# 单目相机

MonoCamera 节点是 [ImgFrame](https://docs.luxonis.com/software/depthai-components/messages/img_frame.md) 的数据源。你可以通过 inputControl
在运行时对其进行控制。部分 DepthAI 模块没有单目相机。两个单目相机用于计算立体深度（配合
[StereoDepth](https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth.md) 节点）。

## 如何放置

#### Python

```python
pipeline = dai.Pipeline()
mono = pipeline.create(dai.node.MonoCamera)
```

#### C++

```cpp
dai::Pipeline pipeline;
auto mono = pipeline.create<dai::node::MonoCamera>();
```

## 输入和输出

## 用法

#### 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<dai::node::MonoCamera>();
mono->setCamera("right");
mono->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
```

## 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）。

## 功能示例

 * [单目预览](https://docs.luxonis.com/software/depthai/examples/mono_preview.md)
 * [单目与 MobilenetSSD](https://docs.luxonis.com/software/depthai/examples/mono_depth_mobilenetssd.md)
 * [单目相机控制](https://docs.luxonis.com/software/depthai/examples/mono_camera_control.md)

## 参考

### 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

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