参考代码：
#!/usr/bin/env python3
"""
This example shows usage of Camera Control message
Uses '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
"""
from itertools import cycle
import cv2
import depthai as dai
# Manual exposure/focus set step
expStep = 500 # us
isoStep = 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)
monoRight = pipeline.create(dai.node.MonoCamera)
monoLeft = pipeline.create(dai.node.MonoCamera)
controlInRgb = pipeline.create(dai.node.XLinkIn)
controlInLeft = pipeline.create(dai.node.XLinkIn)
controlInRight = pipeline.create(dai.node.XLinkIn)
xOutRgb = pipeline.create(dai.node.XLinkOut)
xOutRight = pipeline.create(dai.node.XLinkOut)
xOutLeft = pipeline.create(dai.node.XLinkOut)
controlInRgb.setStreamName("controlRgb")
controlInLeft.setStreamName("controlLeft")
controlInRight.setStreamName("controlRight")
xOutRgb.setStreamName("rgb")
xOutRight.setStreamName("right")
xOutLeft.setStreamName("left")
# Properties
monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
monoLeft.setCamera(dai.CameraBoardSocket.LEFT)
monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
# Linking
controlInRgb.out.link(camRgb.inputControl)
controlInRight.out.link(monoRight.inputControl)
controlInLeft.out.link(monoLeft.inputControl)
camRgb.isp.link(xOutRgb.input)
monoRight.out.link(xOutRight.input)
monoLeft.out.link(xOutLeft.input)
# Connect to device and start pipeline
with dai.Device(pipeline) as device:
# Output queues will be used to get the frames
qRgb = device.getOutputQueue(xOutRgb.getStreamName(), maxSize=4, blocking=False)
qRight = device.getOutputQueue(xOutRight.getStreamName(), maxSize=4, blocking=False)
qLeft = device.getOutputQueue(xOutLeft.getStreamName(), maxSize=4, blocking=False)
controlQueueRgb = device.getInputQueue(controlInRgb.getStreamName())
controlQueueLeft = device.getInputQueue(controlInRight.getStreamName())
controlQueueRight = device.getInputQueue(controlInRight.getStreamName())
# Defaults and limits for manual focus/exposure controls
expTime = 20000
expMin = 1
expMax = 33000
sensIso = 800
sensMin = 100
sensMax = 1600
lensPos = 150
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"
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:
inRgb = qRgb.get()
inRight = qRight.get()
inLeft = qLeft.get()
cv2.imshow("rgb", inRgb.getCvFrame())
cv2.imshow("right", inRight.getCvFrame())
cv2.imshow("left", inLeft.getCvFrame())
# Update screen (1ms pooling rate)
key = cv2.waitKey(1)
if key == ord("q"):
break
elif key == ord("t"):
print("Autofocus trigger (and disable continuous)")
ctrl = dai.CameraControl()
ctrl.setAutoFocusMode(dai.CameraControl.AutoFocusMode.AUTO)
ctrl.setAutoFocusTrigger()
controlQueueRgb.send(ctrl)
controlQueueLeft.send(ctrl)
controlQueueRight.send(ctrl)
elif key == ord("f"):
print("Autofocus enable, continuous")
ctrl = dai.CameraControl()
ctrl.setAutoFocusMode(dai.CameraControl.AutoFocusMode.CONTINUOUS_VIDEO)
controlQueueRgb.send(ctrl)
controlQueueLeft.send(ctrl)
controlQueueRight.send(ctrl)
elif key == ord("e"):
print("Autoexposure enable")
ctrl = dai.CameraControl()
ctrl.setAutoExposureEnable()
controlQueueRgb.send(ctrl)
controlQueueRight.send(ctrl)
controlQueueLeft.send(ctrl)
elif key == ord("b"):
print("Auto white-balance enable")
ctrl = dai.CameraControl()
ctrl.setAutoWhiteBalanceMode(dai.CameraControl.AutoWhiteBalanceMode.AUTO)
controlQueueRgb.send(ctrl)
controlQueueRight.send(ctrl)
controlQueueLeft.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)
controlQueueRgb.send(ctrl)
controlQueueRight.send(ctrl)
controlQueueLeft.send(ctrl)
elif key in {ord("i"), ord("o"), ord("k"), ord("l")}:
if key == ord("i"):
expTime -= expStep
if key == ord("o"):
expTime += expStep
if key == ord("k"):
sensIso -= isoStep
if key == ord("l"):
sensIso += isoStep
expTime = clamp(expTime, expMin, expMax)
sensIso = clamp(sensIso, sensMin, sensMax)
print("Setting manual exposure, time:", expTime, "iso:", sensIso)
ctrl = dai.CameraControl()
ctrl.setManualExposure(expTime, sensIso)
controlQueueRgb.send(ctrl)
controlQueueRight.send(ctrl)
controlQueueLeft.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)
controlQueueRgb.send(ctrl)
controlQueueRight.send(ctrl)
controlQueueLeft.send(ctrl)
elif key == ord("1"):
awb_lock = not awb_lock
print("Auto white balance lock:", awb_lock)
ctrl = dai.CameraControl()
ctrl.setAutoWhiteBalanceLock(awb_lock)
controlQueueRgb.send(ctrl)
controlQueueRight.send(ctrl)
elif key == ord("2"):
ae_lock = not ae_lock
print("Auto exposure lock:", ae_lock)
ctrl = dai.CameraControl()
ctrl.setAutoExposureLock(ae_lock)
controlQueueRgb.send(ctrl)
controlQueueRight.send(ctrl)
controlQueueLeft.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)
controlQueueRgb.send(ctrl)
controlQueueRight.send(ctrl)
controlQueueLeft.send(ctrl)