RGB Camera Control¶
This example shows how to control the ColorCamera, such as exposure, sensitivity, white balance, luma/chroma denoise, device-side crop, camera triggers, etc.
An output is a full frame along with cropped frame (video) which can be moved with WASD keys.
List of all controls:
Uses 'WASD' controls to move the crop window, 'C' to capture a still image, 'T' to
trigger autofocus, 'IOKL,.NM' for manual exposure/focus/white-balance:
Control: key[dec/inc] min..max
exposure time: I O 1..33000 [us]
sensitivity iso: K L 100..1600
focus: , . 0..255 [far..near]
white balance: N M 1000..12000 (light color temperature K)
To go back to auto controls:
'E' - autoexposure
'F' - autofocus (continuous)
'B' - auto white-balance
Other controls:
'1' - AWB lock (true / false)
'2' - AE lock (true / false)
'3' - Select control: AWB mode
'4' - Select control: AE compensation
'5' - Select control: anti-banding/flicker mode
'6' - Select control: effect mode
'7' - Select control: brightness
'8' - Select control: contrast
'9' - Select control: saturation
'0' - Select control: sharpness
'[' - Select control: luma denoise
']' - Select control: chroma denoise
For the 'Select control: ...' options, use these keys to modify the value:
'-' or '_' to decrease
'+' or '=' to increase
Similar samples:
Demo¶
Setup¶
Please run the install script to download all required dependencies. Please note that this script must be ran from git context, so you have to download the depthai-python repository first and then run the script
git clone https://github.com/luxonis/depthai-python.git
cd depthai-python/examples
python3 install_requirements.py
For additional information, please follow installation guide
Source code¶
Also available on GitHub
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 | #!/usr/bin/env python3
"""
This example shows usage of Camera Control message as well as ColorCamera configInput to change crop x and y
Uses 'WASD' controls to move the crop window, 'C' to capture a still image, 'T' to trigger autofocus, 'IOKL,.NM'
for manual exposure/focus/white-balance:
Control: key[dec/inc] min..max
exposure time: I O 1..33000 [us]
sensitivity iso: K L 100..1600
focus: , . 0..255 [far..near]
white balance: N M 1000..12000 (light color temperature K)
To go back to auto controls:
'E' - autoexposure
'F' - autofocus (continuous)
'B' - auto white-balance
Other controls:
'1' - AWB lock (true / false)
'2' - AE lock (true / false)
'3' - Select control: AWB mode
'4' - Select control: AE compensation
'5' - Select control: anti-banding/flicker mode
'6' - Select control: effect mode
'7' - Select control: brightness
'8' - Select control: contrast
'9' - Select control: saturation
'0' - Select control: sharpness
'[' - Select control: luma denoise
']' - Select control: chroma denoise
For the 'Select control: ...' options, use these keys to modify the value:
'-' or '_' to decrease
'+' or '=' to increase
'/' to toggle showing camera settings: exposure, ISO, lens position, color temperature
"""
import depthai as dai
import cv2
from itertools import cycle
# Step size ('W','A','S','D' controls)
STEP_SIZE = 8
# Manual exposure/focus/white-balance set step
EXP_STEP = 500 # us
ISO_STEP = 50
LENS_STEP = 3
WB_STEP = 200
def clamp(num, v0, v1):
return max(v0, min(num, v1))
# Create pipeline
pipeline = dai.Pipeline()
# Define sources and outputs
camRgb = pipeline.create(dai.node.ColorCamera)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
camRgb.setIspScale(2,3) # 1080P -> 720P
stillEncoder = pipeline.create(dai.node.VideoEncoder)
controlIn = pipeline.create(dai.node.XLinkIn)
configIn = pipeline.create(dai.node.XLinkIn)
ispOut = pipeline.create(dai.node.XLinkOut)
videoOut = pipeline.create(dai.node.XLinkOut)
stillMjpegOut = pipeline.create(dai.node.XLinkOut)
controlIn.setStreamName('control')
configIn.setStreamName('config')
ispOut.setStreamName('isp')
videoOut.setStreamName('video')
stillMjpegOut.setStreamName('still')
# Properties
camRgb.setVideoSize(640,360)
stillEncoder.setDefaultProfilePreset(1, dai.VideoEncoderProperties.Profile.MJPEG)
# Linking
camRgb.isp.link(ispOut.input)
camRgb.still.link(stillEncoder.input)
camRgb.video.link(videoOut.input)
controlIn.out.link(camRgb.inputControl)
configIn.out.link(camRgb.inputConfig)
stillEncoder.bitstream.link(stillMjpegOut.input)
# Connect to device and start pipeline
with dai.Device(pipeline) as device:
# Get data queues
controlQueue = device.getInputQueue('control')
configQueue = device.getInputQueue('config')
ispQueue = device.getOutputQueue('isp')
videoQueue = device.getOutputQueue('video')
stillQueue = device.getOutputQueue('still')
# Max cropX & cropY
maxCropX = (camRgb.getIspWidth() - camRgb.getVideoWidth()) / camRgb.getIspWidth()
maxCropY = (camRgb.getIspHeight() - camRgb.getVideoHeight()) / camRgb.getIspHeight()
print(maxCropX, maxCropY, camRgb.getIspWidth(), camRgb.getVideoHeight())
# Default crop
cropX = 0
cropY = 0
sendCamConfig = True
# Defaults and limits for manual focus/exposure controls
lensPos = 150
expTime = 20000
sensIso = 800
wbManual = 4000
ae_comp = 0
ae_lock = False
awb_lock = False
saturation = 0
contrast = 0
brightness = 0
sharpness = 0
luma_denoise = 0
chroma_denoise = 0
control = 'none'
show = False
awb_mode = cycle([item for name, item in vars(dai.CameraControl.AutoWhiteBalanceMode).items() if name.isupper()])
anti_banding_mode = cycle([item for name, item in vars(dai.CameraControl.AntiBandingMode).items() if name.isupper()])
effect_mode = cycle([item for name, item in vars(dai.CameraControl.EffectMode).items() if name.isupper()])
while True:
vidFrames = videoQueue.tryGetAll()
for vidFrame in vidFrames:
cv2.imshow('video', vidFrame.getCvFrame())
ispFrames = ispQueue.tryGetAll()
for ispFrame in ispFrames:
if show:
txt = f"[{ispFrame.getSequenceNum()}] "
txt += f"Exposure: {ispFrame.getExposureTime().total_seconds()*1000:.3f} ms, "
txt += f"ISO: {ispFrame.getSensitivity()}, "
txt += f"Lens position: {ispFrame.getLensPosition()}, "
txt += f"Color temp: {ispFrame.getColorTemperature()} K"
print(txt)
cv2.imshow('isp', ispFrame.getCvFrame())
# Send new cfg to camera
if sendCamConfig:
cfg = dai.ImageManipConfig()
cfg.setCropRect(cropX, cropY, 0, 0)
configQueue.send(cfg)
print('Sending new crop - x: ', cropX, ' y: ', cropY)
sendCamConfig = False
stillFrames = stillQueue.tryGetAll()
for stillFrame in stillFrames:
# Decode JPEG
frame = cv2.imdecode(stillFrame.getData(), cv2.IMREAD_UNCHANGED)
# Display
cv2.imshow('still', frame)
# Update screen (1ms pooling rate)
key = cv2.waitKey(1)
if key == ord('q'):
break
elif key == ord('/'):
show = not show
if not show: print("Printing camera settings: OFF")
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 == ord('b'):
print("Auto white-balance enable")
ctrl = dai.CameraControl()
ctrl.setAutoWhiteBalanceMode(dai.CameraControl.AutoWhiteBalanceMode.AUTO)
controlQueue.send(ctrl)
elif key in [ord(','), ord('.')]:
if key == ord(','): lensPos -= LENS_STEP
if key == ord('.'): lensPos += LENS_STEP
lensPos = clamp(lensPos, 0, 255)
print("Setting manual focus, lens position: ", lensPos)
ctrl = dai.CameraControl()
ctrl.setManualFocus(lensPos)
controlQueue.send(ctrl)
elif key in [ord('i'), ord('o'), ord('k'), ord('l')]:
if key == ord('i'): expTime -= EXP_STEP
if key == ord('o'): expTime += EXP_STEP
if key == ord('k'): sensIso -= ISO_STEP
if key == ord('l'): sensIso += ISO_STEP
expTime = clamp(expTime, 1, 33000)
sensIso = clamp(sensIso, 100, 1600)
print("Setting manual exposure, time: ", expTime, "iso: ", sensIso)
ctrl = dai.CameraControl()
ctrl.setManualExposure(expTime, sensIso)
controlQueue.send(ctrl)
elif key in [ord('n'), ord('m')]:
if key == ord('n'): wbManual -= WB_STEP
if key == ord('m'): wbManual += WB_STEP
wbManual = clamp(wbManual, 1000, 12000)
print("Setting manual white balance, temperature: ", wbManual, "K")
ctrl = dai.CameraControl()
ctrl.setManualWhiteBalance(wbManual)
controlQueue.send(ctrl)
elif key in [ord('w'), ord('a'), ord('s'), ord('d')]:
if key == ord('a'):
cropX = cropX - (maxCropX / camRgb.getResolutionWidth()) * STEP_SIZE
if cropX < 0: cropX = 0
elif key == ord('d'):
cropX = cropX + (maxCropX / camRgb.getResolutionWidth()) * STEP_SIZE
if cropX > maxCropX: cropX = maxCropX
elif key == ord('w'):
cropY = cropY - (maxCropY / camRgb.getResolutionHeight()) * STEP_SIZE
if cropY < 0: cropY = 0
elif key == ord('s'):
cropY = cropY + (maxCropY / camRgb.getResolutionHeight()) * STEP_SIZE
if cropY > maxCropY: cropY = maxCropY
sendCamConfig = True
elif key == ord('1'):
awb_lock = not awb_lock
print("Auto white balance lock:", awb_lock)
ctrl = dai.CameraControl()
ctrl.setAutoWhiteBalanceLock(awb_lock)
controlQueue.send(ctrl)
elif key == ord('2'):
ae_lock = not ae_lock
print("Auto exposure lock:", ae_lock)
ctrl = dai.CameraControl()
ctrl.setAutoExposureLock(ae_lock)
controlQueue.send(ctrl)
elif key >= 0 and chr(key) in '34567890[]':
if key == ord('3'): control = 'awb_mode'
elif key == ord('4'): control = 'ae_comp'
elif key == ord('5'): control = 'anti_banding_mode'
elif key == ord('6'): control = 'effect_mode'
elif key == ord('7'): control = 'brightness'
elif key == ord('8'): control = 'contrast'
elif key == ord('9'): control = 'saturation'
elif key == ord('0'): control = 'sharpness'
elif key == ord('['): control = 'luma_denoise'
elif key == ord(']'): control = 'chroma_denoise'
print("Selected control:", control)
elif key in [ord('-'), ord('_'), ord('+'), ord('=')]:
change = 0
if key in [ord('-'), ord('_')]: change = -1
if key in [ord('+'), ord('=')]: change = 1
ctrl = dai.CameraControl()
if control == 'none':
print("Please select a control first using keys 3..9 0 [ ]")
elif control == 'ae_comp':
ae_comp = clamp(ae_comp + change, -9, 9)
print("Auto exposure compensation:", ae_comp)
ctrl.setAutoExposureCompensation(ae_comp)
elif control == 'anti_banding_mode':
abm = next(anti_banding_mode)
print("Anti-banding mode:", abm)
ctrl.setAntiBandingMode(abm)
elif control == 'awb_mode':
awb = next(awb_mode)
print("Auto white balance mode:", awb)
ctrl.setAutoWhiteBalanceMode(awb)
elif control == 'effect_mode':
eff = next(effect_mode)
print("Effect mode:", eff)
ctrl.setEffectMode(eff)
elif control == 'brightness':
brightness = clamp(brightness + change, -10, 10)
print("Brightness:", brightness)
ctrl.setBrightness(brightness)
elif control == 'contrast':
contrast = clamp(contrast + change, -10, 10)
print("Contrast:", contrast)
ctrl.setContrast(contrast)
elif control == 'saturation':
saturation = clamp(saturation + change, -10, 10)
print("Saturation:", saturation)
ctrl.setSaturation(saturation)
elif control == 'sharpness':
sharpness = clamp(sharpness + change, 0, 4)
print("Sharpness:", sharpness)
ctrl.setSharpness(sharpness)
elif control == 'luma_denoise':
luma_denoise = clamp(luma_denoise + change, 0, 4)
print("Luma denoise:", luma_denoise)
ctrl.setLumaDenoise(luma_denoise)
elif control == 'chroma_denoise':
chroma_denoise = clamp(chroma_denoise + change, 0, 4)
print("Chroma denoise:", chroma_denoise)
ctrl.setChromaDenoise(chroma_denoise)
controlQueue.send(ctrl)
|
Also available on GitHub
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 | /**
* This example shows usage of Camera Control message as well as ColorCamera configInput to change crop x and y
* Uses 'WASD' controls to move the crop window, 'C' to capture a still image, 'T' to trigger autofocus, 'IOKL,.[]'
* for manual exposure/focus/white-balance:
* Control: key[dec/inc] min..max
* exposure time: I O 1..33000 [us]
* sensitivity iso: K L 100..1600
* focus: , . 0..255 [far..near]
* white balance: [ ] 1000..12000 (light color temperature K)
* To go back to auto controls:
* 'E' - autoexposure
* 'F' - autofocus (continuous)
* 'B' - auto white-balance
*/
#include <iostream>
#include "utility.hpp"
// Includes common necessary includes for development using depthai library
#include "depthai/depthai.hpp"
// Step size ('W','A','S','D' controls)
static constexpr int STEP_SIZE = 8;
// Manual exposure/focus set step
static constexpr int EXP_STEP = 500; // us
static constexpr int ISO_STEP = 50;
static constexpr int LENS_STEP = 3;
static constexpr int WB_STEP = 200;
static int clamp(int num, int v0, int v1) {
return std::max(v0, std::min(num, v1));
}
int main() {
// Create pipeline
dai::Pipeline pipeline;
// Define sources and outputs
auto camRgb = pipeline.create<dai::node::ColorCamera>();
auto videoEncoder = pipeline.create<dai::node::VideoEncoder>();
auto stillEncoder = pipeline.create<dai::node::VideoEncoder>();
auto controlIn = pipeline.create<dai::node::XLinkIn>();
auto configIn = pipeline.create<dai::node::XLinkIn>();
auto videoMjpegOut = pipeline.create<dai::node::XLinkOut>();
auto stillMjpegOut = pipeline.create<dai::node::XLinkOut>();
auto previewOut = pipeline.create<dai::node::XLinkOut>();
controlIn->setStreamName("control");
configIn->setStreamName("config");
videoMjpegOut->setStreamName("video");
stillMjpegOut->setStreamName("still");
previewOut->setStreamName("preview");
// Properties
camRgb->setVideoSize(640, 360);
camRgb->setPreviewSize(300, 300);
videoEncoder->setDefaultProfilePreset(camRgb->getFps(), dai::VideoEncoderProperties::Profile::MJPEG);
stillEncoder->setDefaultProfilePreset(1, dai::VideoEncoderProperties::Profile::MJPEG);
// Linking
camRgb->video.link(videoEncoder->input);
camRgb->still.link(stillEncoder->input);
camRgb->preview.link(previewOut->input);
controlIn->out.link(camRgb->inputControl);
configIn->out.link(camRgb->inputConfig);
videoEncoder->bitstream.link(videoMjpegOut->input);
stillEncoder->bitstream.link(stillMjpegOut->input);
// Connect to device and start pipeline
dai::Device device(pipeline);
// Get data queues
auto controlQueue = device.getInputQueue("control");
auto configQueue = device.getInputQueue("config");
auto previewQueue = device.getOutputQueue("preview");
auto videoQueue = device.getOutputQueue("video");
auto stillQueue = device.getOutputQueue("still");
// Max cropX & cropY
float maxCropX = (camRgb->getResolutionWidth() - camRgb->getVideoWidth()) / (float)camRgb->getResolutionWidth();
float maxCropY = (camRgb->getResolutionHeight() - camRgb->getVideoHeight()) / (float)camRgb->getResolutionHeight();
// Default crop
float cropX = 0;
float cropY = 0;
bool sendCamConfig = true;
// Defaults and limits for manual focus/exposure controls
int lensPos = 150;
int lensMin = 0;
int lensMax = 255;
int expTime = 20000;
int expMin = 1;
int expMax = 33000;
int sensIso = 800;
int sensMin = 100;
int sensMax = 1600;
int wbManual = 4000;
int wbMin = 1000;
int wbMax = 12000;
while(true) {
auto previewFrames = previewQueue->tryGetAll<dai::ImgFrame>();
for(const auto& previewFrame : previewFrames) {
cv::Mat frame(previewFrame->getHeight(), previewFrame->getWidth(), CV_8UC3, previewFrame->getData().data());
cv::imshow("preview", frame);
}
auto videoFrames = videoQueue->tryGetAll<dai::ImgFrame>();
for(const auto& videoFrame : videoFrames) {
// Decode JPEG
auto frame = cv::imdecode(videoFrame->getData(), cv::IMREAD_UNCHANGED);
// Display
cv::imshow("video", frame);
// Send new cfg to camera
if(sendCamConfig) {
dai::ImageManipConfig cfg;
cfg.setCropRect(cropX, cropY, 0, 0);
configQueue->send(cfg);
printf("Sending new crop - x: %f, y: %f\n", cropX, cropY);
sendCamConfig = false;
}
}
auto stillFrames = stillQueue->tryGetAll<dai::ImgFrame>();
for(const auto& stillFrame : stillFrames) {
// Decode JPEG
auto frame = cv::imdecode(stillFrame->getData(), cv::IMREAD_UNCHANGED);
// Display
cv::imshow("still", frame);
}
// Update screen (1ms pooling rate)
int key = cv::waitKey(1);
if(key == 'q') {
break;
} else if(key == 'c') {
dai::CameraControl ctrl;
ctrl.setCaptureStill(true);
controlQueue->send(ctrl);
} else if(key == 't') {
printf("Autofocus trigger (and disable continuous)\n");
dai::CameraControl ctrl;
ctrl.setAutoFocusMode(dai::CameraControl::AutoFocusMode::AUTO);
ctrl.setAutoFocusTrigger();
controlQueue->send(ctrl);
} else if(key == 'f') {
printf("Autofocus enable, continuous\n");
dai::CameraControl ctrl;
ctrl.setAutoFocusMode(dai::CameraControl::AutoFocusMode::CONTINUOUS_VIDEO);
controlQueue->send(ctrl);
} else if(key == 'e') {
printf("Autoexposure enable\n");
dai::CameraControl ctrl;
ctrl.setAutoExposureEnable();
controlQueue->send(ctrl);
} else if(key == 'b') {
printf("Auto white-balance enable\n");
dai::CameraControl ctrl;
ctrl.setAutoWhiteBalanceMode(dai::CameraControl::AutoWhiteBalanceMode::AUTO);
controlQueue->send(ctrl);
} else if(key == ',' || key == '.') {
if(key == ',') lensPos -= LENS_STEP;
if(key == '.') lensPos += LENS_STEP;
lensPos = clamp(lensPos, lensMin, lensMax);
printf("Setting manual focus, lens position: %d\n", lensPos);
dai::CameraControl ctrl;
ctrl.setManualFocus(lensPos);
controlQueue->send(ctrl);
} else if(key == 'i' || key == 'o' || key == 'k' || key == 'l') {
if(key == 'i') expTime -= EXP_STEP;
if(key == 'o') expTime += EXP_STEP;
if(key == 'k') sensIso -= ISO_STEP;
if(key == 'l') sensIso += ISO_STEP;
expTime = clamp(expTime, expMin, expMax);
sensIso = clamp(sensIso, sensMin, sensMax);
printf("Setting manual exposure, time: %d, iso: %d\n", expTime, sensIso);
dai::CameraControl ctrl;
ctrl.setManualExposure(expTime, sensIso);
controlQueue->send(ctrl);
} else if(key == '[' || key == ']') {
if(key == '[') wbManual -= WB_STEP;
if(key == ']') wbManual += WB_STEP;
wbManual = clamp(wbManual, wbMin, wbMax);
printf("Setting manual white balance, temperature: %d K\n", wbManual);
dai::CameraControl ctrl;
ctrl.setManualWhiteBalance(wbManual);
controlQueue->send(ctrl);
} else if(key == 'w' || key == 'a' || key == 's' || key == 'd') {
if(key == 'a') {
cropX -= (maxCropX / camRgb->getResolutionWidth()) * STEP_SIZE;
if(cropX < 0) cropX = maxCropX;
} else if(key == 'd') {
cropX += (maxCropX / camRgb->getResolutionWidth()) * STEP_SIZE;
if(cropX > maxCropX) cropX = 0.0f;
} else if(key == 'w') {
cropY -= (maxCropY / camRgb->getResolutionHeight()) * STEP_SIZE;
if(cropY < 0) cropY = maxCropY;
} else if(key == 's') {
cropY += (maxCropY / camRgb->getResolutionHeight()) * STEP_SIZE;
if(cropY > maxCropY) cropY = 0.0f;
}
sendCamConfig = true;
}
}
return 0;
}
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