3.24. Gen2 灰度相机控制

本示例说明了如何控制设备端的裁剪和相机触发器。TWo输出是显示的单幅裁剪帧，可以使用以下按键进行操作:

按 a 将使裁剪范围向左移动
按 d 将使裁剪范围向右移动
按 w 将使裁剪范围向上移动
按 s 将使裁剪范围向下移动
按 e 将触发自动曝光
按 i 和 o 将减少/增加曝光时间
按 k 和 l 将降低/增加iso的灵敏度

3.24.1. 演示

3.24.2. 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

python3 -m pip install -U pip
python3 -m pip install opencv-python
python3 -m pip install -U --force-reinstall depthai

有关更多信息，请参阅 Python API 安装指南

3.24.3. 源代码

可以在 GitHub 上找到。国内用户也可以在 gitee 上找到。

#!/usr/bin/env python3

"""
本示例显示了在修剪模式下使用灰度相机并可以移动修剪的可能性。
使用“ WASD”控件移动裁剪窗口，使用“ T”触发自动对焦“ IOKL”。 手动曝光/对焦:
Control:      key[dec/inc]  min..max
exposure time:     I   O      1..33000 [us]
sensitivity iso:   K   L    100..1600
要返回自动控制，请执行以下操作:
'E' - autoexposure
"""


import cv2
import depthai as dai

# 步长 ('W','A','S','D' 控制)
stepSize = 0.02
# 手动曝光/对焦设置步骤
expStep = 500  # us
isoStep = 50

# 开始定义管道
pipeline = dai.Pipeline()

# 定义两个单（灰度）相机
camRight = pipeline.createMonoCamera()
camRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
camRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
camLeft = pipeline.createMonoCamera()
camLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
camLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)

# 作用范围
topLeft = dai.Point2f(0.4, 0.4)
bottomRight = dai.Point2f(0.6, 0.6)

manipRight = pipeline.createImageManip()
manipRight.initialConfig.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y)
manipLeft = pipeline.createImageManip()
manipLeft.initialConfig.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y)
manipRight.setMaxOutputFrameSize(camRight.getResolutionHeight()*camRight.getResolutionWidth()*3)

# 相机移动配置 (wasd)
configIn = pipeline.createXLinkIn()
configIn.setStreamName('config')
configIn.out.link(manipRight.inputConfig)
configIn.out.link(manipLeft.inputConfig)

# 相机控制 (exp, iso, focus)
controlIn = pipeline.createXLinkIn()
controlIn.setStreamName('control')
controlIn.out.link(camRight.inputControl)
controlIn.out.link(camLeft.inputControl)

# 与USB连结
camRight.out.link(manipRight.inputImage)
camLeft.out.link(manipLeft.inputImage)

# 创建输出流
manipOutRight = pipeline.createXLinkOut()
manipOutRight.setStreamName("right")
manipRight.out.link(manipOutRight.input)

manipOutLeft = pipeline.createXLinkOut()
manipOutLeft.setStreamName("left")
manipLeft.out.link(manipOutLeft.input)

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

# 连接并启动管道
with dai.Device(pipeline) as device:

    # 输出队列将用于获取灰度帧
    qRight = device.getOutputQueue(manipOutRight.getStreamName(), maxSize=4, blocking=False)
    qLeft = device.getOutputQueue(manipOutLeft.getStreamName(), maxSize=4, blocking=False)
    configQueue = device.getInputQueue(configIn.getStreamName())
    controlQueue = device.getInputQueue(controlIn.getStreamName())

    def displayFrame(name, frame):
        cv2.imshow(name, frame)

    sendCamConfig = False

    # 手动对焦/曝光控制的默认值和限制
    expTime = 20000
    expMin = 1
    expMax = 33000

    sensIso = 800
    sensMin = 100
    sensMax = 1600

    while True:
        inRight = qRight.get()
        inLeft = qLeft.get()
        frameRight = inRight.getCvFrame()
        frameLeft = inLeft.getCvFrame()
        displayFrame("right", frameRight)
        displayFrame("left", frameLeft)

        # 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('e'):
            print("Autoexposure enable")
            ctrl = dai.CameraControl()
            ctrl.setAutoExposureEnable()
            controlQueue.send(ctrl)
        elif key in [ord('i'), ord('o'), ord('k'), ord('l')]:
            if key == ord('i'): expTime -= expStep
            if key == ord('o'): expTime += expStep
            if key == ord('k'): sensIso -= isoStep
            if key == ord('l'): sensIso += isoStep
            expTime = clamp(expTime, expMin, expMax)
            sensIso = clamp(sensIso, sensMin, sensMax)
            print("Setting manual exposure, time:", expTime, "iso:", sensIso)
            ctrl = dai.CameraControl()
            ctrl.setManualExposure(expTime, sensIso)
            controlQueue.send(ctrl)
        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


        if sendCamConfig:
            cfg = dai.ImageManipConfig()
            cfg.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y)
            configQueue.send(cfg)
            sendCamConfig = False