Hi erik,
Thanks for responding. Below is the python code I am running on an OAK-1.
I modified rgb_camera_control.py from the main python examples and added a 'z' key entry to change the zoom
That appears to work but when I try to pan the new zoomed configuration it throws an exeception on the configQueue.send(cfg) after setting the Crop Rect for the change (Note first time through when cropX and cropY are zero it does not)
RuntimeError: Communication exception - possible device error/misconfiguration. Original message 'Couldn't write data to stream: 'config' (X_LINK_ERROR)'
Thanks again
----------------------------- rgb_camera_control_with_zoom.py ------------------------------
#!/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,.'
for manual exposure/focus:
Control: key[dec/inc] min..max
exposure time: I O 1..33000 [us]
sensitivity iso: K L 100..1600
focus: , . 0..255 [far..near]
To go back to auto controls:
'E' - autoexposure
'F' - autofocus (continuous)
"""
# add zoom option
import depthai as dai
import cv2
# Step size ('W','A','S','D' controls)
STEP_SIZE = 8
# Manual exposure/focus set step
EXP_STEP = 500 # us
ISO_STEP = 50
LENS_STEP = 3
def clamp(num, v0, v1):
return max(v0, min(num, v1))
# Create pipeline
pipeline = dai.Pipeline()
# Define sources and outputs
camRgb = pipeline.createColorCamera()
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_12_MP)
videoEncoder = pipeline.createVideoEncoder()
stillEncoder = pipeline.createVideoEncoder()
controlIn = pipeline.createXLinkIn()
configIn = pipeline.createXLinkIn()
videoMjpegOut = pipeline.createXLinkOut()
stillMjpegOut = pipeline.createXLinkOut()
previewOut = pipeline.createXLinkOut()
controlIn.setStreamName('control')
configIn.setStreamName('config')
videoMjpegOut.setStreamName('video')
stillMjpegOut.setStreamName('still')
previewOut.setStreamName('preview')
# Properties
camRgb.setVideoSize(1280, 720)
camRgb.setPreviewSize(300, 300)
videoEncoder.setDefaultProfilePreset(camRgb.getVideoSize(), camRgb.getFps(), dai.VideoEncoderProperties.Profile.MJPEG)
videoEncoder.setLossless(True)
stillEncoder.setDefaultProfilePreset(camRgb.getStillSize(), 1, dai.VideoEncoderProperties.Profile.MJPEG)
stillEncoder.setLossless(True)
# 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)
processDevice = True
while processDevice:
# Connect to device and start pipeline
with dai.Device(pipeline) as device:
device.startPipeline()
# Get data queues
controlQueue = device.getInputQueue('control')
configQueue = device.getInputQueue('config')
previewQueue = device.getOutputQueue('preview')
videoQueue = device.getOutputQueue('video')
stillQueue = device.getOutputQueue('still')
# Max cropX & cropY
maxCropX = (camRgb.getResolutionWidth() - camRgb.getVideoWidth()) / camRgb.getResolutionWidth()
maxCropY = (camRgb.getResolutionHeight() - camRgb.getVideoHeight()) / camRgb.getResolutionHeight()
# Default crop
cropX = 0
cropY = 0
sendCamConfig = True
# Defaults and limits for manual focus/exposure controls
lensPos = 150
lensMin = 0
lensMax = 255
expTime = 20000
expMin = 1
expMax = 33000
sensIso = 800
sensMin = 100
sensMax = 1600
processVideo = True
while processVideo:
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:
# Decode JPEG
frame = cv2.imdecode(videoFrame.getData(), cv2.IMREAD_UNCHANGED)
# Display
cv2.imshow('video', frame)
# 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)
print(cfg.getResizeWidth())
print(cfg.getResizeHeight())
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'):
processDevice = False
break
elif key == ord('c'):
print("Still Capture")
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(','): lensPos -= LENS_STEP
if key == ord('.'): lensPos += LENS_STEP
lensPos = clamp(lensPos, lensMin, lensMax)
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, 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 in [ord('w'), ord('a'), ord('s'), ord('d')]:
if key == ord('a'):
cropX = cropX - (maxCropX / camRgb.getResolutionWidth()) * STEP_SIZE
if cropX < 0: cropX = maxCropX
elif key == ord('d'):
cropX = cropX + (maxCropX / camRgb.getResolutionWidth()) * STEP_SIZE
if cropX > maxCropX: cropX = 0
elif key == ord('w'):
cropY = cropY - (maxCropY / camRgb.getResolutionHeight()) * STEP_SIZE
if cropY < 0: cropY = maxCropY
elif key == ord('s'):
cropY = cropY + (maxCropY / camRgb.getResolutionHeight()) * STEP_SIZE
if cropY > maxCropY: cropY = 0
sendCamConfig = True
elif key == ord('z'):
camRgb.video.unlink(videoEncoder.input)
camRgb.still.unlink(stillEncoder.input)
camRgb.preview.unlink(previewOut.input)
controlIn.out.unlink(camRgb.inputControl)
configIn.out.unlink(camRgb.inputConfig)
videoEncoder.bitstream.unlink(videoMjpegOut.input)
stillEncoder.bitstream.unlink(stillMjpegOut.input)
camRgb.setVideoSize(640, 360)
videoEncoder.setDefaultProfilePreset(camRgb.getVideoSize(), camRgb.getFps(),
dai.VideoEncoderProperties.Profile.MJPEG)
videoEncoder.setLossless(True)
stillEncoder.setDefaultProfilePreset(camRgb.getStillSize(), 1, dai.VideoEncoderProperties.Profile.MJPEG)
stillEncoder.setLossless(True)
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)
processVideo = False
elif key != -1:
print(key)
