# 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 // 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(); auto monoLeft = pipeline.create(); auto manip = pipeline.create(); auto stereo = pipeline.create(); auto configIn = pipeline.create(); auto xout = pipeline.create(); 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(); 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 ### examples/depth_crop_control.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 4, "node1Output": "out", "node1OutputGroup": "", "node2Id": 2, "node2Input": "inputConfig", "node2InputGroup": "" }, { "node1Id": 3, "node1Output": "depth", "node1OutputGroup": "", "node2Id": 2, "node2Input": "inputImage", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "out", "node1OutputGroup": "", "node2Id": 5, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "out", "node1OutputGroup": "", "node2Id": 3, "node2Input": "right", "node2InputGroup": "" }, { "node1Id": 1, "node1Output": "out", "node1OutputGroup": "", "node2Id": 3, "node2Input": "left", "node2InputGroup": "" } ], "globalProperties": { 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