Fix stereoDepth/colorCamera node docs #262
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alex-luxonis
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Thanks for adding this!
| ColorCamera node | ||
| ┌──────────────────────────────┐ | ||
| │ ┌──────────────┐ │ | ||
| │ │ sensor │ │ raw | ||
| │ │ (IMX378) │------------├────────► | ||
| │ └─────┬───▲────┘ │ | ||
| │ │ │ │ | ||
| │ ┌─▼───┴─┐ │ isp | ||
| inputControl │ │ │------┬--------├────────► | ||
| ──────────────►│------│ ISP │ ┌────▼────┐ │ video | ||
| │ │ │ | |---├────────► | ||
| │ └───────┘ │ │ │ still | ||
| inputConfig │ │ Encoder │---├────────► | ||
| ──────────────►│----------------| │ │ preview | ||
| │ │ │---├────────► | ||
| │ └─────────┘ │ | ||
| └──────────────────────────────┘ |
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- as we're supporting multiple sensors: IMX378/ IMX477 (and OV9782, IMX283 on separate branches), and going to add more, change to a generic
Image Sensor - it would be better to show that the same
rawstream goes throughISP Encoder->Image post-processing/conversion, to not be confused with the Video Encoder
| a capture event is sent to the ColorCamera, so it's like taking a photo. | ||
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| **ISP** (image signal processor) is used for bayer transformation, demosaicing, noise reduction etc. Click | ||
| `here <https://en.wikipedia.org/wiki/Image_processor>`__ for more information. |
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Could add that ISP interacts with the 3A algorithms (auto-focus, auto-exposure, auto-white-balance), adjusting at runtime the image sensor exposure time and sensitivity (ISO), and the lens position if motorized.
| :code:`Preview` is RGB (or BGR planar/interleaved if configured) and is mostly suited for small size previews and to feed the image | ||
| into :ref:`NeuralNetwork`. :code:`video` and :code:`still` are both NV12, so are suitable for bigger sizes. :code:`still` image gets created when | ||
| a capture event is sent to the ColorCamera, so it's like taking a photo. | ||
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To be consistent with the existing types, add here that isp frames are YUV420 planar (aka YU12, IYUV, I420) and can be resized using (ref)setIspScale.
And raw outputs packed RAW10 bayer data (for other sensors in the future we may need to have RAW12, and the bayer color order depends on the sensor and image orientation, TODO add to ImgFrame::Type: RAW10_BayerBG, etc ).
We have here some code for unpacking: https://github.com/luxonis/depthai-experiments/blob/3f1b2b2/gen2-color-isp-raw/main.py#L13-L32
alex-luxonis
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alex-luxonis
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One comment, otherwise LGTM!
| **ISP** (image signal processor) interacts with the 3A algorithms: **auto-focus**, **auto-exposure** and **auto-white-balance**. ISP handles image | ||
| sensor adjustments such as exposure time, sensitivity (ISO) and lens position (if image sensor in motorized) at runtime. | ||
| Click `here <https://en.wikipedia.org/wiki/Image_processor>`__ for more information. |
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It would be good to keep the initial description from previous commit first, as the main thing ISP is doing:
ISP (image signal processor) is used for bayer transformation, demosaicing, noise reduction and other image enhancements.
And then add the rest (slightly rephrased):
It interacts with the 3A algorithms: auto-focus, auto-exposure and auto-white-balance, which are handling image sensor adjustments such as exposure time, sensitivity (ISO) and lens position (if the camera module has a motorized lens) at runtime.
Clickherefor more information.
fixed stereoDepth (limitations) and colorCamera (isp/raw/encoder) node docs
Built docs here