Mono Camera Control

1#!/usr/bin/env python3
2
3"""
4This example shows usage of mono camera in crop mode with the possibility to move the crop.
5Uses 'WASD' controls to move the crop window, 'T' to trigger autofocus, 'IOKL,.' for manual exposure/focus:
6  Control:      key[dec/inc]  min..max
7  exposure time:     I   O      1..33000 [us]
8  sensitivity iso:   K   L    100..1600
9To go back to auto controls:
10  'E' - autoexposure
11"""
12
13import cv2
14import depthai as dai
15
16# Step size ('W','A','S','D' controls)
17stepSize = 0.02
18# Manual exposure/focus set step
19expStep = 500  # us
20isoStep = 50
21
22def clamp(num, v0, v1):
23    return max(v0, min(num, v1))
24
25sendCamConfig = False
26
27# Create pipeline
28pipeline = dai.Pipeline()
29
30# Define sources and outputs
31monoRight = pipeline.create(dai.node.MonoCamera)
32monoLeft = pipeline.create(dai.node.MonoCamera)
33manipRight = pipeline.create(dai.node.ImageManip)
34manipLeft = pipeline.create(dai.node.ImageManip)
35
36controlIn = pipeline.create(dai.node.XLinkIn)
37configIn = pipeline.create(dai.node.XLinkIn)
38manipOutRight = pipeline.create(dai.node.XLinkOut)
39manipOutLeft = pipeline.create(dai.node.XLinkOut)
40
41controlIn.setStreamName('control')
42configIn.setStreamName('config')
43manipOutRight.setStreamName("right")
44manipOutLeft.setStreamName("left")
45
46# Crop range
47topLeft = dai.Point2f(0.2, 0.2)
48bottomRight = dai.Point2f(0.8, 0.8)
49
50# Properties
51monoRight.setCamera("right")
52monoLeft.setCamera("left")
53monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
54monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
55manipRight.initialConfig.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y)
56manipLeft.initialConfig.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y)
57manipRight.setMaxOutputFrameSize(monoRight.getResolutionHeight()*monoRight.getResolutionWidth()*3)
58
59# Linking
60monoRight.out.link(manipRight.inputImage)
61monoLeft.out.link(manipLeft.inputImage)
62controlIn.out.link(monoRight.inputControl)
63controlIn.out.link(monoLeft.inputControl)
64configIn.out.link(manipRight.inputConfig)
65configIn.out.link(manipLeft.inputConfig)
66manipRight.out.link(manipOutRight.input)
67manipLeft.out.link(manipOutLeft.input)
68
69# Connect to device and start pipeline
70with dai.Device(pipeline) as device:
71
72    # Output queues will be used to get the grayscale frames
73    qRight = device.getOutputQueue(manipOutRight.getStreamName(), maxSize=4, blocking=False)
74    qLeft = device.getOutputQueue(manipOutLeft.getStreamName(), maxSize=4, blocking=False)
75    configQueue = device.getInputQueue(configIn.getStreamName())
76    controlQueue = device.getInputQueue(controlIn.getStreamName())
77
78    # Defaults and limits for manual focus/exposure controls
79    expTime = 20000
80    expMin = 1
81    expMax = 33000
82
83    sensIso = 800
84    sensMin = 100
85    sensMax = 1600
86
87    while True:
88        inRight = qRight.get()
89        inLeft = qLeft.get()
90        cv2.imshow("right", inRight.getCvFrame())
91        cv2.imshow("left", inLeft.getCvFrame())
92
93        # Update screen (1ms pooling rate)
94        key = cv2.waitKey(1)
95        if key == ord('q'):
96            break
97        elif key == ord('e'):
98            print("Autoexposure enable")
99            ctrl = dai.CameraControl()
100            ctrl.setAutoExposureEnable()
101            controlQueue.send(ctrl)
102        elif key in [ord('i'), ord('o'), ord('k'), ord('l')]:
103            if key == ord('i'): expTime -= expStep
104            if key == ord('o'): expTime += expStep
105            if key == ord('k'): sensIso -= isoStep
106            if key == ord('l'): sensIso += isoStep
107            expTime = clamp(expTime, expMin, expMax)
108            sensIso = clamp(sensIso, sensMin, sensMax)
109            print("Setting manual exposure, time:", expTime, "iso:", sensIso)
110            ctrl = dai.CameraControl()
111            ctrl.setManualExposure(expTime, sensIso)
112            controlQueue.send(ctrl)
113        elif key == ord('w'):
114            if topLeft.y - stepSize >= 0:
115                topLeft.y -= stepSize
116                bottomRight.y -= stepSize
117                sendCamConfig = True
118        elif key == ord('a'):
119            if topLeft.x - stepSize >= 0:
120                topLeft.x -= stepSize
121                bottomRight.x -= stepSize
122                sendCamConfig = True
123        elif key == ord('s'):
124            if bottomRight.y + stepSize <= 1:
125                topLeft.y += stepSize
126                bottomRight.y += stepSize
127                sendCamConfig = True
128        elif key == ord('d'):
129            if bottomRight.x + stepSize <= 1:
130                topLeft.x += stepSize
131                bottomRight.x += stepSize
132                sendCamConfig = True
133
134        # Send new config to camera
135        if sendCamConfig:
136            cfg = dai.ImageManipConfig()
137            cfg.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y)
138            configQueue.send(cfg)
139            sendCamConfig = False