# Interactive Warp Mesh This example shows usage of [Warp](https://docs.luxonis.com/software/depthai-components/nodes/warp.md) node to warp the input image frame. It let's you interactively change the mesh points to warp the image. After changing the points, user has to press `r` to restart the pipeline and apply the changes. User-defined arguments: * `--mesh_dims` - Mesh dimensions (default: `4x4`). * `--resolution` - Resolution of the input image (default: `512x512`). Width must be divisible by 16. * `--random` - To generate random mesh points (disabled by default). Originally developed by [geaxgx](https://github.com/geaxgx). ## 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). ## Demo ## Source code #### Python ```python #!/usr/bin/env python3 import cv2 import depthai as dai import numpy as np import argparse import re import sys from random import randint parser = argparse.ArgumentParser() parser.add_argument("-m", "--mesh_dims", type=str, default="4x4", help="mesh dimensions widthxheight (default=%(default)s)") parser.add_argument("-r", "--resolution", type=str, default="512x512", help="preview resolution (default=%(default)s)") parser.add_argument("-rnd", "--random", action="store_true", help="Generate random initial mesh") args = parser.parse_args() # mesh dimensions match = re.search(r'.*?(\d+)x(\d+).*', args.mesh_dims) if not match: raise Exception(f"Mesh dimensions format incorrect '{args.resolution}'!") mesh_w = int(match.group(1)) mesh_h = int(match.group(2)) # Preview resolution match = re.search(r'.*?(\d+)x(\d+).*', args.resolution) if not match: raise Exception(f"Resolution format incorrect '{args.resolution}'!") preview_w = int(match.group(1)) preview_h = int(match.group(2)) if preview_w % 16 != 0: raise Exception(f"Preview width must be a multiple of 16!") # Create an initial mesh (optionally random) of dimension mesh_w x mesh_h first_point_x = int(preview_w / 10) between_points_x = int(4 * preview_w / (5 * (mesh_w - 1))) first_point_y = int(preview_h / 10) between_points_y = int(4 * preview_h / (5 * (mesh_h - 1))) if args.random: max_rnd_x = int(between_points_x / 4) max_rnd_y = int(between_points_y / 4) mesh = [] for i in range(mesh_h): for j in range(mesh_w): x = first_point_x + j * between_points_x y = first_point_y + i * between_points_y if args.random: rnd_x = randint(-max_rnd_x, max_rnd_x) if x + rnd_x > 0 and x + rnd_x < preview_w: x += rnd_x rnd_y = randint(-max_rnd_y, max_rnd_y) if y + rnd_y > 0 and y + rnd_y < preview_h: y += rnd_y mesh.append((x, y)) def create_pipeline(mesh): print(mesh) # Create pipeline pipeline = dai.Pipeline() camRgb = pipeline.create(dai.node.ColorCamera) camRgb.setPreviewSize(preview_w, preview_h) camRgb.setInterleaved(False) width = camRgb.getPreviewWidth() height = camRgb.getPreviewHeight() # Output source xout_source = pipeline.create(dai.node.XLinkOut) xout_source.setStreamName('source') camRgb.preview.link(xout_source.input) # Warp source frame warp = pipeline.create(dai.node.Warp) warp.setWarpMesh(mesh, mesh_w, mesh_h) warp.setOutputSize(width, height) warp.setMaxOutputFrameSize(width * height * 3) camRgb.preview.link(warp.inputImage) warp.setHwIds([1]) warp.setInterpolation(dai.Interpolation.NEAREST_NEIGHBOR) # Output warped xout_warped = pipeline.create(dai.node.XLinkOut) xout_warped.setStreamName('warped') warp.out.link(xout_warped.input) return pipeline point_selected = None def mouse_callback(event, x, y, flags, param): global mesh, point_selected, mesh_changed if event == cv2.EVENT_LBUTTONDOWN: if point_selected is None: # Which point is selected ? min_dist = 100 for i in range(len(mesh)): dist = np.linalg.norm((x - mesh[i][0], y - mesh[i][1])) if dist < 20 and dist < min_dist: min_dist = dist point_selected = i if point_selected is not None: mesh[point_selected] = (x, y) mesh_changed = True elif event == cv2.EVENT_LBUTTONUP: point_selected = None elif event == cv2.EVENT_MOUSEMOVE: if point_selected is not None: mesh[point_selected] = (x, y) mesh_changed = True cv2.namedWindow("Source") cv2.setMouseCallback("Source", mouse_callback) running = True print("Use your mouse to modify the mesh by clicking/moving points of the mesh in the Source window") print("Then press 'r' key to restart the device/pipeline") while running: pipeline = create_pipeline(mesh) # Connect to device and start pipeline with dai.Device(pipeline) as device: print("Starting device") # Output queue will be used to get the rgb frames from the output defined above q_source = device.getOutputQueue(name="source", maxSize=4, blocking=False) q_warped = device.getOutputQueue(name="warped", maxSize=4, blocking=False) restart_device = False mesh_changed = False while not restart_device: in0 = q_source.get() if in0 is not None: source = in0.getCvFrame() color = (0, 0,255) if mesh_changed else (0,255,0) for i in range(len(mesh)): cv2.circle(source, (mesh[i][0], mesh[i][1]), 4, color, -1) if i % mesh_w != mesh_w -1: cv2.line(source, (mesh[i][0], mesh[i][1]), (mesh[i+1][0], mesh[i+1][1]), color, 2) if i + mesh_w < len(mesh): cv2.line(source, (mesh[i][0], mesh[i][1]), (mesh[i+mesh_w][0], mesh[i+mesh_w][1]), color, 2) cv2.imshow("Source", source) in1 = q_warped.get() if in1 is not None: cv2.imshow("Warped", in1.getCvFrame()) key = cv2.waitKey(1) if key == ord('r'): # Restart the device if mesh has changed if mesh_changed: print("Restart requested...") mesh_changed = False restart_device = True elif key == 27 or key == ord('q'): # Exit running = False break ``` #### C++ WIP ## Pipeline ### Need assistance? 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