# Depth Crop Control

This example shows usage of depth camera in crop mode with the possibility to move the crop. You can manipulate the movement of
the cropped frame by using the following keys:

 * `w` will move the crop up
 * `a` will move the crop left
 * `s` will move the crop down
 * `d` will move the crop right

### Similar samples:

 * [RGB Camera Control](https://docs.luxonis.com/software/depthai/examples/rgb_camera_control.md)
 * [Mono Camera Control](https://docs.luxonis.com/software/depthai/examples/mono_camera_control.md)

## Demo

## Setup

This example requires the DepthAI v3 API, see [installation instructions](https://docs.luxonis.com/software-v3/depthai.md).

## Source code

#### Python

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

"""
This example shows usage of depth camera in crop mode with the possibility to move the crop.
Use 'WASD' in order to do it.
"""

import cv2
import depthai as dai
import numpy as np

# Step size ('W','A','S','D' controls)
stepSize = 0.02

# Create pipeline
pipeline = dai.Pipeline()

# Define sources and outputs
monoRight = pipeline.create(dai.node.MonoCamera)
monoLeft = pipeline.create(dai.node.MonoCamera)
manip = pipeline.create(dai.node.ImageManip)
stereo = pipeline.create(dai.node.StereoDepth)

configIn = pipeline.create(dai.node.XLinkIn)
xout = pipeline.create(dai.node.XLinkOut)

configIn.setStreamName('config')
xout.setStreamName("depth")

# Crop range
topLeft = dai.Point2f(0.2, 0.2)
bottomRight = dai.Point2f(0.8, 0.8)

# Properties
monoRight.setCamera("right")
monoLeft.setCamera("left")
monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)

manip.initialConfig.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y)
manip.setMaxOutputFrameSize(monoRight.getResolutionHeight()*monoRight.getResolutionWidth()*3)
stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
stereo.setSubpixel(True)

# Linking
configIn.out.link(manip.inputConfig)
stereo.depth.link(manip.inputImage)
manip.out.link(xout.input)
monoRight.out.link(stereo.right)
monoLeft.out.link(stereo.left)

# Connect to device and start pipeline
with dai.Device(pipeline) as device:

    # Queues
    q = device.getOutputQueue(xout.getStreamName(), maxSize=4, blocking=False)
    configQueue = device.getInputQueue(configIn.getStreamName())

    sendCamConfig = False

    while True:
        inDepth = q.get()
        depthFrame = inDepth.getFrame() # depthFrame values are in millimeters

        # Frame is transformed, the color map will be applied to highlight the depth info
        depth_downscaled = depthFrame[::4]
        if np.all(depth_downscaled == 0):
            min_depth = 0  # Set a default minimum depth value when all elements are zero
        else:
            min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
        max_depth = np.percentile(depth_downscaled, 99)
        depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
        depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)

        # Frame is ready to be shown
        cv2.imshow("depth", depthFrameColor)

        # Update screen
        key = cv2.waitKey(10)
        if key == ord('q'):
            break
        elif key == ord('w'):
            if topLeft.y - stepSize >= 0:
                topLeft.y -= stepSize
                bottomRight.y -= stepSize
                sendCamConfig = True
        elif key == ord('a'):
            if topLeft.x - stepSize >= 0:
                topLeft.x -= stepSize
                bottomRight.x -= stepSize
                sendCamConfig = True
        elif key == ord('s'):
            if bottomRight.y + stepSize <= 1:
                topLeft.y += stepSize
                bottomRight.y += stepSize
                sendCamConfig = True
        elif key == ord('d'):
            if bottomRight.x + stepSize <= 1:
                topLeft.x += stepSize
                bottomRight.x += stepSize
                sendCamConfig = True

        # Send new config to camera
        if sendCamConfig:
            cfg = dai.ImageManipConfig()
            cfg.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y)
            configQueue.send(cfg)
            sendCamConfig = False
```

#### C++

```cpp
/**
 * This example shows usage of depth camera in crop mode with the possibility to move the crop.
 * Use 'WASD' in order to do it.
 */
#include <iostream>

// Includes common necessary includes for development using depthai library
#include "depthai/depthai.hpp"

// Step size ('W','A','S','D' controls)
static constexpr float stepSize = 0.02f;

int main() {
    // Create pipeline
    dai::Pipeline pipeline;

    // Define sources and outputs
    auto monoRight = pipeline.create<dai::node::MonoCamera>();
    auto monoLeft = pipeline.create<dai::node::MonoCamera>();
    auto manip = pipeline.create<dai::node::ImageManip>();
    auto stereo = pipeline.create<dai::node::StereoDepth>();

    auto configIn = pipeline.create<dai::node::XLinkIn>();
    auto xout = pipeline.create<dai::node::XLinkOut>();

    configIn->setStreamName("config");
    xout->setStreamName("depth");

    // Crop range
    dai::Point2f topLeft(0.2f, 0.2f);
    dai::Point2f bottomRight(0.8f, 0.8f);

    // Properties
    monoRight->setCamera("right");
    monoLeft->setCamera("left");
    monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
    monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);

    manip->initialConfig.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y);
    manip->setMaxOutputFrameSize(monoRight->getResolutionHeight() * monoRight->getResolutionWidth() * 3);
    stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);

    // Linking
    configIn->out.link(manip->inputConfig);
    stereo->depth.link(manip->inputImage);
    manip->out.link(xout->input);
    monoRight->out.link(stereo->right);
    monoLeft->out.link(stereo->left);

    // Connect to device and start pipeline
    dai::Device device(pipeline);

    // Queues
    auto q = device.getOutputQueue(xout->getStreamName(), 4, false);
    auto configQueue = device.getInputQueue(configIn->getStreamName());

    bool sendCamConfig = false;

    while(true) {
        auto inDepth = q->get<dai::ImgFrame>();
        cv::Mat depthFrame = inDepth->getFrame();  // depthFrame values are in millimeters

        // Frame is transformed, the color map will be applied to highlight the depth info
        cv::Mat depthFrameColor;
        cv::normalize(depthFrame, depthFrameColor, 255, 0, cv::NORM_INF, CV_8UC1);
        cv::equalizeHist(depthFrameColor, depthFrameColor);
        cv::applyColorMap(depthFrameColor, depthFrameColor, cv::COLORMAP_HOT);

        // Frame is ready to be shown
        cv::imshow("depth", depthFrameColor);

        // Update screen (10ms pooling rate)
        int key = cv::waitKey(9);
        cv::waitKey(1);  // glitch workaround
        if(key == 'q') {
            break;
        } else if(key == 'w') {
            if(topLeft.y - stepSize >= 0) {
                topLeft.y -= stepSize;
                bottomRight.y -= stepSize;
                sendCamConfig = true;
            }
        } else if(key == 'a') {
            if(topLeft.x - stepSize >= 0) {
                topLeft.x -= stepSize;
                bottomRight.x -= stepSize;
                sendCamConfig = true;
            }
        } else if(key == 's') {
            if(bottomRight.y + stepSize <= 1) {
                topLeft.y += stepSize;
                bottomRight.y += stepSize;
                sendCamConfig = true;
            }
        } else if(key == 'd') {
            if(bottomRight.x + stepSize <= 1) {
                topLeft.x += stepSize;
                bottomRight.x += stepSize;
                sendCamConfig = true;
            }
        }

        // Send new config to camera
        if(sendCamConfig) {
            dai::ImageManipConfig cfg;
            cfg.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y);
            configQueue->send(cfg);
            sendCamConfig = false;
        }
    }
    return 0;
}
```

## Pipeline

### Need assistance?

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