# Undistort camera stream

This example shows how you can use [Camera](https://docs.luxonis.com/software/depthai-components/nodes/camera.md) node to
undistort wide FOV camera stream. [Camera](https://docs.luxonis.com/software/depthai-components/nodes/camera.md) node will
automatically undistort still, video and preview streams, while isp stream will be left as is.

## Demo

## Setup

Please run the [install script](https://github.com/luxonis/depthai-python/blob/main/examples/install_requirements.py) to download
all required dependencies. Please note that this script must be ran from git context, so you have to download the
[depthai-python](https://github.com/luxonis/depthai-python) repository first and then run the script

```bash
git clone https://github.com/luxonis/depthai-python.git
cd depthai-python/examples
python3 install_requirements.py
```

For additional information, please follow the [installation guide](https://docs.luxonis.com/software/depthai/manual-install.md).

## Source code

#### Python

```python
#!/usr/bin/env python3

import depthai as dai
import cv2

pipeline = dai.Pipeline()

# Define sources and outputs
camRgb: dai.node.Camera = pipeline.create(dai.node.Camera)

#Properties
camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
camRgb.setSize((1280, 800))

# Linking
videoOut = pipeline.create(dai.node.XLinkOut)
videoOut.setStreamName("video")
camRgb.video.link(videoOut.input)

ispOut = pipeline.create(dai.node.XLinkOut)
ispOut.setStreamName("isp")
camRgb.isp.link(ispOut.input)

with dai.Device(pipeline) as device:
    video = device.getOutputQueue(name="video", maxSize=1, blocking=False)
    isp = device.getOutputQueue(name="isp", maxSize=1, blocking=False)

    while True:
        if video.has():
            cv2.imshow("video", video.get().getCvFrame())
        if isp.has():
            cv2.imshow("isp", isp.get().getCvFrame())
        if cv2.waitKey(1) == ord('q'):
            break
```

#### C++

WIP

## Pipeline

### examples/camera_undistort.pipeline.json

```json
{
  "pipeline": {
    "connections": [
      {
        "node1Id": 0,
        "node1Output": "video",
        "node1OutputGroup": "",
        "node2Id": 1,
        "node2Input": "in",
        "node2InputGroup": ""
      },
      {
        "node1Id": 0,
        "node1Output": "isp",
        "node1OutputGroup": "",
        "node2Id": 2,
        "node2Input": "in",
        "node2InputGroup": ""
      }
    ],
    "globalProperties": {
      "calibData": null,
      "cameraTuningBlobSize": null,
      "cameraTuningBlobUri": "",
      "leonCssFrequencyHz": 700000000.0,
      "leonMssFrequencyHz": 700000000.0,
      "pipelineName": null,
      "pipelineVersion": null,
      "sippBufferSize": 18432,
      "sippDmaBufferSize": 16384,
      "xlinkChunkSize": -1
    },
    "nodes": [
      [
        0,
        {
          "id": 0,
          "ioInfo": [
            [
              [
                "",
                "inputConfig"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 1,
                "name": "inputConfig",
                "queueSize": 8,
                "type": 3,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "raw"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 6,
                "name": "raw",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "still"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 7,
                "name": "still",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "inputControl"
              ],
              {
                "blocking": true,
                "group": "",
                "id": 2,
                "name": "inputControl",
                "queueSize": 8,
                "type": 3,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "video"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 3,
                "name": "video",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "isp"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 4,
                "name": "isp",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "preview"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 5,
                "name": "preview",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "frameEvent"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 8,
                "name": "frameEvent",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ]
          ],
          "name": "Camera",
          "properties": {
            "boardSocket": 0,
            "calibAlpha": null,
            "cameraName": "",
            "colorOrder": 0,
            "fp16": false,
            "fps": 30.0,
            "imageOrientation": -1,
            "initialControl": {
              "aeLockMode": false,
              "aeMaxExposureTimeUs": 0,
              "aeRegion": {
                "height": 0,
                "priority": 0,
                "width": 0,
                "x": 0,
                "y": 0
              },
              "afRegion": {
                "height": 0,
                "priority": 0,
                "width": 0,
                "x": 0,
                "y": 0
              },
              "antiBandingMode": 0,
              "autoFocusMode": 3,
              "awbLockMode": false,
              "awbMode": 0,
              "brightness": 0,
              "captureIntent": 0,
              "chromaDenoise": 0,
              "cmdMask": 0,
              "contrast": 0,
              "controlMode": 0,
              "effectMode": 0,
              "expCompensation": 0,
              "expManual": {
                "exposureTimeUs": 0,
                "frameDurationUs": 0,
                "sensitivityIso": 0
              },
              "frameSyncMode": 0,
              "lensPosAutoInfinity": 0,
              "lensPosAutoMacro": 0,
              "lensPosition": 0,
              "lensPositionRaw": 0.0,
              "lowPowerNumFramesBurst": 0,
              "lowPowerNumFramesDiscard": 0,
              "lumaDenoise": 0,
              "saturation": 0,
              "sceneMode": 0,
              "sharpness": 0,
              "strobeConfig": {
                "activeLevel": 0,
                "enable": 0,
                "gpioNumber": 0
              },
              "strobeTimings": {
                "durationUs": 0,
                "exposureBeginOffsetUs": 0,
                "exposureEndOffsetUs": 0
              },
              "wbColorTemp": 0
            },
            "interleaved": true,
            "isp3aFps": 0,
            "ispScale": {
              "horizDenominator": 0,
              "horizNumerator": 0,
              "vertDenominator": 0,
              "vertNumerator": 0
            },
            "numFramesPoolIsp": 3,
            "numFramesPoolPreview": 4,
            "numFramesPoolRaw": 3,
            "numFramesPoolStill": 4,
            "numFramesPoolVideo": 4,
            "previewHeight": 300,
            "previewKeepAspectRatio": true,
            "previewWidth": 300,
            "rawPacked": null,
            "resolutionHeight": 800,
            "resolutionWidth": 1280,
            "sensorCropX": -1.0,
            "sensorCropY": -1.0,
            "sensorType": -1,
            "stillHeight": -1,
            "stillWidth": -1,
            "videoHeight": -1,
            "videoWidth": -1,
            "warpMeshHeight": 0,
            "warpMeshSource": -1,
            "warpMeshStepHeight": 32,
            "warpMeshStepWidth": 32,
            "warpMeshUri": "",
            "warpMeshWidth": 0
          }
        }
      ],
      [
        1,
        {
          "id": 1,
          "ioInfo": [
            [
              [
                "",
                "in"
              ],
              {
                "blocking": true,
                "group": "",
                "id": 9,
                "name": "in",
                "queueSize": 8,
                "type": 3,
                "waitForMessage": true
              }
            ]
          ],
          "name": "XLinkOut",
          "properties": {
            "maxFpsLimit": -1.0,
            "metadataOnly": false,
            "streamName": "video"
          }
        }
      ],
      [
        2,
        {
          "id": 2,
          "ioInfo": [
            [
              [
                "",
                "in"
              ],
              {
                "blocking": true,
                "group": "",
                "id": 10,
                "name": "in",
                "queueSize": 8,
                "type": 3,
                "waitForMessage": true
              }
            ]
          ],
          "name": "XLinkOut",
          "properties": {
            "maxFpsLimit": -1.0,
            "metadataOnly": false,
            "streamName": "isp"
          }
        }
      ]
    ]
  }
}
```

### Need assistance?

Head over to [Discussion Forum](https://discuss.luxonis.com/) for technical support or any other questions you might have.