# ColorCamera ColorCamera 节点是 [ImgFrame](https://docs.luxonis.com/software/depthai-components/messages/img_frame.md) 的源。您可以在运行时通过 InputControl 和 InputConfig 对其进行控制。 ## 如何放置 #### Python ```python pipeline = dai.Pipeline() cam = pipeline.create(dai.node.ColorCamera) ``` #### C++ ```cpp dai::Pipeline pipeline; auto cam = pipeline.create(); ``` ## 输入和输出 消息类型 * inputConfig - [ImageManipConfig](https://docs.luxonis.com/software/depthai-components/messages/image_manip_config.md) * inputControl - [CameraControl](https://docs.luxonis.com/software/depthai-components/messages/camera_control.md) * raw - [ImgFrame](https://docs.luxonis.com/software/depthai-components/messages/img_frame.md) - RAW10 Bayer 数据。解包示例代码在[此处](https://github.com/luxonis/oak-examples/blob/3f1b2b2/gen2-color-isp-raw/main.py#L13-L32) * isp - [ImgFrame](https://docs.luxonis.com/software/depthai-components/messages/img_frame.md) - YUV420 平面格式（与 YU12/IYUV/I420 相同） * still - [ImgFrame](https://docs.luxonis.com/software/depthai-components/messages/img_frame.md) - NV12，适用于较大尺寸的帧。当发送捕获事件给 ColorCamera 时生成图像，类似于拍照 * preview - [ImgFrame](https://docs.luxonis.com/software/depthai-components/messages/img_frame.md) - RGB（或 BGR 平面/交错格式，取决于配置），主要用于小尺寸预览，并将图像输入到 [NeuralNetwork](https://docs.luxonis.com/software/depthai-components/nodes/neural_network.md) * video - [ImgFrame](https://docs.luxonis.com/software/depthai-components/messages/img_frame.md) - NV12，适用于较大尺寸的帧 ISP（图像信号处理器）用于 Bayer 变换、去马赛克、降噪以及其他图像增强。 它与 3A 算法交互：自动对焦、自动曝光和自动白平衡，这些算法在运行时处理图像传感器 的调整，如曝光时间、灵敏度（ISO）和镜头位置（如果相机模块有电机驱动镜头）。 点击[此处](https://en.wikipedia.org/wiki/Image_processor)了解更多信息。 图像后处理将来自 ISP 的 YUV420 平面帧转换为 video/preview/still 帧。 still（当触发捕获时）和 isp 以最大相机分辨率工作，而 video 和 preview 限制为 最大 4K（3840 x 2160）分辨率，这是从 isp 裁剪得到的。 对于 IMX378（12MP），后处理的工作方式如下： 上图是 ColorCamera 的 isp 输出（来自 IMX378 的 12MP 分辨率）。如果您不缩小 ISP， 则 video 输出被裁剪为 4K（由于 video 输出的限制，最大 3840x2160），如 蓝色矩形所示。黄色矩形表示当预览大小设置为 1:1 宽高比时裁剪的 preview 输出 （例如，针对 MobileNet-SSD NN 模型使用 300x300 预览大小），因为 preview 输出源自 video 输出。 ## 用法 #### Python ```python pipeline = dai.Pipeline() cam = pipeline.create(dai.node.ColorCamera) cam.setPreviewSize(300, 300) cam.setBoardSocket(dai.CameraBoardSocket.CAM_A) cam.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P) cam.setInterleaved(False) cam.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB) ``` #### C++ ```cpp dai::Pipeline pipeline; auto cam = pipeline.create(); cam->setPreviewSize(300, 300); cam->setBoardSocket(dai::CameraBoardSocket::CAM_A); cam->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P); cam->setInterleaved(false); cam->setColorOrder(dai::ColorCameraProperties::ColorOrder::RGB); ``` ## 3A 算法 3A（自动曝光 AE、自动白平衡 AWB 和自动对焦 AF）算法用于优化图像质量，并直接在 RVC 上运行。 默认情况下，这些设置处于自动模式，每个传感器都有特定的限制（例如最小/最大曝光），详见[支持的传感器](https://docs.luxonis.com/hardware/platform/sensors/sensors.md)。 您可以通过以下方式手动控制这些设置：按照 [RGB 相机控制示例](https://docs.luxonis.com/software/depthai/examples/rgb_camera_control.md) 中的步骤操作，或使用 [cam_test.py 脚本](https://github.com/luxonis/depthai-python/blob/main/utilities/cam_test.py)。 * 立体相机：传感器共享同一条 I2C 总线，可自动同步 3A 设置（AWB、AE）。 * 独立传感器：在 OAK FFC 或 OAK-D-LR 等配置中，每个传感器拥有独立的 I2C，可使用 3a-follow 功能将 3A 设置从一个传感器同步到其他传感器。 示例用法 ```python cam['cam_b'].initialControl.setMisc("3a-follow", dai.CameraBoardSocket.CAM_A) cam['cam_c'].initialControl.setMisc("3a-follow", dai.CameraBoardSocket.CAM_A) ``` 3a-follow 功能将主摄像头（例如 CAM_A）的 3A 设置（曝光、ISO 和白平衡）复制到配置中的其他摄像头（例如 CAM_B 和 CAM_C）。 ## 限制 以下是已知的针对 [RVC2](https://docs.luxonis.com/hardware/platform/rvc/rvc2.md#rvc2) 的相机限制： * ISP 大约能处理 600 MP/s，当流水线同时运行神经网络和视频编码器时，大约为 500 MP/s * 3A 算法总共能处理约 200..250 FPS（针对所有相机流）。这是我们当前实现的限制，我们计划通过变通方法在每第 X 帧上运行 3A 算法，暂无预计时间 * ISP 缩放分子值可为 1..16，分母值可为 1..32（垂直和水平缩放）。因此，您只能将例如 12MP（4056x3040）缩小为[此处计算的分辨率](https://docs.google.com/spreadsheets/d/153yTstShkJqsPbkPOQjsVRmM8ZO3A6sCqm7uayGF-EE/edit#gid=0) ## 功能示例 * [RGB 预览](https://docs.luxonis.com/software/depthai/examples/rgb_preview.md) * [RGB 相机控制](https://docs.luxonis.com/software/depthai/examples/rgb_camera_control.md) * [RGB 视频](https://docs.luxonis.com/software/depthai/examples/rgb_video.md) ## 参考 ### depthai.node.ColorCamera(depthai.Node) Kind: Class ColorCamera node. For use with color 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 #### getColorOrder(self) -> depthai.ColorCameraProperties.ColorOrder: depthai.ColorCameraProperties.ColorOrder Kind: Method Get color order of preview output frames. RGB or BGR #### getFp16(self) -> bool: bool Kind: Method Get fp16 (0..255) data of preview output frames #### 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 #### getInterleaved(self) -> bool: bool Kind: Method Get planar or interleaved data of preview output frames #### getIspHeight(self) -> int: int Kind: Method Get 'isp' output height #### getIspNumFramesPool(self) -> int: int Kind: Method Get number of frames in isp pool #### getIspSize(self) -> tuple[int, int]: tuple[int, int] Kind: Method Get 'isp' output resolution as size, after scaling #### getIspWidth(self) -> int: int Kind: Method Get 'isp' output width #### getPreviewHeight(self) -> int: int Kind: Method Get preview height #### getPreviewKeepAspectRatio(self) -> bool: bool Kind: Method See also: setPreviewKeepAspectRatio Returns: Preview keep aspect ratio option #### getPreviewNumFramesPool(self) -> int: int Kind: Method Get number of frames in preview pool #### getPreviewSize(self) -> tuple[int, int]: tuple[int, int] Kind: Method Get preview size as tuple #### getPreviewWidth(self) -> int: int Kind: Method Get preview width #### getRawNumFramesPool(self) -> int: int Kind: Method Get number of frames in raw pool #### getResolution(self) -> depthai.ColorCameraProperties.SensorResolution: depthai.ColorCameraProperties.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 #### getSensorCrop(self) -> tuple[float, float]: tuple[float, float] Kind: Method Returns: Sensor top left crop coordinates #### getSensorCropX(self) -> float: float Kind: Method Get sensor top left x crop coordinate #### getSensorCropY(self) -> float: float Kind: Method Get sensor top left y crop coordinate #### getStillHeight(self) -> int: int Kind: Method Get still height #### getStillNumFramesPool(self) -> int: int Kind: Method Get number of frames in still pool #### getStillSize(self) -> tuple[int, int]: tuple[int, int] Kind: Method Get still size as tuple #### getStillWidth(self) -> int: int Kind: Method Get still width #### getVideoHeight(self) -> int: int Kind: Method Get video height #### getVideoNumFramesPool(self) -> int: int Kind: Method Get number of frames in video pool #### getVideoSize(self) -> tuple[int, int]: tuple[int, int] Kind: Method Get video size as tuple #### getVideoWidth(self) -> int: int Kind: Method Get video width #### getWaitForConfigInput(self) -> bool: bool Kind: Method See also: setWaitForConfigInput Returns: True if wait for inputConfig message, false otherwise #### sensorCenterCrop(self) Kind: Method Specify sensor center crop. Resolution size / video size #### 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 #### setColorOrder(self, colorOrder: depthai.ColorCameraProperties.ColorOrder) Kind: Method Set color order of preview output images. RGB or BGR #### setFp16(self, fp16: bool) Kind: Method Set fp16 (0..255) data type of preview output frames #### 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 #### setInterleaved(self, interleaved: bool) Kind: Method Set planar or interleaved data of preview output frames #### 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. #### setIspNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Set number of frames in isp pool #### setIspScale() Kind: Method #### setNumFramesPool(self, raw: typing.SupportsInt, isp: typing.SupportsInt, preview: typing.SupportsInt, video: typing.SupportsInt, still: typing.SupportsInt) Kind: Method Set number of frames in all pools #### setPreviewKeepAspectRatio(self, keep: bool) Kind: Method Specifies whether preview output should preserve aspect ratio, after downscaling from video size or not. Parameter ``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 #### setPreviewNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Set number of frames in preview pool #### setPreviewSize() Kind: Method #### 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.ColorCameraProperties.SensorResolution) Kind: Method Set sensor resolution #### setSensorCrop(self, x: typing.SupportsFloat, y: typing.SupportsFloat) Kind: Method Specifies the cropping that happens when converting ISP to video output. By default, video will be center cropped from the ISP output. Note that this doesn't actually do on-sensor cropping (and MIPI-stream only that region), but it does postprocessing on the ISP (on RVC). Parameter ``x``: Top left X coordinate Parameter ``y``: Top left Y coordinate #### setStillNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Set number of frames in preview pool #### setStillSize() Kind: Method #### setVideoNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Set number of frames in preview pool #### setVideoSize() Kind: Method #### setWaitForConfigInput(self, wait: bool) Kind: Method Specify to wait until inputConfig receives a configuration message, before sending out a frame. Parameter ``wait``: True to wait for inputConfig message, false otherwise #### 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 #### inputConfig Kind: Property Input for ImageManipConfig message, which can modify crop parameters in runtime Default queue is non-blocking with size 8 #### inputControl Kind: Property Input for CameraControl message, which can modify camera parameters in runtime Default queue is blocking with size 8 #### isp Kind: Property 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 #### preview Kind: Property Outputs ImgFrame message that carries BGR/RGB planar/interleaved encoded frame data. Suitable for use with NeuralNetwork node #### raw Kind: Property 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. #### still Kind: Property 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. #### video Kind: Property Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data. Suitable for use with VideoEncoder node ### 需要帮助？ 请前往 [OAKChina 官网](https://www.oakchina.cn/) 获取技术支持或解答您的任何疑问。