# 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. ## 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 #### 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 #### 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 & 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(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(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, 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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