Hi! I have the below script which creates a pipeline for an HTTP server to serve an MJPEG stream on a 4P-PoE camera board. I have three cameras attached on ports A,C, and D. Because of memory and CPU limitations on the board, I can only run two cams at a time though: a wide angle and a fisheye cam. I'd like to zoom lossless into the wide angle view by taking the full ISP view and crop into it and also have switch between that cam and the 360 degree. The script only ever sends down one of the streams, also due to CPU limitations. So far, so good, the script works. However, I'd also like to rotate the frames by 180 degrees. Hence, I was including the lines cam1.setImageOrientation(dai.CameraImageOrientation.ROTATE_180_DEG) and cam2.setImageOrientation(dai.CameraImageOrientation.ROTATE_180_DEG) With these, the image does rotate, but I get artifacts on one side of the frames on both cameras: [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-08-26/1724679858-707803-screenshot-from-2024-08-26-09-33-10.png] [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-08-26/1724679859-112418-screenshot-from-2024-08-26-09-34-03.png] Hence, I was wondering what would be the best way to achieve the rotation? The script already feels overengineered a bit, I'd be happy to get feedback on what I could improve as well. Secondly, I still perceive the issue that the camera view is too blue. We installed some units on customer's boats and they complain that everything always looks like a rainy day. I made a post (https://discuss.luxonis.com/d/3915-4p-poe-cant-ping-no-available-devices/18) about it some time ago, but white balance modes and temperatures did not help. Is there anything I can do? Thanks! (you can toogle to the different modes 'wide', 'zoom', 'three-sixty' via: curl -X POST http://169.254.1.222:8080 -d "wide" ) ``` import depthai as dai import cv2 # Constants SCENE_SIZE = (1920, 1080) # Start defining a pipeline pipeline = dai.Pipeline() # Define the first source - color camera cam1 = pipeline.create(dai.node.ColorCamera) cam1.setBoardSocket(dai.CameraBoardSocket.CAM_C) cam1.setResolution(dai.ColorCameraProperties.SensorResolution.THE_12_MP) cam1.setInterleaved(False) #cam1.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR) cam1.setImageOrientation(dai.CameraImageOrientation.ROTATE_180_DEG) #cam1.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR) # Define the second source - color camera cam2 = pipeline.create(dai.node.ColorCamera) cam2.setBoardSocket(dai.CameraBoardSocket.CAM_A) cam2.setResolution(dai.ColorCameraProperties.SensorResolution.THE_12_MP) cam2.setIspScale(3, 4) cam2.setInterleaved(False) #cam1.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR) cam2.setImageOrientation(dai.CameraImageOrientation.ROTATE_180_DEG) # Create ImageManip node for the first camera manip1 = pipeline.create(dai.node.ImageManip) manip1.setMaxOutputFrameSize(SCENE_SIZE[0] * SCENE_SIZE[1] * 3) manip1.initialConfig.setFrameType(dai.RawImgFrame.Type.NV12) cam1.isp.link(manip1.inputImage) # Create ImageManip node for the second camera manip2 = pipeline.create(dai.node.ImageManip) manip2.initialConfig.setFrameType(dai.RawImgFrame.Type.NV12) manip2.initialConfig.setCenterCrop(1.0, 1) manip2.initialConfig.setResize(1600, 1600) manip2.setMaxOutputFrameSize(1600 * 1600 * 3) #manip2.initialConfig.setResize(1920, 1080) #manip2.setMaxOutputFrameSize(1920 * 1080 * 3) cam2.isp.link(manip2.inputImage) # Combined Script node for handling toggles and frame routing script = pipeline.create(dai.node.Script) script.setScript(f""" ORIGINAL_SIZE = (4056, 3040) SCENE_SIZE = (1920, 1080) # 1080P cfg = ImageManipConfig() size = Size2f(SCENE_SIZE[0], SCENE_SIZE[1]) toggle_crop = False toggle_camera = False def send_config(): rect = RotatedRect() rect.size = size if toggle_crop: # Crop configuration rect.center = Point2f(ORIGINAL_SIZE[0] * 0.5, ORIGINAL_SIZE[1] * 0.5) rect.size = Size2f(ORIGINAL_SIZE[0] * 0.5, ORIGINAL_SIZE[1] * 0.5) node.warn("Toggled to crop mode") else: # Downscale configuration rect.center = Point2f(ORIGINAL_SIZE[0] * 0.5, ORIGINAL_SIZE[1] * 0.5) rect.size = Size2f(ORIGINAL_SIZE[0], ORIGINAL_SIZE[1]) node.warn("Toggled to downscale mode") cfg.setCropRotatedRect(rect, False) cfg.setResize(SCENE_SIZE[0], SCENE_SIZE[1]) cfg.setFrameType(ImgFrame.Type.NV12) node.io['cfg_out'].send(cfg) send_config() while True: toggle_crop_msg = node.io['toggle_crop'].tryGet() if toggle_crop_msg is not None: toggle_crop = not toggle_crop send_config() toggle_camera_msg = node.io['toggle_camera'].tryGet() if toggle_camera_msg is not None: toggle_camera = not toggle_camera node.warn(f"Toggled to {{'camera 1' if toggle_camera else 'camera 2'}}") if toggle_camera: frame = node.io['modified'].tryGet() if frame is not None: node.io['encoder1'].send(frame) else: frame = node.io['unmodified'].tryGet() if frame is not None: node.io['encoder2'].send(frame) """) # Link manip nodes to the script node manip1.out.link(script.inputs['modified']) manip2.out.link(script.inputs['unmodified']) # Create two VideoEncoder nodes videoEnc1 = pipeline.create(dai.node.VideoEncoder) videoEnc1.setDefaultProfilePreset(30, dai.VideoEncoderProperties.Profile.MJPEG) videoEnc2 = pipeline.create(dai.node.VideoEncoder) videoEnc2.setDefaultProfilePreset(30, dai.VideoEncoderProperties.Profile.MJPEG) # Link script outputs to respective encoders script.outputs['encoder1'].link(videoEnc1.input) script.outputs['encoder2'].link(videoEnc2.input) socket_script = pipeline.create(dai.node.Script) socket_script.setProcessor(dai.ProcessorType.LEON_CSS) socket_script.setScript(""" import time import socket import fcntl import struct from socketserver import ThreadingMixIn from http.server import BaseHTTPRequestHandler, HTTPServer PORT = 8080 def get_ip_address(ifname): s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) return socket.inet_ntoa(fcntl.ioctl( s.fileno(), -1071617759, # SIOCGIFADDR struct.pack('256s', ifname[:15].encode()) )[20:24]) which_cam = {"now" : "frame2"} which_zoom = {"now" : "wide"} name_to_number = {"wide":"1","zoom":"3","infrared":"1","three-sixty":"2","docking":"2"} class ThreadingSimpleServer(ThreadingMixIn, HTTPServer): pass class HTTPHandler(BaseHTTPRequestHandler): def do_GET(self): if self.path == '/': self.send_response(200) self.end_headers() self.wfile.write(b'[DepthAI] Hello, world!Click here for an image') elif self.path == '/img': try: self.send_response(200) self.send_header('Content-type', 'multipart/x-mixed-replace; boundary=--jpgboundary') self.end_headers() fpsCounter = 0 timeCounter = time.time() while True: jpegImage = node.io[which_cam["now"]].get() self.wfile.write("--jpgboundary".encode()) self.wfile.write(bytes([13, 10])) self.send_header('Content-type', 'image/jpeg') self.send_header('Content-length', str(len(jpegImage.getData()))) self.end_headers() self.wfile.write(jpegImage.getData()) self.end_headers() fpsCounter = fpsCounter + 1 if time.time() - timeCounter > 1: node.warn(f'FPS: {fpsCounter}') fpsCounter = 0 timeCounter = time.time() except Exception as ex: node.warn(str(ex)) def do_POST(self): # Handle POST request content_length = int(self.headers['Content-Length']) post_data = self.rfile.read(content_length) sent_number = post_data.decode('utf-8') if sent_number in list(name_to_number.keys()): sent_number = name_to_number[sent_number] else: return node.warn(sent_number) node.warn(str(int(sent_number))) if int(sent_number) in [1,2]: node.warn('jo0') if which_zoom["now"] == "zoom": node.warn('jo1') which_zoom["now"] = "wide" node.warn("switched to wide") toggle_crop = Buffer(1) node.io['toggle_crop'].send(toggle_crop) if which_cam["now"] != "frame" + str(int(sent_number)): node.warn('jo2') which_cam["now"] = "frame" + str(int(sent_number)) node.warn("switching cam to frame ?") toggle_camera = Buffer(1) node.io['toggle_camera'].send(toggle_camera) #time.sleep(2) elif int(sent_number) == 3: if which_zoom["now"] == "wide": node.warn('jo3') which_zoom["now"] = "zoom" node.warn("switched to zoom") toggle_crop = Buffer(1) node.io['toggle_crop'].send(toggle_crop) if which_cam["now"] == "frame2": node.warn('jo4') which_cam["now"] = "frame1" node.warn("switching cam to frame 1") toggle_camera = Buffer(1) node.io['toggle_camera'].send(toggle_camera) #time.sleep(2) # Respond to the POST request self.send_response(200) self.send_header('Content-type', 'text/html') self.end_headers() self.wfile.write(b'POST request received') with ThreadingSimpleServer(("", PORT), HTTPHandler) as httpd: node.warn(f"Serving at {get_ip_address('re0')}:{PORT}") httpd.serve_forever() """) # Link toggle commands to the main script node socket_script.outputs['toggle_crop'].link(script.inputs['toggle_crop']) socket_script.outputs['toggle_camera'].link(script.inputs['toggle_camera']) script.outputs['cfg_out'].link(manip1.inputConfig) # Link each VideoEncoder to the Script node videoEnc1.bitstream.link(socket_script.inputs['frame1']) videoEnc2.bitstream.link(socket_script.inputs['frame2']) # Configure the Script node to handle multiple streams socket_script.inputs['frame1'].setBlocking(False) socket_script.inputs['frame1'].setQueueSize(1) socket_script.inputs['frame2'].setBlocking(False) socket_script.inputs['frame2'].setQueueSize(1) with dai.Device(pipeline) as device: print("Connected") import time while True: time.sleep(1) ```

@"BenjaminKiefer"#p25343 Can you give me the exact setup you are using? I tested your code with OV9782 and IMX477 and had no issues. [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-08-27/1724765414-443221-image.png] [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-08-27/1724765459-477668-image.png] Camera hue seems to be good as well. Thanks, Jaka

Thanks @"jakaskerl"#1112 I have a 477 on CAM_A and a 477 on CAM_C. Furthermore, I have a 462 on CAM_D, but that's not loaded up in the pipeline above. @"Luxonis-Alex"#68 mentioned it might be due to the port. He asked this "If you swap for example the cameras on ports A and D, so to have respectively IMX462 and IMX477, is it still present?" However, by our casing design, it's currently not possible to swap, and I also don't know whether this would work around the problem.

@"BenjaminKiefer"#1435 Could it be that it's an IMX577 camera ? We saw this issue there. Could you check for example with cam_test.py? Should print the detected sensors

@"BenjaminKiefer"#1435 This is how IMX477 and IMX577 look. Same Pipeline same Lens and same ligthning. But different Results. [upl-image-preview uuid=4d79ec54-f1db-4acf-ac1c-128b8f0ddf0e url=https://discuss.luxonis.com/assets/files/2025-06-16/1750056192-29156-front-cam-1.jpg alt={TEXT?}] [upl-image-preview uuid=f2a8745c-f4aa-4ef5-a2fb-d30d071680e4 url=https://discuss.luxonis.com/assets/files/2025-06-16/1750056227-432077-rear-cam-0.jpg alt={TEXT?}]

CameraImageOrientation.ROTATE_180_DEG Yields Artifacts

BenjaminKiefer

Luxonis-Alex Thx, good catch, sorry!

nvidia@OrinAGX2:~/Documents/depthai-python/utilities$ python3 cam_test.py -cams cama,c camc,c camd,c
DepthAI version: 2.25.1.0
DepthAI path: /home/nvidia/.local/lib/python3.8/site-packages/depthai.cpython-38-aarch64-linux-gnu.so
Enabled cameras:
cama : color
camc : color
camd : color
CAM: cama
CAM: camc
CAM: camd
Connected cameras:
-socket CAM_A : IMX577 4056 x 3040 focus:fixed - COLOR
-socket CAM_C : IMX577 4056 x 3040 focus:fixed - MONO
-socket CAM_D : IMX462 1920 x 1080 focus:fixed - COLOR

Luxonis-Alex

Thanks for confirming, we need to add a fix for this issue

BenjaminKiefer

Ok thx, could you give me a rough idea of the timeline. Just thinking whether I should wait or need to implement a different way (on the host) to do that. Thx!

jjfink

I have right now the excact same error if I rotate the IMX577 Camera images the same kind of artifacts appear. The same Pipeline works if I connect the old Arducam IMX477 Cameras. I also have to mention that imx477 and imx577 produce different images from the color balance and so on..

BenjaminKiefer

jjfink

Interesting. As far as rotstion goes, i cann do it on the host.

But the color is a bit problem. You can play around with AWB mode but none makes it look like a 'normal' camera.

One could play around with white balance number, but haven't found a configurstion that works.. have you?

jjfink

@bengan I’m using a combination of IMX477 and IMX577 sensors, as I wasn’t able to get additional IMX477 units. It seems that image rotation on the IMX577 produces the shown Artifacts.

I’ve already tried adjusting AWB modes and other settings, but unfortunately, that hasn’t resolved the issue.

@Luxonis-Alex Are there any clues what we can do to get the same quality out of IMX577 ?

jjfink

@BenjaminKiefer This is how IMX477 and IMX577 look. Same Pipeline same Lens and same ligthning. But different Results.

BenjaminKiefer

jjfink

Yes, that's very strange. In my setup, the blueness also happens for the IMX577 when the IMX462 is connected to the same board..
Am I right that the bottom view is more true to the actual colors?

I think the only solution is some firmware adjustments by the Luxonis team, or what do you think?

jjfink

Yes, the bottom image is from the IMX477, which is correct. Based on that, I ordered the IMX577 as expected.

BenjaminKiefer

That's a "relief" that I'm not the only one experiencing it, but sorry to hear!

@Luxonis-Alex @erik

is there anything we can do for IMX577? Can there be a firmware update or any other config?
Thx

jjfink

It really looks like a firmware issue. Both sensors selected the same sensitivity and exposure time in the images shown. I also reset the calibration and flashed the latest bootloader and DepthAI version. Should we create a new post for this General imx577 issue ?

jakaskerl

Hey jjfink
Please do so we can push the fix faster and track it.

Thanks,
Jaka

BenjaminKiefer

jjfink let me know if you can't do it, then I can do it. You can alsonrefer to this thread towards the bottom

https://discuss.luxonis.com/d/3915-4p-poe-cant-ping-no-available-devices

jjfink

@BenjaminKiefer @jakaskerl I opend now a new discussion here https://discuss.luxonis.com/d/6118-imx477-and-imx577-provide-different-image-quality