Gen2 彩色相机控制
=========================

此示例演示如何控制设备端裁剪和摄像机触发器。输出是一个显示 RGB 裁剪帧，可以使用键盘进行以下操作:

- 按 :code:`a` 将使裁剪范围向左移动
- 按 :code:`d` 将使裁剪范围向右移动
- 按 :code:`w` 将使裁剪范围向上移动
- 按 :code:`s` 将使裁剪范围向下移动
- 按 :code:`c` 将保存当前帧

演示
**********************

.. raw:: html

    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
        <iframe src="//player.bilibili.com/player.html?aid=971929203&bvid=BV1Ep4y1H749&cid=304668381&page=1" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
    </div>

设置
********************

请运行以下命令来安装所需的依赖项

.. warning::
    说明：此处安装的是第二代depthai库

.. code-block:: bash

  python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/ depthai==0.0.2.1+c9a19df719cb668e438d6eafd193cdf60a0d9354 numpy==1.19.5 opencv-python==4.5.1.48

有关更多信息，请参阅 :ref:`Python API 安装指南 <Python API安装详解>`

源代码
*********************

可以在 `GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/ColorCamera/rgb_camera_control.py>`_ 上找到。国内用户也可以在 `gitee <https://gitee.com/oakchina/depthai-python/blob/main/examples/ColorCamera/rgb_camera_control.py>`_ 上找到。

.. code-block:: python

    '''
    此示例显示了“相机控制”消息以及ColorCamera configInput更改裁剪x和y的用法。
    使用“WASD”控件移动裁剪窗口，“C”捕获静止图像，“T”触发自动对焦，“IOKL”用于手动曝光:
      Control:      key[dec/inc]  min..max
      exposure time:     I   O      1..33000 [us]
      sensitivity iso:   K   L    100..1600
      focus:             ,   .      0..255 [far..near]
    返回自动控制:
      'E' - autoexposure
      'F' - autofocus (continuous)
    '''

    import depthai as dai
    import cv2
    import numpy as np

    # 设置移动的步长 ('W','A','S','D' 控制项)
    STEP_SIZE = 8
    # 手动曝光聚焦设定步骤
    EXP_STEP = 500  # us
    ISO_STEP = 50
    LENS_STEP = 3

    pipeline = dai.Pipeline()

    # 创建彩色相机流
    colorCam = pipeline.createColorCamera()
    # 创建连接输入流
    controlIn = pipeline.createXLinkIn()
    configIn = pipeline.createXLinkIn()
    # 创建视频编码流
    videoEncoder = pipeline.createVideoEncoder()
    stillEncoder = pipeline.createVideoEncoder()
    # 创建连接输出流
    videoMjpegOut = pipeline.createXLinkOut()
    stillMjpegOut = pipeline.createXLinkOut()
    previewOut = pipeline.createXLinkOut()


    # 设置流属性
    colorCam.setVideoSize(640, 360)
    colorCam.setPreviewSize(300, 300)
    controlIn.setStreamName('control')
    configIn.setStreamName('config')
    videoEncoder.setDefaultProfilePreset(colorCam.getVideoSize(), colorCam.getFps(), dai.VideoEncoderProperties.Profile.MJPEG)
    stillEncoder.setDefaultProfilePreset(colorCam.getStillSize(), 1, dai.VideoEncoderProperties.Profile.MJPEG)
    videoMjpegOut.setStreamName('video')
    stillMjpegOut.setStreamName('still')
    previewOut.setStreamName('preview')


    # 链接节点
    colorCam.video.link(videoEncoder.input)
    colorCam.still.link(stillEncoder.input)
    colorCam.preview.link(previewOut.input)
    controlIn.out.link(colorCam.inputControl)
    configIn.out.link(colorCam.inputConfig)
    videoEncoder.bitstream.link(videoMjpegOut.input)
    stillEncoder.bitstream.link(stillMjpegOut.input)

    def clamp(num, v0, v1): return max(v0, min(num, v1))

    # 管道已定义，现在设备已连接到管道
    with dai.Device(pipeline) as dev:

        # 获取数据队列
        controlQueue = dev.getInputQueue('control')
        configQueue = dev.getInputQueue('config')
        previewQueue = dev.getOutputQueue('preview')
        videoQueue = dev.getOutputQueue('video')
        stillQueue = dev.getOutputQueue('still')

        # 启动管道
        dev.startPipeline()

        # 最大crop_x和crop_y
        max_crop_x = (colorCam.getResolutionWidth() - colorCam.getVideoWidth()) / colorCam.getResolutionWidth()
        max_crop_y = (colorCam.getResolutionHeight() - colorCam.getVideoHeight()) / colorCam.getResolutionHeight()

        # 默认裁剪
        crop_x = 0
        crop_y = 0
        send_cam_config = True

        # 手动对焦控制的默认值和限制
        lens_pos = 150
        lens_min = 0
        lens_max = 255

        exp_time = 20000
        exp_min = 1
        exp_max = 33000

        sens_iso = 800
        sens_min = 100
        sens_max = 1600

        while True:

            previewFrames = previewQueue.tryGetAll()
            for previewFrame in previewFrames:
                cv2.imshow('preview', previewFrame.getData().reshape(previewFrame.getWidth(), previewFrame.getHeight(), 3))

            videoFrames = videoQueue.tryGetAll()
            for videoFrame in videoFrames:
                # 解码JPEG
                frame = cv2.imdecode(videoFrame.getData(), cv2.IMREAD_UNCHANGED)
                # 展示
                cv2.imshow('video', frame)

                # 发送新的CFG到相机
                if send_cam_config:
                    cfg = dai.ImageManipConfig()
                    cfg.setCropRect(crop_x, crop_y, 0, 0)
                    configQueue.send(cfg)
                    print('Sending new crop - x: ', crop_x, ' y: ', crop_y)
                    send_cam_config = False

            stillFrames = stillQueue.tryGetAll()
            for stillFrame in stillFrames:
                # 解码JPEG
                frame = cv2.imdecode(stillFrame.getData(), cv2.IMREAD_UNCHANGED)
                # 展示
                cv2.imshow('still', frame)


            # 更新画面
            key = cv2.waitKey(1)
            if key == ord('q'):
                break
            elif key == ord('c'):
                ctrl = dai.CameraControl()
                ctrl.setCaptureStill(True)
                controlQueue.send(ctrl)
            elif key == ord('t'):
                print("Autofocus trigger (and disable continuous)")
                ctrl = dai.CameraControl()
                ctrl.setAutoFocusMode(dai.CameraControl.AutoFocusMode.AUTO)
                ctrl.setAutoFocusTrigger()
                controlQueue.send(ctrl)
            elif key == ord('f'):
                print("Autofocus enable, continuous")
                ctrl = dai.CameraControl()
                ctrl.setAutoFocusMode(dai.CameraControl.AutoFocusMode.CONTINUOUS_VIDEO)
                controlQueue.send(ctrl)
            elif key == ord('e'):
                print("Autoexposure enable")
                ctrl = dai.CameraControl()
                ctrl.setAutoExposureEnable()
                controlQueue.send(ctrl)
            elif key in [ord(','), ord('.')]:
                if key == ord(','): lens_pos -= LENS_STEP
                if key == ord('.'): lens_pos += LENS_STEP
                lens_pos = clamp(lens_pos, lens_min, lens_max)
                print("Setting manual focus, lens position:", lens_pos)
                ctrl = dai.CameraControl()
                ctrl.setManualFocus(lens_pos)
                controlQueue.send(ctrl)
            elif key in [ord('i'), ord('o'), ord('k'), ord('l')]:
                if key == ord('i'): exp_time -= EXP_STEP
                if key == ord('o'): exp_time += EXP_STEP
                if key == ord('k'): sens_iso -= ISO_STEP
                if key == ord('l'): sens_iso += ISO_STEP
                exp_time = clamp(exp_time, exp_min, exp_max)
                sens_iso = clamp(sens_iso, sens_min, sens_max)
                print("Setting manual exposure, time:", exp_time, "iso:", sens_iso)
                ctrl = dai.CameraControl()
                ctrl.setManualExposure(exp_time, sens_iso)
                controlQueue.send(ctrl)
            elif key in [ord('w'), ord('a'), ord('s'), ord('d')]:
                if key == ord('a'):
                    crop_x = crop_x - (max_crop_x / colorCam.getResolutionWidth()) * STEP_SIZE
                    if crop_x < 0: crop_x = max_crop_x
                elif key == ord('d'):
                    crop_x = crop_x + (max_crop_x / colorCam.getResolutionWidth()) * STEP_SIZE
                    if crop_x > max_crop_x: crop_x = 0
                elif key == ord('w'):
                    crop_y = crop_y - (max_crop_y / colorCam.getResolutionHeight()) * STEP_SIZE
                    if crop_y < 0: crop_y = max_crop_y
                elif key == ord('s'):
                    crop_y = crop_y + (max_crop_y / colorCam.getResolutionHeight()) * STEP_SIZE
                    if crop_y > max_crop_y: crop_y = 0
                send_cam_config = True

.. include::  /pages/includes/footer-short.rst