# Mono Camera MonoCamera node is a source of [ImgFrame](https://docs.luxonis.com/software/depthai-components/messages/img_frame.md). You can control in at runtime with the inputControl. Some DepthAI modules don't have mono camera(s). Two mono cameras are used to calculate stereo depth (with [StereoDepth](https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth.md) node). ## How to place it #### Python ```python pipeline = dai.Pipeline() mono = pipeline.create(dai.node.MonoCamera) ``` #### C++ ```cpp dai::Pipeline pipeline; auto mono = pipeline.create(); ``` ## Inputs and Outputs ## Usage #### Python ```python pipeline = dai.Pipeline() mono = pipeline.create(dai.node.MonoCamera) mono.setCamera("right") mono.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P) ``` #### C++ ```cpp dai::Pipeline pipeline; auto mono = pipeline.create(); mono->setCamera("right"); mono->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P); ``` ## 3A Algorithms The 3A - Auto-Exposure (AE), Auto-White Balance (AWB), and Auto-Focus (AF) - algorithms are used to optimize image quality and run directly on RVC. By default, these settings are in AUTO mode, with limits (e.g., min/max exposure) specific to each sensor (see [supported sensors](https://docs.luxonis.com/hardware/platform/sensors/sensors.md) for details). You can manually control these settings either by following the steps in [RGB camera control example](https://docs.luxonis.com/software/depthai/examples/rgb_camera_control.md) or by using the [cam_test.py script](https://github.com/luxonis/depthai-python/blob/main/utilities/cam_test.py). * Stereo Cameras: Sensors share the same I2C bus, ensuring synchronized 3A settings automatically (AWB, AE). * Independent Sensors: On setups like OAK FFC or OAK-D-LR, where each sensor has its own I2C, the 3a-follow feature can be used to synchronize 3A settings from one sensor to others. Example Usage ```python cam['cam_b'].initialControl.setMisc("3a-follow", dai.CameraBoardSocket.CAM_A) cam['cam_c'].initialControl.setMisc("3a-follow", dai.CameraBoardSocket.CAM_A) ``` The 3a-follow feature copies the 3A settings (exposure, ISO, and white balance) from a primary camera (e.g., CAM_A) to other cameras in the setup (e.g., CAM_B and CAM_C). ## Examples of functionality * [Mono Preview](https://docs.luxonis.com/software/depthai/examples/mono_preview.md) * [Mono & MobilenetSSD](https://docs.luxonis.com/software/depthai/examples/mono_depth_mobilenetssd.md) * [Mono Camera Control](https://docs.luxonis.com/software/depthai/examples/mono_camera_control.md) ## Reference ### depthai.node.MonoCamera(depthai.Node) Kind: Class MonoCamera node. For use with grayscale sensors. #### getBoardSocket(self) -> depthai.CameraBoardSocket: depthai.CameraBoardSocket Kind: Method Retrieves which board socket to use Returns: Board socket to use #### getCamId(self) -> int: int Kind: Method #### getCamera(self) -> str: str Kind: Method Retrieves which camera to use by name Returns: Name of the camera to use #### getFps(self) -> float: float Kind: Method Get rate at which camera should produce frames Returns: Rate in frames per second #### getFrameEventFilter(self) -> list[depthai.FrameEvent]: list[depthai.FrameEvent] Kind: Method #### getImageOrientation(self) -> depthai.CameraImageOrientation: depthai.CameraImageOrientation Kind: Method Get camera image orientation #### getNumFramesPool(self) -> int: int Kind: Method Get number of frames in main (ISP output) pool #### getRawNumFramesPool(self) -> int: int Kind: Method Get number of frames in raw pool #### getResolution(self) -> depthai.MonoCameraProperties.SensorResolution: depthai.MonoCameraProperties.SensorResolution Kind: Method Get sensor resolution #### getResolutionHeight(self) -> int: int Kind: Method Get sensor resolution height #### getResolutionSize(self) -> tuple[int, int]: tuple[int, int] Kind: Method Get sensor resolution as size #### getResolutionWidth(self) -> int: int Kind: Method Get sensor resolution width #### setBoardSocket(self, boardSocket: depthai.CameraBoardSocket) Kind: Method Specify which board socket to use Parameter ``boardSocket``: Board socket to use #### setCamId(self, arg0: typing.SupportsInt) Kind: Method #### setCamera(self, name: str) Kind: Method Specify which camera to use by name Parameter ``name``: Name of the camera to use #### setFps(self, fps: typing.SupportsFloat) Kind: Method Set rate at which camera should produce frames Parameter ``fps``: Rate in frames per second #### setFrameEventFilter(self, events: collections.abc.Sequence [ depthai.FrameEvent ]) Kind: Method #### setImageOrientation(self, imageOrientation: depthai.CameraImageOrientation) Kind: Method Set camera image orientation #### setIsp3aFps(self, isp3aFps: typing.SupportsInt) Kind: Method 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. #### setNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Set number of frames in main (ISP output) pool #### setRawNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Set number of frames in raw pool #### setRawOutputPacked(self, packed: bool) Kind: Method 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. #### setResolution(self, resolution: depthai.MonoCameraProperties.SensorResolution) Kind: Method Set sensor resolution #### frameEvent Kind: Property 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 #### initialControl Kind: Property Initial control options to apply to sensor #### inputControl Kind: Property Input for CameraControl message, which can modify camera parameters in runtime Default queue is blocking with size 8 #### out Kind: Property Outputs ImgFrame message that carries RAW8 encoded (grayscale) frame data. Suitable for use StereoDepth node. Processed by ISP #### raw Kind: Property Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data. Captured directly from the camera sensor ### Need assistance? Head over to [Discussion Forum](https://discuss.luxonis.com/) for technical support or any other questions you might have.