org.bytedeco.depthai

Class ColorCamera

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.depthai.Node

org.bytedeco.depthai.ColorCamera

All Implemented Interfaces:

AutoCloseable

@Namespace(value="dai::node")
 @NoOffset
 @Properties(inherit=depthai.class)
public class ColorCamera
extends Node

\brief ColorCamera node. For use with color sensors.

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.depthai.Node

Node.Connection, Node.DatatypeHierarchy, Node.Input, Node.Output

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
ColorCamera(PipelineImpl par, long nodeId) Constructs ColorCamera node.
ColorCamera(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
depthai.CameraBoardSocket	getBoardSocket() Retrieves which board socket to use
long	getCamId() Deprecated.
ColorCameraProperties.ColorOrder	getColorOrder() Get color order of preview output frames.
boolean	getFp16() Get fp16 (0..255) data of preview output frames
float	getFps() Get rate at which camera should produce frames
depthai.CameraImageOrientation	getImageOrientation() Get camera image orientation
boolean	getInterleaved() Get planar or interleaved data of preview output frames
int	getIspHeight() Get 'isp' output height
Pointer	getIspSize() Get 'isp' output resolution as size, after scaling
int	getIspWidth() Get 'isp' output width
BytePointer	getName() Retrieves nodes name
int	getPreviewHeight() Get preview height
boolean	getPreviewKeepAspectRatio()
Pointer	getPreviewSize() Get preview size as tuple
int	getPreviewWidth() Get preview width
ColorCameraProperties.SensorResolution	getResolution() Get sensor resolution
int	getResolutionHeight() Get sensor resolution height
Pointer	getResolutionSize() Get sensor resolution as size
int	getResolutionWidth() Get sensor resolution width
int	getScaledSize(int input, int num, int denom)
Pointer	getSensorCrop()
float	getSensorCropX() Get sensor top left x crop coordinate
float	getSensorCropY() Get sensor top left y crop coordinate
int	getStillHeight() Get still height
Pointer	getStillSize() Get still size as tuple
int	getStillWidth() Get still width
int	getVideoHeight() Get video height
Pointer	getVideoSize() Get video size as tuple
int	getVideoWidth() Get video width
boolean	getWaitForConfigInput()
CameraControl	initialControl() Initial control options to apply to sensor
Node.Input	inputConfig() Input for ImageManipConfig message, which can modify crop paremeters in runtime Default queue is non-blocking with size 8
Node.Input	inputControl() Input for CameraControl message, which can modify camera parameters in runtime Default queue is blocking with size 8
Node.Output	isp() Outputs ImgFrame message that carries YUV420 planar (I420/IYUV) frame data.
Node.Output	preview() Outputs ImgFrame message that carries BGR/RGB planar/interleaved encoded frame data.
Node.Output	raw() Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.
void	sensorCenterCrop() Specify sensor center crop.
void	setBoardSocket(depthai.CameraBoardSocket boardSocket) Specify which board socket to use
void	setBoardSocket(int boardSocket)
void	setCamId(long id) Deprecated.
void	setColorOrder(ColorCameraProperties.ColorOrder colorOrder) Set color order of preview output images.
void	setColorOrder(int colorOrder)
void	setFp16(boolean fp16) Set fp16 (0..255) data type of preview output frames
void	setFps(float fps) Set rate at which camera should produce frames
void	setImageOrientation(depthai.CameraImageOrientation imageOrientation) Set camera image orientation
void	setImageOrientation(int imageOrientation)
void	setInterleaved(boolean interleaved) Set planar or interleaved data of preview output frames
void	setIspScale(int numerator, int denominator) Set 'isp' output scaling (numerator/denominator), preserving the aspect ratio.
void	setIspScale(int horizNum, int horizDenom, int vertNum, int vertDenom) Set 'isp' output scaling, per each direction.
void	setIspScale(Pointer scale) Set 'isp' output scaling, as a tuple
void	setIspScale(Pointer horizScale, Pointer vertScale) Set 'isp' output scaling, per each direction, as tuples
void	setPreviewKeepAspectRatio(boolean keep) Specifies whether preview output should preserve aspect ratio, after downscaling from video size or not.
void	setPreviewSize(int width, int height) Set preview output size
void	setPreviewSize(Pointer size) Set preview output size, as a tuple
void	setResolution(ColorCameraProperties.SensorResolution resolution) Set sensor resolution
void	setSensorCrop(float x, float y) Specifies sensor crop rectangle
void	setStillSize(int width, int height) Set still output size
void	setStillSize(Pointer size) Set still output size, as a tuple
void	setVideoSize(int width, int height) Set video output size
void	setVideoSize(Pointer size) Set video output size, as a tuple
void	setWaitForConfigInput(boolean _wait) Specify to wait until inputConfig receives a configuration message, before sending out a frame.
Node.Output	still() Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data.
Node.Output	video() Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data.

Methods inherited from class org.bytedeco.depthai.Node

assetManager, clone, getAssets, getInputRefs, getInputs, getOutputRefs, getOutputs, getParentPipeline, getProperties, getRequiredOpenVINOVersion, id, inputs, outputs

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getPointer, getPointer, getPointer, getPointer, hashCode, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, position, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

ColorCamera

public ColorCamera(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

ColorCamera

public ColorCamera(@SharedPtr
                   PipelineImpl par,
                   @Cast(value="int64_t")
                   long nodeId)

Constructs ColorCamera node.

Method Detail

getName

@StdString
public BytePointer getName()

Description copied from class: Node

Retrieves nodes name

Overrides:

getName in class Node

getScaledSize

public int getScaledSize(int input,
                         int num,
                         int denom)

initialControl

@MemberGetter
 @ByRef
public CameraControl initialControl()

Initial control options to apply to sensor

inputConfig

@MemberGetter
 @ByRef
public Node.Input inputConfig()

Input for ImageManipConfig message, which can modify crop paremeters in runtime Default queue is non-blocking with size 8

inputControl

@MemberGetter
 @ByRef
public Node.Input inputControl()

Input for CameraControl message, which can modify camera parameters in runtime Default queue is blocking with size 8

video

@MemberGetter
 @ByRef
public Node.Output video()

Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data. Suitable for use with VideoEncoder node

preview

@MemberGetter
 @ByRef
public Node.Output preview()

Outputs ImgFrame message that carries BGR/RGB planar/interleaved encoded frame data. Suitable for use with NeuralNetwork node

still

@MemberGetter
 @ByRef
public Node.Output still()

Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data. The message is sent only when a CameraControl message arrives to inputControl with captureStill command set.

isp

@MemberGetter
 @ByRef
public Node.Output isp()

Outputs ImgFrame message that carries YUV420 planar (I420/IYUV) frame data. Generated by the ISP engine, and the source for the 'video', 'preview' and 'still' outputs

raw

@MemberGetter
 @ByRef
public Node.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.

setBoardSocket

public void setBoardSocket(depthai.CameraBoardSocket boardSocket)

Specify which board socket to use

Parameters:

boardSocket - Board socket to use

setBoardSocket

public void setBoardSocket(@Cast(value="dai::CameraBoardSocket")
                           int boardSocket)

getBoardSocket

public depthai.CameraBoardSocket getBoardSocket()

Retrieves which board socket to use

Returns:

Board socket to use

setCamId

@Deprecated
public void setCamId(@Cast(value="int64_t")
                                 long id)

Deprecated.

Set which color camera to use

getCamId

@Cast(value="int64_t")
 @Deprecated
public long getCamId()

Deprecated.

Get which color camera to use

setImageOrientation

public void setImageOrientation(depthai.CameraImageOrientation imageOrientation)

Set camera image orientation

setImageOrientation

public void setImageOrientation(@Cast(value="dai::CameraImageOrientation")
                                int imageOrientation)

getImageOrientation

public depthai.CameraImageOrientation getImageOrientation()

Get camera image orientation

setColorOrder

public void setColorOrder(ColorCameraProperties.ColorOrder colorOrder)

Set color order of preview output images. RGB or BGR

setColorOrder

public void setColorOrder(@Cast(value="dai::ColorCameraProperties::ColorOrder")
                          int colorOrder)

getColorOrder

public ColorCameraProperties.ColorOrder getColorOrder()

Get color order of preview output frames. RGB or BGR

setInterleaved

public void setInterleaved(@Cast(value="bool")
                           boolean interleaved)

Set planar or interleaved data of preview output frames

getInterleaved

@Cast(value="bool")
public boolean getInterleaved()

Get planar or interleaved data of preview output frames

setFp16

public void setFp16(@Cast(value="bool")
                    boolean fp16)

Set fp16 (0..255) data type of preview output frames

getFp16

@Cast(value="bool")
public boolean getFp16()

Get fp16 (0..255) data of preview output frames

setPreviewSize

public void setPreviewSize(int width,
                           int height)

Set preview output size

setPreviewSize

public void setPreviewSize(@ByVal @Cast(value="std::tuple<int,int>*")
                           Pointer size)

Set preview output size, as a tuple

setVideoSize

public void setVideoSize(int width,
                         int height)

Set video output size

setVideoSize

public void setVideoSize(@ByVal @Cast(value="std::tuple<int,int>*")
                         Pointer size)

Set video output size, as a tuple

setStillSize

public void setStillSize(int width,
                         int height)

Set still output size

setStillSize

public void setStillSize(@ByVal @Cast(value="std::tuple<int,int>*")
                         Pointer size)

Set still output size, as a tuple

setResolution

public void setResolution(@ByVal
                          ColorCameraProperties.SensorResolution resolution)

Set sensor resolution

getResolution

@ByVal
public ColorCameraProperties.SensorResolution getResolution()

Get sensor resolution

setIspScale

public void setIspScale(int numerator,
                        int denominator)

Set 'isp' output scaling (numerator/denominator), preserving the aspect ratio. The fraction numerator/denominator is simplified first to a irreducible form, then a set of hardware scaler constraints applies: max numerator = 16, max denominator = 63

setIspScale

public void setIspScale(@ByVal @Cast(value="std::tuple<int,int>*")
                        Pointer scale)

Set 'isp' output scaling, as a tuple

setIspScale

public void setIspScale(int horizNum,
                        int horizDenom,
                        int vertNum,
                        int vertDenom)

Set 'isp' output scaling, per each direction. If the horizontal scaling factor (horizNum/horizDen) is different than the vertical scaling factor (vertNum/vertDen), a distorted (stretched or squished) image is generated

setIspScale

public void setIspScale(@ByVal @Cast(value="std::tuple<int,int>*")
                        Pointer horizScale,
                        @ByVal @Cast(value="std::tuple<int,int>*")
                        Pointer vertScale)

Set 'isp' output scaling, per each direction, as tuples

setFps

public void setFps(float fps)

Set rate at which camera should produce frames

Parameters:

fps - Rate in frames per second

getFps

public float getFps()

Get rate at which camera should produce frames

Returns:

Rate in frames per second

getPreviewSize

@ByVal
 @Cast(value="std::tuple<int,int>*")
public Pointer getPreviewSize()

Get preview size as tuple

getPreviewWidth

public int getPreviewWidth()

Get preview width

getPreviewHeight

public int getPreviewHeight()

Get preview height

getVideoSize

@ByVal
 @Cast(value="std::tuple<int,int>*")
public Pointer getVideoSize()

Get video size as tuple

getVideoWidth

public int getVideoWidth()

Get video width

getVideoHeight

public int getVideoHeight()

Get video height

getStillSize

@ByVal
 @Cast(value="std::tuple<int,int>*")
public Pointer getStillSize()

Get still size as tuple

getStillWidth

public int getStillWidth()

Get still width

getStillHeight

public int getStillHeight()

Get still height

getResolutionSize

@ByVal
 @Cast(value="std::tuple<int,int>*")
public Pointer getResolutionSize()

Get sensor resolution as size

getResolutionWidth

public int getResolutionWidth()

Get sensor resolution width

getResolutionHeight

public int getResolutionHeight()

Get sensor resolution height

getIspSize

@ByVal
 @Cast(value="std::tuple<int,int>*")
public Pointer getIspSize()

Get 'isp' output resolution as size, after scaling

getIspWidth

public int getIspWidth()

Get 'isp' output width

getIspHeight

public int getIspHeight()

Get 'isp' output height

sensorCenterCrop

public void sensorCenterCrop()

Specify sensor center crop. Resolution size / video size

setSensorCrop

public void setSensorCrop(float x,
                          float y)

Specifies sensor crop rectangle

Parameters:

x - Top left X coordinate

y - Top left Y coordinate

getSensorCrop

@ByVal
 @Cast(value="std::tuple<float,float>*")
public Pointer getSensorCrop()

Returns:

Sensor top left crop coordinates

getSensorCropX

public float getSensorCropX()

Get sensor top left x crop coordinate

getSensorCropY

public float getSensorCropY()

Get sensor top left y crop coordinate

setWaitForConfigInput

public void setWaitForConfigInput(@Cast(value="bool")
                                  boolean _wait)

Specify to wait until inputConfig receives a configuration message, before sending out a frame.

Parameters:

wait - True to wait for inputConfig message, false otherwise

getWaitForConfigInput

@Cast(value="bool")
public boolean getWaitForConfigInput()

Returns:

True if wait for inputConfig message, false otherwise

See Also:

setWaitForConfigInput

setPreviewKeepAspectRatio

public void setPreviewKeepAspectRatio(@Cast(value="bool")
                                      boolean keep)

Specifies whether preview output should preserve aspect ratio, after downscaling from video size or not.

Parameters:

keep - If true, a larger crop region will be considered to still be able to create the final image in the specified aspect ratio. Otherwise video size is resized to fit preview size

getPreviewKeepAspectRatio

@Cast(value="bool")
public boolean getPreviewKeepAspectRatio()

Returns:

Preview keep aspect ratio option

See Also:

setPreviewKeepAspectRatio