# RGB Camera Control This example shows how to control the [ColorCamera](https://docs.luxonis.com/software/depthai-components/nodes/color_camera.md), such as exposure, sensitivity, white balance, luma/chroma denoise, device-side crop, camera triggers, etc. An output is a full frame along with cropped frame (video) which can be moved with WASD keys. List of all controls: ```bash Uses 'WASD' controls to move the crop window, 'C' to capture a still image, 'T' to trigger autofocus, 'IOKL,.NM' for manual exposure/focus/white-balance: Control: key[dec/inc] min..max exposure time: I O 1..33000 [us] sensitivity iso: K L100..1600 focus: , . 0..255 [far..near] white balance: N M 1000..12000 (light color temperature K) To go back to auto controls: 'E' - autoexposure 'F' - autofocus (continuous) 'B' - auto white-balance Other controls: '1' - AWB lock (true / false) '2' - AE lock (true / false) '3' - Select control: AWB mode '4' - Select control: AE compensation '5' - Select control: anti-banding/flicker mode '6' - Select control: effect mode '7' - Select control: brightness '8' - Select control: contrast '9' - Select control: saturation '0' - Select control: sharpness '[' - Select control: luma denoise ']' - Select control: chroma denoise For the 'Select control: ...' options, use these keys to modify the value: '-' or '_' to decrease '+' or '=' to increase ``` ### Similar samples: * [Mono Camera Control](https://docs.luxonis.com/software/depthai/examples/mono_camera_control.md) * [Depth Crop Control](https://docs.luxonis.com/software/depthai/examples/depth_crop_control.md) ## Demo ## Setup Please run the [install script](https://github.com/luxonis/depthai-python/blob/main/examples/install_requirements.py) to download all required dependencies. Please note that this script must be ran from git context, so you have to download the [depthai-python](https://github.com/luxonis/depthai-python) repository first and then run the script ```bash git clone https://github.com/luxonis/depthai-python.git cd depthai-python/examples python3 install_requirements.py ``` For additional information, please follow the [installation guide](https://docs.luxonis.com/software/depthai/manual-install.md). ## Source code #### Python ```python #!/usr/bin/env python3 """ This example shows usage of Camera Control message as well as ColorCamera configInput to change crop x and y Uses 'WASD' controls to move the crop window, 'C' to capture a still image, 'T' to trigger autofocus, 'IOKL,.NM' for manual exposure/focus/white-balance: Control: key[dec/inc] min..max exposure time: I O 1..33000 [us] sensitivity iso: K L 100..1600 focus: , . 0..255 [far..near] white balance: N M 1000..12000 (light color temperature K) To go back to auto controls: 'E' - autoexposure 'F' - autofocus (continuous) 'B' - auto white-balance Other controls: '1' - AWB lock (true / false) '2' - AE lock (true / false) '3' - Select control: AWB mode '4' - Select control: AE compensation '5' - Select control: anti-banding/flicker mode '6' - Select control: effect mode '7' - Select control: brightness '8' - Select control: contrast '9' - Select control: saturation '0' - Select control: sharpness '[' - Select control: luma denoise ']' - Select control: chroma denoise For the 'Select control: ...' options, use these keys to modify the value: '-' or '_' to decrease '+' or '=' to increase '/' to toggle showing camera settings: exposure, ISO, lens position, color temperature """ import depthai as dai import cv2 from itertools import cycle # Step size ('W','A','S','D' controls) STEP_SIZE = 8 # Manual exposure/focus/white-balance set step EXP_STEP = 500 # us ISO_STEP = 50 LENS_STEP = 3 WB_STEP = 200 def clamp(num, v0, v1): return max(v0, min(num, v1)) # Create pipeline pipeline = dai.Pipeline() # Define sources and outputs camRgb = pipeline.create(dai.node.ColorCamera) camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P) camRgb.setIspScale(2,3) # 1080P -> 720P stillEncoder = pipeline.create(dai.node.VideoEncoder) controlIn = pipeline.create(dai.node.XLinkIn) configIn = pipeline.create(dai.node.XLinkIn) ispOut = pipeline.create(dai.node.XLinkOut) videoOut = pipeline.create(dai.node.XLinkOut) stillMjpegOut = pipeline.create(dai.node.XLinkOut) controlIn.setStreamName('control') configIn.setStreamName('config') ispOut.setStreamName('isp') videoOut.setStreamName('video') stillMjpegOut.setStreamName('still') # Properties camRgb.setVideoSize(640,360) stillEncoder.setDefaultProfilePreset(1, dai.VideoEncoderProperties.Profile.MJPEG) # Linking camRgb.isp.link(ispOut.input) camRgb.still.link(stillEncoder.input) camRgb.video.link(videoOut.input) controlIn.out.link(camRgb.inputControl) configIn.out.link(camRgb.inputConfig) stillEncoder.bitstream.link(stillMjpegOut.input) # Connect to device and start pipeline with dai.Device(pipeline) as device: # Get data queues controlQueue = device.getInputQueue('control') configQueue = device.getInputQueue('config') ispQueue = device.getOutputQueue('isp') videoQueue = device.getOutputQueue('video') stillQueue = device.getOutputQueue('still') # Max cropX & cropY maxCropX = (camRgb.getIspWidth() - camRgb.getVideoWidth()) / camRgb.getIspWidth() maxCropY = (camRgb.getIspHeight() - camRgb.getVideoHeight()) / camRgb.getIspHeight() print(maxCropX, maxCropY, camRgb.getIspWidth(), camRgb.getVideoHeight()) # Default crop cropX = 0 cropY = 0 sendCamConfig = True # Defaults and limits for manual focus/exposure controls lensPos = 150 expTime = 20000 sensIso = 800 wbManual = 4000 ae_comp = 0 ae_lock = False awb_lock = False saturation = 0 contrast = 0 brightness = 0 sharpness = 0 luma_denoise = 0 chroma_denoise = 0 control = 'none' show = False awb_mode = cycle([item for name, item in vars(dai.CameraControl.AutoWhiteBalanceMode).items() if name.isupper()]) anti_banding_mode = cycle([item for name, item in vars(dai.CameraControl.AntiBandingMode).items() if name.isupper()]) effect_mode = cycle([item for name, item in vars(dai.CameraControl.EffectMode).items() if name.isupper()]) while True: vidFrames = videoQueue.tryGetAll() for vidFrame in vidFrames: cv2.imshow('video', vidFrame.getCvFrame()) ispFrames = ispQueue.tryGetAll() for ispFrame in ispFrames: if show: txt = f"[{ispFrame.getSequenceNum()}] " txt += f"Exposure: {ispFrame.getExposureTime().total_seconds()*1000:.3f} ms, " txt += f"ISO: {ispFrame.getSensitivity()}, " txt += f"Lens position: {ispFrame.getLensPosition()}, " txt += f"Color temp: {ispFrame.getColorTemperature()} K" print(txt) cv2.imshow('isp', ispFrame.getCvFrame()) # Send new cfg to camera if sendCamConfig: cfg = dai.ImageManipConfig() cfg.setCropRect(cropX, cropY, 0, 0) configQueue.send(cfg) print('Sending new crop - x: ', cropX, ' y: ', cropY) sendCamConfig = False stillFrames = stillQueue.tryGetAll() for stillFrame in stillFrames: # Decode JPEG frame = cv2.imdecode(stillFrame.getData(), cv2.IMREAD_UNCHANGED) # Display cv2.imshow('still', frame) # Update screen (1ms pooling rate) key = cv2.waitKey(1) if key == ord('q'): break elif key == ord('/'): show = not show if not show: print("Printing camera settings: OFF") elif key == ord('c'): ctrl = dai.CameraControl() ctrl.setCaptureStill(True) controlQueue.send(ctrl) elif key == ord('t'): print("Autofocus trigger (and disable continuous)") ctrl = dai.CameraControl() ctrl.setAutoFocusMode(dai.CameraControl.AutoFocusMode.AUTO) ctrl.setAutoFocusTrigger() controlQueue.send(ctrl) elif key == ord('f'): print("Autofocus enable, continuous") ctrl = dai.CameraControl() ctrl.setAutoFocusMode(dai.CameraControl.AutoFocusMode.CONTINUOUS_VIDEO) controlQueue.send(ctrl) elif key == ord('e'): print("Autoexposure enable") ctrl = dai.CameraControl() ctrl.setAutoExposureEnable() controlQueue.send(ctrl) elif key == ord('b'): print("Auto white-balance enable") ctrl = dai.CameraControl() ctrl.setAutoWhiteBalanceMode(dai.CameraControl.AutoWhiteBalanceMode.AUTO) controlQueue.send(ctrl) elif key in [ord(','), ord('.')]: if key == ord(','): lensPos -= LENS_STEP if key == ord('.'): lensPos += LENS_STEP lensPos = clamp(lensPos, 0, 255) print("Setting manual focus, lens position: ", lensPos) ctrl = dai.CameraControl() ctrl.setManualFocus(lensPos) controlQueue.send(ctrl) elif key in [ord('i'), ord('o'), ord('k'), ord('l')]: if key == ord('i'): expTime -= EXP_STEP if key == ord('o'): expTime += EXP_STEP if key == ord('k'): sensIso -= ISO_STEP if key == ord('l'): sensIso += ISO_STEP expTime = clamp(expTime, 1, 33000) sensIso = clamp(sensIso, 100, 1600) print("Setting manual exposure, time: ", expTime, "iso: ", sensIso) ctrl = dai.CameraControl() ctrl.setManualExposure(expTime, sensIso) controlQueue.send(ctrl) elif key in [ord('n'), ord('m')]: if key == ord('n'): wbManual -= WB_STEP if key == ord('m'): wbManual += WB_STEP wbManual = clamp(wbManual, 1000, 12000) print("Setting manual white balance, temperature: ", wbManual, "K") ctrl = dai.CameraControl() ctrl.setManualWhiteBalance(wbManual) controlQueue.send(ctrl) elif key in [ord('w'), ord('a'), ord('s'), ord('d')]: if key == ord('a'): cropX = cropX - (maxCropX / camRgb.getResolutionWidth()) * STEP_SIZE if cropX < 0: cropX = 0 elif key == ord('d'): cropX = cropX + (maxCropX / camRgb.getResolutionWidth()) * STEP_SIZE if cropX > maxCropX: cropX = maxCropX elif key == ord('w'): cropY = cropY - (maxCropY / camRgb.getResolutionHeight()) * STEP_SIZE if cropY < 0: cropY = 0 elif key == ord('s'): cropY = cropY + (maxCropY / camRgb.getResolutionHeight()) * STEP_SIZE if cropY > maxCropY: cropY = maxCropY sendCamConfig = True elif key == ord('1'): awb_lock = not awb_lock print("Auto white balance lock:", awb_lock) ctrl = dai.CameraControl() ctrl.setAutoWhiteBalanceLock(awb_lock) controlQueue.send(ctrl) elif key == ord('2'): ae_lock = not ae_lock print("Auto exposure lock:", ae_lock) ctrl = dai.CameraControl() ctrl.setAutoExposureLock(ae_lock) controlQueue.send(ctrl) elif key >= 0 and chr(key) in '34567890[]': if key == ord('3'): control = 'awb_mode' elif key == ord('4'): control = 'ae_comp' elif key == ord('5'): control = 'anti_banding_mode' elif key == ord('6'): control = 'effect_mode' elif key == ord('7'): control = 'brightness' elif key == ord('8'): control = 'contrast' elif key == ord('9'): control = 'saturation' elif key == ord('0'): control = 'sharpness' elif key == ord('['): control = 'luma_denoise' elif key == ord(']'): control = 'chroma_denoise' print("Selected control:", control) elif key in [ord('-'), ord('_'), ord('+'), ord('=')]: change = 0 if key in [ord('-'), ord('_')]: change = -1 if key in [ord('+'), ord('=')]: change = 1 ctrl = dai.CameraControl() if control == 'none': print("Please select a control first using keys 3..9 0 [ ]") elif control == 'ae_comp': ae_comp = clamp(ae_comp + change, -9, 9) print("Auto exposure compensation:", ae_comp) ctrl.setAutoExposureCompensation(ae_comp) elif control == 'anti_banding_mode': abm = next(anti_banding_mode) print("Anti-banding mode:", abm) ctrl.setAntiBandingMode(abm) elif control == 'awb_mode': awb = next(awb_mode) print("Auto white balance mode:", awb) ctrl.setAutoWhiteBalanceMode(awb) elif control == 'effect_mode': eff = next(effect_mode) print("Effect mode:", eff) ctrl.setEffectMode(eff) elif control == 'brightness': brightness = clamp(brightness + change, -10, 10) print("Brightness:", brightness) ctrl.setBrightness(brightness) elif control == 'contrast': contrast = clamp(contrast + change, -10, 10) print("Contrast:", contrast) ctrl.setContrast(contrast) elif control == 'saturation': saturation = clamp(saturation + change, -10, 10) print("Saturation:", saturation) ctrl.setSaturation(saturation) elif control == 'sharpness': sharpness = clamp(sharpness + change, 0, 4) print("Sharpness:", sharpness) ctrl.setSharpness(sharpness) elif control == 'luma_denoise': luma_denoise = clamp(luma_denoise + change, 0, 4) print("Luma denoise:", luma_denoise) ctrl.setLumaDenoise(luma_denoise) elif control == 'chroma_denoise': chroma_denoise = clamp(chroma_denoise + change, 0, 4) print("Chroma denoise:", chroma_denoise) ctrl.setChromaDenoise(chroma_denoise) controlQueue.send(ctrl) ``` #### C++ ```cpp /** * This example shows usage of Camera Control message as well as ColorCamera configInput to change crop x and y * Uses 'WASD' controls to move the crop window, 'C' to capture a still image, 'T' to trigger autofocus, 'IOKL,.[]' * for manual exposure/focus/white-balance: * Control: key[dec/inc] min..max * exposure time: I O 1..33000 [us] * sensitivity iso: K L 100..1600 * focus: , . 0..255 [far..near] * white balance: [ ] 1000..12000 (light color temperature K) * To go back to auto controls: * 'E' - autoexposure * 'F' - autofocus (continuous) * 'B' - auto white-balance */ #include #include "utility.hpp" // Includes common necessary includes for development using depthai library #include "depthai/depthai.hpp" // Step size ('W','A','S','D' controls) static constexpr int STEP_SIZE = 8; // Manual exposure/focus set step static constexpr int EXP_STEP = 500; // us static constexpr int ISO_STEP = 50; static constexpr int LENS_STEP = 3; static constexpr int WB_STEP = 200; static int clamp(int num, int v0, int v1) { return std::max(v0, std::min(num, v1)); } int main() { // Create pipeline dai::Pipeline pipeline; // Define sources and outputs auto camRgb = pipeline.create(); auto videoEncoder = pipeline.create(); auto stillEncoder = pipeline.create(); auto controlIn = pipeline.create(); auto configIn = pipeline.create(); auto videoMjpegOut = pipeline.create(); auto stillMjpegOut = pipeline.create(); auto previewOut = pipeline.create(); controlIn->setStreamName("control"); configIn->setStreamName("config"); videoMjpegOut->setStreamName("video"); stillMjpegOut->setStreamName("still"); previewOut->setStreamName("preview"); // Properties camRgb->setVideoSize(640, 360); camRgb->setPreviewSize(300, 300); videoEncoder->setDefaultProfilePreset(camRgb->getFps(), dai::VideoEncoderProperties::Profile::MJPEG); stillEncoder->setDefaultProfilePreset(1, dai::VideoEncoderProperties::Profile::MJPEG); // Linking camRgb->video.link(videoEncoder->input); camRgb->still.link(stillEncoder->input); camRgb->preview.link(previewOut->input); controlIn->out.link(camRgb->inputControl); configIn->out.link(camRgb->inputConfig); videoEncoder->bitstream.link(videoMjpegOut->input); stillEncoder->bitstream.link(stillMjpegOut->input); // Connect to device and start pipeline dai::Device device(pipeline); // Get data queues auto controlQueue = device.getInputQueue("control"); auto configQueue = device.getInputQueue("config"); auto previewQueue = device.getOutputQueue("preview"); auto videoQueue = device.getOutputQueue("video"); auto stillQueue = device.getOutputQueue("still"); // Max cropX & cropY float maxCropX = (camRgb->getResolutionWidth() - camRgb->getVideoWidth()) / (float)camRgb->getResolutionWidth(); float maxCropY = (camRgb->getResolutionHeight() - camRgb->getVideoHeight()) / (float)camRgb->getResolutionHeight(); // Default crop float cropX = 0; float cropY = 0; bool sendCamConfig = true; // Defaults and limits for manual focus/exposure controls int lensPos = 150; int lensMin = 0; int lensMax = 255; int expTime = 20000; int expMin = 1; int expMax = 33000; int sensIso = 800; int sensMin = 100; int sensMax = 1600; int wbManual = 4000; int wbMin = 1000; int wbMax = 12000; while(true) { auto previewFrames = previewQueue->tryGetAll(); for(const auto& previewFrame : previewFrames) { cv::Mat frame(previewFrame->getHeight(), previewFrame->getWidth(), CV_8UC3, previewFrame->getData().data()); cv::imshow("preview", frame); } auto videoFrames = videoQueue->tryGetAll(); for(const auto& videoFrame : videoFrames) { // Decode JPEG auto frame = cv::imdecode(videoFrame->getData(), cv::IMREAD_UNCHANGED); // Display cv::imshow("video", frame); // Send new cfg to camera if(sendCamConfig) { dai::ImageManipConfig cfg; cfg.setCropRect(cropX, cropY, 0, 0); configQueue->send(cfg); printf("Sending new crop - x: %f, y: %f\n", cropX, cropY); sendCamConfig = false; } } auto stillFrames = stillQueue->tryGetAll(); for(const auto& stillFrame : stillFrames) { // Decode JPEG auto frame = cv::imdecode(stillFrame->getData(), cv::IMREAD_UNCHANGED); // Display cv::imshow("still", frame); } // Update screen (1ms pooling rate) int key = cv::waitKey(1); if(key == 'q') { break; } else if(key == 'c') { dai::CameraControl ctrl; ctrl.setCaptureStill(true); controlQueue->send(ctrl); } else if(key == 't') { printf("Autofocus trigger (and disable continuous)\n"); dai::CameraControl ctrl; ctrl.setAutoFocusMode(dai::CameraControl::AutoFocusMode::AUTO); ctrl.setAutoFocusTrigger(); controlQueue->send(ctrl); } else if(key == 'f') { printf("Autofocus enable, continuous\n"); dai::CameraControl ctrl; ctrl.setAutoFocusMode(dai::CameraControl::AutoFocusMode::CONTINUOUS_VIDEO); controlQueue->send(ctrl); } else if(key == 'e') { printf("Autoexposure enable\n"); dai::CameraControl ctrl; ctrl.setAutoExposureEnable(); controlQueue->send(ctrl); } else if(key == 'b') { printf("Auto white-balance enable\n"); dai::CameraControl ctrl; ctrl.setAutoWhiteBalanceMode(dai::CameraControl::AutoWhiteBalanceMode::AUTO); controlQueue->send(ctrl); } else if(key == ',' || key == '.') { if(key == ',') lensPos -= LENS_STEP; if(key == '.') lensPos += LENS_STEP; lensPos = clamp(lensPos, lensMin, lensMax); printf("Setting manual focus, lens position: %d\n", lensPos); dai::CameraControl ctrl; ctrl.setManualFocus(lensPos); controlQueue->send(ctrl); } else if(key == 'i' || key == 'o' || key == 'k' || key == 'l') { if(key == 'i') expTime -= EXP_STEP; if(key == 'o') expTime += EXP_STEP; if(key == 'k') sensIso -= ISO_STEP; if(key == 'l') sensIso += ISO_STEP; expTime = clamp(expTime, expMin, expMax); sensIso = clamp(sensIso, sensMin, sensMax); printf("Setting manual exposure, time: %d, iso: %d\n", expTime, sensIso); dai::CameraControl ctrl; ctrl.setManualExposure(expTime, sensIso); controlQueue->send(ctrl); } else if(key == '[' || key == ']') { if(key == '[') wbManual -= WB_STEP; if(key == ']') wbManual += WB_STEP; wbManual = clamp(wbManual, wbMin, wbMax); printf("Setting manual white balance, temperature: %d K\n", wbManual); dai::CameraControl ctrl; ctrl.setManualWhiteBalance(wbManual); controlQueue->send(ctrl); } else if(key == 'w' || key == 'a' || key == 's' || key == 'd') { if(key == 'a') { cropX -= (maxCropX / camRgb->getResolutionWidth()) * STEP_SIZE; if(cropX < 0) cropX = maxCropX; } else if(key == 'd') { cropX += (maxCropX / camRgb->getResolutionWidth()) * STEP_SIZE; if(cropX > maxCropX) cropX = 0.0f; } else if(key == 'w') { cropY -= (maxCropY / camRgb->getResolutionHeight()) * STEP_SIZE; if(cropY < 0) cropY = maxCropY; } else if(key == 's') { cropY += (maxCropY / camRgb->getResolutionHeight()) * STEP_SIZE; if(cropY > maxCropY) cropY = 0.0f; } sendCamConfig = true; } } return 0; } ``` ## Pipeline ### examples/rgb_camera_control.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 0, "node1Output": "isp", "node1OutputGroup": "", "node2Id": 4, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "still", "node1OutputGroup": "", "node2Id": 1, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "video", "node1OutputGroup": "", "node2Id": 5, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "out", "node1OutputGroup": "", "node2Id": 0, "node2Input": "inputControl", "node2InputGroup": "" }, { "node1Id": 3, "node1Output": "out", "node1OutputGroup": "", "node2Id": 0, "node2Input": "inputConfig", "node2InputGroup": "" }, { "node1Id": 1, "node1Output": "bitstream", "node1OutputGroup": "", "node2Id": 6, "node2Input": "in", "node2InputGroup": "" } ], "globalProperties": { "calibData": null, "cameraTuningBlobSize": null, "cameraTuningBlobUri": "", "leonCssFrequencyHz": 700000000.0, "leonMssFrequencyHz": 700000000.0, "pipelineName": null, "pipelineVersion": null, "sippBufferSize": 18432, "sippDmaBufferSize": 16384, "xlinkChunkSize": -1 }, "nodes": [ [ 0, { "id": 0, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": false, "group": "", "id": 1, "name": "inputConfig", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 6, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "still" ], { "blocking": false, "group": "", "id": 7, "name": "still", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 2, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "video" ], { "blocking": false, "group": "", "id": 3, "name": "video", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "isp" ], { "blocking": false, "group": "", "id": 4, "name": "isp", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "preview" ], { "blocking": false, "group": "", "id": 5, "name": "preview", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 8, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "ColorCamera", "properties": { "boardSocket": -1, "cameraName": "", "colorOrder": 0, "fp16": false, "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "interleaved": true, "isp3aFps": 0, "ispScale": { "horizDenominator": 3, "horizNumerator": 2, "vertDenominator": 3, "vertNumerator": 2 }, "numFramesPoolIsp": 3, "numFramesPoolPreview": 4, "numFramesPoolRaw": 3, "numFramesPoolStill": 4, "numFramesPoolVideo": 4, "previewHeight": 300, "previewKeepAspectRatio": true, "previewWidth": 300, "rawPacked": null, "resolution": 0, "sensorCropX": -1.0, "sensorCropY": -1.0, "stillHeight": -1, "stillWidth": -1, "videoHeight": 360, "videoWidth": 640 } } ], [ 1, { "id": 1, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 9, "name": "in", "queueSize": 4, "type": 3, "waitForMessage": true } ], [ [ "", "bitstream" ], { "blocking": false, "group": "", "id": 10, "name": "bitstream", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 11, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "VideoEncoder", "properties": { "bitrate": 0, "frameRate": 1.0, "keyframeFrequency": 30, "lossless": false, "maxBitrate": 0, "numBFrames": 0, "numFramesPool": 0, "outputFrameSize": 0, "profile": 4, "quality": 95, "rateCtrlMode": 0 } } ], [ 2, { "id": 2, "ioInfo": [ [ [ "", "out" ], { "blocking": false, "group": "", "id": 12, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "XLinkIn", "properties": { "maxDataSize": 5242880, "numFrames": 8, "streamName": "control" } } ], [ 3, { "id": 3, "ioInfo": [ [ [ "", "out" ], { "blocking": false, "group": "", "id": 13, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "XLinkIn", "properties": { "maxDataSize": 5242880, "numFrames": 8, "streamName": "config" } } ], [ 4, { "id": 4, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 14, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "isp" } } ], [ 5, { "id": 5, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 15, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "video" } } ], [ 6, { "id": 6, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 16, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "still" } } ] ] } } ``` ### Need assistance? 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