Camera

Camera 是一个单一的、统一的源节点，取代了独立的 ColorCamera 和 MonoCamera 节点。它生成 ImgFrame 消息，可用于图像处理和神经网络推理。

主要特性

自动选择传感器分辨率和 FPS，当您未指定时 — 无需手动记录。
requestOutput()

1cam.requestOutput(size=(640, 480), type=dai.ImgFrame.Type.NV12,
2                resize_mode=dai.ImgResizeMode.CROP,
3                enableUndistortion=True)

畸变校正通过 enableUndistortion 按输出选择加入（默认为 None）。它不会自动应用于任何流。
畸变校正会保留原始帧的内参，这意味着有效视场角（FOV）在角落处通常会略有减小，特别是对于广角镜头。
requestFullResolutionOutput() 带有安全防护（除非您传递 useHighestResolution=True，否则保持 ≤ 5K×4K）。
setMockIsp() 用于合成或录制的输入（连接一个 ReplayVideo 节点来馈送预捕获的帧）。

从 ColorCamera 或 MonoCamera 升级？只需进行节点创建的搜索和替换，并删除任何手动 setIspScale() 逻辑。

放置节点

Python

1with dai.Pipeline() as pipeline:
2    cam = pipeline.create(dai.node.Camera)
3    cam.build(dai.CameraBoardSocket.CAM_A)  # 可选 — 否则会自动检测

C++

1// C++
2dai::Pipeline pipeline;
3auto cam = pipeline.create<dai::node::Camera>();
4cam->build(dai::CameraBoardSocket::CAM_A);

输入与输出

缩放模式

Crop（裁剪）：对 NN 精度无影响。缺点：帧被裁剪，因此不是完整的视场角。
Letterbox（信箱）：保留完整的视场角。缺点：较小的“帧”意味着特征可能减少，降低 NN 精度。
Stretch（拉伸）：保留完整的视场角。缺点：由于帧被拉伸，NN 精度可能会下降。

Python

1cam.requestOutput(size=(640, 480), type=dai.ImgFrame.Type.NV12,
2                resize_mode=dai.ImgResizeMode.CROP)
3cam.requestOutput(size=(640, 480), type=dai.ImgFrame.Type.NV12,
4                resize_mode=dai.ImgResizeMode.RESIZE)
5cam.requestOutput(size=(640, 480), type=dai.ImgFrame.Type.NV12,
6                resize_mode=dai.ImgResizeMode.LETTERBOX)

用法示例

Python

1pipeline = dai.Pipeline()
2
3cam = pipeline.create(dai.node.Camera)
4cam.build(boardSocket=dai.CameraBoardSocket.CAM_A)
5
6# 1) 用于视频编码器的低延迟预览
7nn_in = cam.requestOutput(size=(300,300), type=dai.ImgFrame.Type.NV12, fps=30)
8
9# 2) 用于录制的 HD 流
10hd_out = cam.requestOutput(size=(1280,720), type=dai.ImgFrame.Type.BGR888p, fps=30)
11
12# 3) 每秒一张全分辨率静态照片
13full = cam.requestFullResolutionOutput(type=dai.ImgFrame.Type.BGR888p, fps=1)
14
15# 链接到下游节点…

C++

1auto cam = pipeline.create<dai::node::Camera>();
2cam->build(dai::CameraBoardSocket::CAM_A);
3
4auto nnIn  = cam->requestOutput({300, 300}, dai::ImgFrame::Type::NV12,
5                                dai::ImgResizeMode::CROP, 30);
6auto hdOut = cam->requestOutput({1280,720}, dai::ImgFrame::Type::BGR888p,
7                                dai::ImgResizeMode::STRETCH, 30);
8auto full  = cam->requestFullResolutionOutput(dai::ImgFrame::Type::BGR888p, 1);

平台特定限制

RVC2

ISP 约 600 MP/s 持续吞吐量（约 4K @ 30 fps）→ 在运行重度 NN 和视频编码器时请相应地进行预算。 3A 在嵌入式微型 DSP 上运行，聚合到所有相机流的总和上限约为 250 fps。

RVC4

请参阅 RVC4 ISP 规格

API 参考

class

dai::node::Camera

variable

CameraControl initialControl

Initial control options to apply to sensor

variable

Input inputControl

Input for CameraControl message, which can modify camera parameters in runtime

variable

Input mockIsp

Input for mocking 'isp' functionality on RVC2. Default queue is blocking with size 8

variable

Output raw

Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.Captured directly from the camera sensor, and the source for the 'isp' output.

variable

OutputMap dynamicOutputs

function

Node::Output * requestOutput(std::pair< uint32_t, uint32_t > size, std::optional< ImgFrame::Type > type, ImgResizeMode resizeMode, std::optional< float > fps, std::optional< bool > enableUndistortion)

Get video output with specified size.

function

Node::Output * requestOutput(const Capability & capability, bool onHost)

Request output with advanced controls. Mainly to be used by custom node writers.

function

Node::Output * requestFullResolutionOutput(std::optional< ImgFrame::Type > type, std::optional< float > fps, bool useHighestResolution)

Get a high resolution output with full FOV on the sensor. By default the function will not use the resolutions higher than 5000x4000, as those often need a lot of resources, making them hard to use in combination with other nodes.

Parameters

type: Type of the output (NV12, BGR, ...) - by default it's auto-selected for best performance
fps: FPS of the output - by default it's auto-selected to highest possible that a sensor config support or 30, whichever is lower
useHighestResolution: If true, the function will use the highest resolution available on the sensor, even if it's higher than 5000x4000

function

Node::Output * requestIspOutput(std::optional< float > fps)

Request output with isp resolution. The fps does not vote.

function

std::shared_ptr< Camera > build(dai::CameraBoardSocket boardSocket, std::optional< std::pair< uint32_t, uint32_t >> sensorResolution, std::optional< float > sensorFps)

Build with a specific board socket

Parameters

boardSocket: Board socket to use
sensorResolution: Sensor resolution to use - by default it's auto-detected from the requested outputs
sensorFps: Sensor FPS to use - by default it's auto-detected from the requested outputs (maximum is used)

inline function

std::shared_ptr< Camera > setSensorType(CameraSensorType sensorType)

Set the sensor type to use

Parameters

sensorType: Sensor type to use

inline function

CameraSensorType getSensorType()

Get the sensor type

Returns

Sensor type

function

std::shared_ptr< Camera > setImageOrientation(CameraImageOrientation imageOrientation)

Set camera image orientation

Parameters

imageOrientation: Image orientation to set

Returns

Shared pointer to the camera node

function

CameraImageOrientation getImageOrientation()

Get camera image orientation

Returns

Image orientation

function

std::shared_ptr< Camera > build(dai::CameraBoardSocket boardSocket, ReplayVideo & replay)

Build with a specific board socket and mock input

function

std::shared_ptr< Camera > build(ReplayVideo & replay)

Build with mock input

function

uint32_t getMaxWidth()

Get max width of the camera (can only be called after build)

function

uint32_t getMaxHeight()

Get max height of the camera (can only be called after build)

function

CameraBoardSocket getBoardSocket()

Retrieves which board socket to use

Returns

Board socket to use

function

std::shared_ptr< Camera > setRawNumFramesPool(int num)

Set number of frames in raw pool (will be automatically reduced if the maximum pool memory size is exceeded)

Parameters

num: Number of frames

Returns

Shared pointer to the camera node

function

std::shared_ptr< Camera > setMaxSizePoolRaw(int size)

Set maximum size of raw pool

Parameters

size: Maximum size in bytes of raw pool

Returns

Shared pointer to the camera node

function

std::shared_ptr< Camera > setIspNumFramesPool(int num)

Set number of frames in isp pool (will be automatically reduced if the maximum pool memory size is exceeded)

Parameters

num: Number of frames

Returns

Shared pointer to the camera node

function

std::shared_ptr< Camera > setMaxSizePoolIsp(int size)

Set maximum size of isp pool

Parameters

size: Maximum size in bytes of isp pool

Returns

Shared pointer to the camera node

function

std::shared_ptr< Camera > setNumFramesPools(int raw, int isp, int outputs)

Set number of frames in all pools (will be automatically reduced if the maximum pool memory size is exceeded)

Parameters

raw: Number of frames in raw pool
isp: Number of frames in isp pool
outputs: Number of frames in outputs pools

Returns

Shared pointer to the camera node

function

std::shared_ptr< Camera > setMaxSizePools(int raw, int isp, int outputs)

Set maximum memory size of all pools

Parameters

raw: Maximum size in bytes of raw pool
isp: Maximum size in bytes of isp pool
outputs: Maximum size in bytes of outputs pools

Returns

Shared pointer to the camera node

function

std::shared_ptr< Camera > setOutputsNumFramesPool(int num)

Set number of frames in pools for all outputs

Parameters

num: Number of frames in pools for all outputs

Returns

Shared pointer to the camera node

function

std::shared_ptr< Camera > setOutputsMaxSizePool(int size)

Set maximum size of pools for all outputs

Parameters

size: Maximum size in bytes of pools for all outputs

Returns

Shared pointer to the camera node

function

int getRawNumFramesPool()

Get number of frames in raw pool

Returns

Number of frames

function

int getMaxSizePoolRaw()

Get maximum size of raw pool

Returns

Maximum size in bytes of raw pool

function

int getIspNumFramesPool()

Get number of frames in isp pool

Returns

Number of frames

function

int getMaxSizePoolIsp()

Get maximum size of isp pool

Returns

Maximum size in bytes of isp pool

function

std::optional< int > getOutputsNumFramesPool()

Get number of frames in outputs pool for all outputs

Returns

Number of frames

function

std::optional< size_t > getOutputsMaxSizePool()

Get maximum size of outputs pool for all outputs

Returns

Maximum size in bytes of image manip pool

function

Camera & setMockIsp(ReplayVideo & replay)

Set mock ISP for Camera node. Automatically sets mockIsp size.

Parameters

replay: ReplayVideo node to use as mock ISP

function

Camera()

explicit function

Camera(std::shared_ptr< Device > & defaultDevice)

explicit function

Camera(std::unique_ptr< Properties > props)

function

void buildStage1()

function

float getMaxRequestedFps()

function

uint32_t getMaxRequestedWidth()

function

uint32_t getMaxRequestedHeight()

inline function

DeviceNodeCRTP()

inline function

DeviceNodeCRTP(const std::shared_ptr< Device > & device)

inline function

DeviceNodeCRTP(std::unique_ptr< Properties > props)

inline function

DeviceNodeCRTP(std::unique_ptr< Properties > props, bool confMode)

inline function

DeviceNodeCRTP(const std::shared_ptr< Device > & device, std::unique_ptr< Properties > props, bool confMode)

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本页目录

Camera

主要特性

放置节点

Python

C++

输入与输出

缩放模式

用法示例

Python

C++

平台特定限制

RVC2

RVC4

更多示例

API 参考

dai::node::Camera

需要帮助？

本页目录

CameraView as Markdown

主要特性

放置节点

Python

C++

输入与输出

缩放模式

用法示例

Python

C++

平台特定限制

RVC2

RVC4

更多示例

API 参考

dai::node::Camera

需要帮助？

Camera