# CameraControl This message is used for controlling the [Camera](https://docs.luxonis.com/software-v3/depthai/depthai-components/nodes/camera.md). The message handles things like capturing still images, configuring auto focus, anti banding, white balance, scenes, effects etc. ## Limiting automatic exposure ISO DepthAI `3.8.0` adds `setAutoExposureMaxISO()`, which lets you keep automatic exposure enabled while capping the maximum ISO the camera may use. This is helpful when you want to reduce image noise in darker scenes instead of allowing AE to push gain indefinitely. #### Python ```python control_q = cam.inputControl.createInputQueue() ctrl = dai.CameraControl() ctrl.setAutoExposureMaxISO(800) control_q.send(ctrl) ``` #### C++ ```cpp auto controlQ = cam->inputControl.createInputQueue(); dai::CameraControl ctrl; ctrl.setAutoExposureMaxISO(800); controlQ->send(ctrl); ``` ## Examples of functionality * [Auto Exposure on ROI](https://docs.luxonis.com/software-v3/depthai/examples/camera/camera_roi_exposure_focus.md) ## Reference ### dai::CameraControl Kind: class 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 #### dai::CameraControl::ManualExposureParams Kind: struct ##### uint32_t exposureTimeUs Kind: variable ##### uint32_t sensitivityIso Kind: variable ##### uint32_t frameDurationUs Kind: variable ##### DEPTHAI_SERIALIZE(ManualExposureParams, exposureTimeUs, sensitivityIso, frameDurationUs) Kind: function #### dai::CameraControl::RegionParams Kind: struct ##### uint16_t x Kind: variable ##### uint16_t y Kind: variable ##### uint16_t width Kind: variable ##### uint16_t height Kind: variable ##### uint32_t priority Kind: variable ##### DEPTHAI_SERIALIZE(RegionParams, x, y, width, height, priority) Kind: function #### dai::CameraControl::StrobeConfig Kind: struct ##### uint8_t enable Kind: variable Enable strobe output. ##### uint8_t activeLevel Kind: variable 1 for normal polarity (high-active), 0 otherwise ##### int8_t gpioNumber Kind: variable GPIO number to drive, or -1 if sensor driven. ##### DEPTHAI_SERIALIZE(StrobeConfig, enable, activeLevel, gpioNumber) Kind: function #### dai::CameraControl::StrobeTimings Kind: struct ##### int32_t exposureBeginOffsetUs Kind: variable Start offset in microseconds, relative to exposure window. ##### int32_t exposureEndOffsetUs Kind: variable End offset in microseconds, relative to exposure window. ##### uint32_t durationUs Kind: variable Fixed duration in microseconds. If set (non-zero), overrides ##### DEPTHAI_SERIALIZE(StrobeTimings, exposureBeginOffsetUs, exposureEndOffsetUs, durationUs) Kind: function #### uint8_t Command Kind: enum ##### START_STREAM Kind: enum_value ##### STOP_STREAM Kind: enum_value ##### STILL_CAPTURE Kind: enum_value ##### MOVE_LENS Kind: enum_value ##### AF_TRIGGER Kind: enum_value ##### AE_MANUAL Kind: enum_value ##### AE_AUTO Kind: enum_value ##### AWB_MODE Kind: enum_value ##### SCENE_MODE Kind: enum_value ##### ANTIBANDING_MODE Kind: enum_value ##### EXPOSURE_COMPENSATION Kind: enum_value ##### AE_LOCK Kind: enum_value ##### AE_TARGET_FPS_RANGE Kind: enum_value ##### AWB_LOCK Kind: enum_value ##### CAPTURE_INTENT Kind: enum_value ##### CONTROL_MODE Kind: enum_value ##### FRAME_DURATION Kind: enum_value ##### SENSITIVITY Kind: enum_value ##### EFFECT_MODE Kind: enum_value ##### AF_MODE Kind: enum_value ##### NOISE_REDUCTION_STRENGTH Kind: enum_value ##### SATURATION Kind: enum_value ##### BRIGHTNESS Kind: enum_value ##### STREAM_FORMAT Kind: enum_value ##### RESOLUTION Kind: enum_value ##### SHARPNESS Kind: enum_value ##### CUSTOM_USECASE Kind: enum_value ##### CUSTOM_CAPT_MODE Kind: enum_value ##### CUSTOM_EXP_BRACKETS Kind: enum_value ##### CUSTOM_CAPTURE Kind: enum_value ##### CONTRAST Kind: enum_value ##### AE_REGION Kind: enum_value ##### AF_REGION Kind: enum_value ##### LUMA_DENOISE Kind: enum_value ##### CHROMA_DENOISE Kind: enum_value ##### WB_COLOR_TEMP Kind: enum_value ##### EXTERNAL_TRIGGER Kind: enum_value ##### AF_LENS_RANGE Kind: enum_value ##### FRAME_SYNC Kind: enum_value ##### STROBE_CONFIG Kind: enum_value ##### STROBE_TIMINGS Kind: enum_value ##### MOVE_LENS_RAW Kind: enum_value ##### HDR Kind: enum_value ##### AE_MAX_ISO Kind: enum_value #### uint8_t AutoFocusMode Kind: enum ##### OFF Kind: enum_value Autofocus disabled. Suitable for manual focus ##### AUTO Kind: enum_value Basic automatic focus mode. In this mode, the lens does not move unless the autofocus trigger action is called. ##### MACRO Kind: enum_value Close-up focusing mode - this mode is optimized for focusing on objects very close to the camera. ##### CONTINUOUS_VIDEO Kind: enum_value 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. ##### CONTINUOUS_PICTURE Kind: enum_value 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 ##### EDOF Kind: enum_value Extended depth of field (digital focus) mode. The camera device will produce images with an extended depth of field automatically. AF triggers are ignored. #### uint8_t AutoWhiteBalanceMode Kind: enum ##### OFF Kind: enum_value The camera device's auto-white balance routine is disabled. ##### AUTO Kind: enum_value The camera device's auto-white balance routine is active. ##### INCANDESCENT Kind: enum_value The camera device's auto-white balance routine is disabled; the camera device uses incandescent light as the assumed scene illumination for white balance. ##### FLUORESCENT Kind: enum_value The camera device's auto-white balance routine is disabled; the camera device uses fluorescent light as the assumed scene illumination for white balance. ##### WARM_FLUORESCENT Kind: enum_value 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. ##### DAYLIGHT Kind: enum_value The camera device's auto-white balance routine is disabled; the camera device uses daylight light as the assumed scene illumination for white balance. ##### CLOUDY_DAYLIGHT Kind: enum_value 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. ##### TWILIGHT Kind: enum_value The camera device's auto-white balance routine is disabled; the camera device uses twilight light as the assumed scene illumination for white balance. ##### SHADE Kind: enum_value The camera device's auto-white balance routine is disabled; the camera device uses shade light as the assumed scene illumination for white balance. #### uint8_t SceneMode Kind: enum ##### UNSUPPORTED Kind: enum_value Indicates that no scene modes are set for a given capture request. ##### FACE_PRIORITY Kind: enum_value If face detection support exists, use face detection data for auto-focus, auto-white balance, and auto-exposure routines. ##### ACTION Kind: enum_value Optimized for photos of quickly moving objects. Similar to SPORTS scene mode. ##### PORTRAIT Kind: enum_value Optimized for still photos of people. ##### LANDSCAPE Kind: enum_value Optimized for photos of distant macroscopic objects. ##### NIGHT Kind: enum_value Optimized for low-light settings. ##### NIGHT_PORTRAIT Kind: enum_value Optimized for still photos of people in low-light settings. ##### THEATRE Kind: enum_value Optimized for dim, indoor settings where flash must remain off. ##### BEACH Kind: enum_value Optimized for bright, outdoor beach settings. ##### SNOW Kind: enum_value Optimized for bright, outdoor settings containing snow. ##### SUNSET Kind: enum_value Optimized for scenes of the setting sun. ##### STEADYPHOTO Kind: enum_value Optimized to avoid blurry photos due to small amounts of device motion (for example: due to hand shake). ##### FIREWORKS Kind: enum_value Optimized for nighttime photos of fireworks. ##### SPORTS Kind: enum_value Optimized for photos of quickly moving people. ##### PARTY Kind: enum_value Optimized for dim, indoor settings with multiple moving people. ##### CANDLELIGHT Kind: enum_value Optimized for dim settings where the main light source is a candle. ##### BARCODE Kind: enum_value Optimized for accurately capturing a photo of barcode for use by camera applications that wish to read the barcode value. #### uint8_t AntiBandingMode Kind: enum ##### OFF Kind: enum_value The camera device will not adjust exposure duration to avoid banding problems. ##### MAINS_50_HZ Kind: enum_value The camera device will adjust exposure duration to avoid banding problems with 50Hz illumination sources. ##### MAINS_60_HZ Kind: enum_value The camera device will adjust exposure duration to avoid banding problems with 60Hz illumination sources. ##### AUTO Kind: enum_value 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. #### uint8_t CaptureIntent Kind: enum ##### CUSTOM Kind: enum_value The goal of this request doesn't fall into the other categories. The camera device will default to preview-like behavior. ##### PREVIEW Kind: enum_value This request is for a preview-like use case. ##### STILL_CAPTURE Kind: enum_value This request is for a still capture-type use case. ##### VIDEO_RECORD Kind: enum_value This request is for a video recording use case. ##### VIDEO_SNAPSHOT Kind: enum_value 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. ##### ZERO_SHUTTER_LAG Kind: enum_value This request is for a ZSL usecase; the application will stream full-resolution images and reprocess one or several later for a final capture. #### uint8_t ControlMode Kind: enum ##### OFF Kind: enum_value Full application control of pipeline. All control by the device's metering and focusing (3A) routines is disabled. ##### AUTO Kind: enum_value Use settings for each individual 3A routine. Manual control of capture parameters is disabled. ##### USE_SCENE_MODE Kind: enum_value Use a specific scene mode. Enabling this disables Auto-Exposure, AWB and AF controls; #### uint8_t EffectMode Kind: enum ##### OFF Kind: enum_value No color effect will be applied. ##### MONO Kind: enum_value A "monocolor" effect where the image is mapped into a single color. This will typically be grayscale. ##### NEGATIVE Kind: enum_value A "photo-negative" effect where the image's colors are inverted. ##### SOLARIZE Kind: enum_value A "solarisation" effect (Sabattier effect) where the image is wholly or partially reversed in tone. ##### SEPIA Kind: enum_value A "sepia" effect where the image is mapped into warm gray, red, and brown tones. ##### POSTERIZE Kind: enum_value A "posterization" effect where the image uses discrete regions of tone rather than a continuous gradient of tones. ##### WHITEBOARD Kind: enum_value A "whiteboard" effect where the image is typically displayed as regions of white, with black or grey details. ##### BLACKBOARD Kind: enum_value A "blackboard" effect where the image is typically displayed as regions of black, with white or grey details. ##### AQUA Kind: enum_value An "aqua" effect where a blue hue is added to the image. #### int8_t FrameSyncMode Kind: enum ##### AUTO Kind: enum_value ##### OFF Kind: enum_value ##### OUTPUT Kind: enum_value ##### INPUT Kind: enum_value ##### TIME_PTP Kind: enum_value #### uint64_t cmdMask Kind: variable #### AutoFocusMode autoFocusMode Kind: variable #### uint8_t lensPosition Kind: variable Lens/VCM position, range: 0..255. Used with 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 Kind: variable #### uint8_t lensPosAutoInfinity Kind: variable #### uint8_t lensPosAutoMacro Kind: variable #### ManualExposureParams expManual Kind: variable #### RegionParams aeRegion Kind: variable #### RegionParams afRegion Kind: variable #### AutoWhiteBalanceMode awbMode Kind: variable #### SceneMode sceneMode Kind: variable #### AntiBandingMode antiBandingMode Kind: variable #### CaptureIntent captureIntent Kind: variable #### ControlMode controlMode Kind: variable #### EffectMode effectMode Kind: variable #### FrameSyncMode frameSyncMode Kind: variable #### StrobeConfig strobeConfig Kind: variable #### StrobeTimings strobeTimings Kind: variable #### uint32_t aeMaxExposureTimeUs Kind: variable #### uint32_t aeMaxISO Kind: variable #### bool aeLockMode Kind: variable #### bool awbLockMode Kind: variable #### int8_t expCompensation Kind: variable #### int8_t brightness Kind: variable #### int8_t contrast Kind: variable #### int8_t saturation Kind: variable #### uint8_t sharpness Kind: variable #### uint8_t lumaDenoise Kind: variable #### uint8_t chromaDenoise Kind: variable #### uint16_t wbColorTemp Kind: variable #### uint8_t lowPowerNumFramesBurst Kind: variable #### uint8_t lowPowerNumFramesDiscard Kind: variable #### bool enableHdr Kind: variable #### std::vector< std::pair< std::string, std::string > > miscControls Kind: variable #### CameraControl() Kind: function #### CameraControl & setCaptureStill(bool capture) Kind: function Set a command to capture a still image #### CameraControl & setStartStreaming() Kind: function Set a command to start streaming #### CameraControl & setStopStreaming() Kind: function Set a command to stop streaming #### CameraControl & setExternalTrigger(int numFramesBurst, int numFramesDiscard) Kind: function Set a command to enable external trigger snapshot mode A rising edge on the sensor FSIN pin will make it capture a sequence of #### CameraControl & setFrameSyncMode(FrameSyncMode mode) Kind: function Set the frame sync mode for continuous streaming operation mode, translating to how the camera pin FSIN/FSYNC is used: auto/input/output/disabled #### CameraControl & setStrobeSensor(int activeLevel) Kind: function 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) Kind: function 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() Kind: function Disable STROBE output #### CameraControl & setAutoFocusMode(AutoFocusMode mode) Kind: function Set a command to specify autofocus mode. Default #### CameraControl & setAutoFocusTrigger() Kind: function Set a command to trigger autofocus #### CameraControl & setAutoFocusLensRange(int infinityPosition, int macroPosition) Kind: function Set autofocus lens range, #### CameraControl & setAutoFocusRegion(uint16_t startX, uint16_t startY, uint16_t width, uint16_t height) Kind: function 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) Kind: function Set a command to specify manual focus position parameters: lensPosition: specify lens position 0..255 #### CameraControl & setManualFocusRaw(float lensPositionRaw) Kind: function Set a command to specify manual focus position (more precise control). parameters: lensPositionRaw: specify lens position 0.0f .. 1.0f return: CameraControl & #### CameraControl & setAutoExposureEnable() Kind: function Set a command to enable auto exposure #### CameraControl & setAutoExposureLock(bool lock) Kind: function 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) Kind: function 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) Kind: function Set a command to specify auto exposure compensation. This modifies the brightness target with positive numbers 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) Kind: function 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) Kind: function 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 & setAutoExposureMaxISO(uint32_t aeMaxISO) Kind: function Set a command to specify the maximum ISO sensitivity limit for auto-exposure. This limits the AE algorithm from increasing sensitivity beyond a certain point and can help to reduce noise in low-light conditions. parameters: aeMaxISO: Maximum ISO #### CameraControl & setAntiBandingMode(AntiBandingMode mode) Kind: function 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: #### CameraControl & setManualExposure(uint32_t exposureTimeUs, uint32_t sensitivityIso) Kind: function 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) Kind: function Set a command to manually specify exposure parameters: exposureTime: Exposure time; sensitivityIso: Sensitivity as ISO value, usual range 100..1600 #### CameraControl & setAutoWhiteBalanceMode(AutoWhiteBalanceMode mode) Kind: function Set a command to specify auto white balance mode parameters: mode: Auto white balance mode to use. Default #### CameraControl & setAutoWhiteBalanceLock(bool lock) Kind: function Set a command to specify auto white balance lock parameters: lock: Auto white balance lock mode enabled or disabled #### CameraControl & setManualWhiteBalance(int colorTemperatureK) Kind: function 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) Kind: function Set a command to adjust image brightness parameters: value: Brightness, range -10..10, default 0 #### CameraControl & setContrast(int value) Kind: function Set a command to adjust image contrast parameters: value: Contrast, range -10..10, default 0 #### CameraControl & setSaturation(int value) Kind: function Set a command to adjust image saturation parameters: value: Saturation, range -10..10, default 0 #### CameraControl & setSharpness(int value) Kind: function Set a command to adjust image sharpness parameters: value: Sharpness, range 0..4, default 1 #### CameraControl & setLumaDenoise(int value) Kind: function Set a command to adjust luma denoise amount parameters: value: Luma denoise amount, range 0..4, default 1 #### CameraControl & setChromaDenoise(int value) Kind: function Set a command to adjust chroma denoise amount parameters: value: Chroma denoise amount, range 0..4, default 1 #### CameraControl & setSceneMode(SceneMode mode) Kind: function Set a command to specify scene mode parameters: mode: Scene mode #### CameraControl & setEffectMode(EffectMode mode) Kind: function Set a command to specify effect mode parameters: mode: Effect mode #### CameraControl & setMisc(std::string control, std::string value) Kind: function 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(const std::string & control, int value) Kind: function 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(const std::string & control, float value) Kind: function 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() Kind: function Clear the list of miscellaneous controls set by #### std::vector< std::pair< std::string, std::string > > getMiscControls() Kind: function Get the list of miscellaneous controls set by return: A list of pairs as strings #### CameraControl & setControlMode(ControlMode mode) Kind: function Set a command to specify control mode parameters: mode: Control mode #### CameraControl & setHdr(bool enable) Kind: function Whether or not to enable HDR (High Dynamic Range) mode parameters: enable: True to enable HDR mode, false to disable #### CameraControl & setCaptureIntent(CaptureIntent mode) Kind: function Set a command to specify capture intent mode parameters: mode: Capture intent mode #### bool getCaptureStill() Kind: function Check whether command to capture a still is set return: True if capture still command is set #### std::chrono::microseconds getExposureTime() Kind: function Retrieves exposure time #### int getSensitivity() Kind: function Retrieves sensitivity, as an ISO value #### int getLensPosition() Kind: function Retrieves lens position, range 0..255. Returns -1 if not available #### bool getHdr() Kind: function Whether or not HDR (High Dynamic Range) mode is enabled return: True if HDR mode is enabled, false otherwise #### void setCommand(Command cmd, bool value) Kind: function #### void clearCommand(Command cmd) Kind: function #### bool getCommand(Command cmd) Kind: function #### ~CameraControl() Kind: function #### void serialize(std::vector< std::uint8_t > & metadata, DatatypeEnum & datatype) Kind: function #### DatatypeEnum getDatatype() Kind: function Get the datatype of this specific message. return: DatatypeEnum #### DEPTHAI_SERIALIZE(CameraControl, cmdMask, autoFocusMode, lensPosition, lensPositionRaw, lensPosAutoInfinity, lensPosAutoMacro, expManual, aeRegion, afRegion, awbMode, sceneMode, antiBandingMode, aeLockMode, awbLockMode, captureIntent, controlMode, effectMode, frameSyncMode, strobeConfig, strobeTimings, aeMaxExposureTimeUs, aeMaxISO, expCompensation, brightness, contrast, saturation, sharpness, lumaDenoise, chromaDenoise, wbColorTemp, lowPowerNumFramesBurst, lowPowerNumFramesDiscard, enableHdr, miscControls) Kind: function #### float getLensPositionRaw() Kind: function Retrieves lens position, range 0.0f..1.0f. ### Need assistance? 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