a command to enable auto exposure

CameraControl &setAutoExposureLock(bool lock)

Set a command to specify lock auto exposure

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

Parameters

• compensation: Compensation value between -9..9, default 0

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

void 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

bool getCaptureStill() const

Check whether command to capture a still is set

Return

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

CameraControl &set(dai::RawCameraControl config)

Set explicit configuration.

Parameters

• config: Explicit configuration

dai::RawCameraControl get() const

Retrieve configuration data for CameraControl.

Return

config for CameraControl

Private Functions

std::shared_ptr<RawBuffer> serialize() const override

Private Members

RawCameraControl &cfg

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