cropping with imageManip returns only grayscale frame?

stephansturges

Hi all,
I'm using an imageManip node to return a cropped frame from my camera. So far it works fine 😁 ... however I only get a grayscale image returned although the input is in BGR888p format from an rgb cam.

I see in the docs:

ImageManip node supports the following image formats:

for RGB input/output types only RGB888p / BGR888p (planar, not interleaved)

RAW16 input, but can only for cropping (use-case: depth map), outputting same format

can output GRAY8 (either as single plane, or 3-plane RGB as set with setFrameType()), but only from these inputs: RAW8, GRAY8, YUV420p (ColorCamera isp), NV12 (ColorCamera video / still)

I don't get how that highlighted part above works.

adding this to my node:
manip2.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)
doesn't seem to have any visible impact.

Any tips in where I might be going wrong?

Thanks!

erik

Hello stephansturges ,
Did you link the colorCam.video or colorCam.preview output to the ImageManip node? The latter should work as expected, the former is NV12 datatype which is not yet supported (WIP on image_manip_refactor branch).
Thanks, Erik

stephansturges

Hi Erik,

Thanks for the heads-up.
In my case I'm actually passing the output of cam.isp.link(manip1.inputImage) to the node that is performing the crop, because I'm using that node to remove distortion from the image.

I suspect that node is also outputting the image in a datatype that is not yet supported by the cropping functions then... does that sound correct to you?

Cheers,
Stephan

erik

Hello stephansturges ,
So you are using the isp output of ColorCamera, which is YUV420 format (see docs here). I would change this line into cam.preview.link(manip1.inputImage). If the preview (frame) size isn't as expected you can change it with cam.setPreviewSize(width, height).
Thanks, Erik

stephansturges

Hi Erik,
Thanks for that!
I've been looking into this and doing some tests.
My manip1 node is actually doing dewarping via setWarpMesh, from the git branch multi_cam_manip_refactor of the depthai-python git.

Maybe It's just too early, but from my tests it seems this node expects input from the ISP (I assume the dewarp mesh is actually deployed to the ISP) and fails when I use any other input 🙂

erik

Hello stephansturges ,
Sorry, I wasn't aware! From this example, it looks like it's using rgb preview for mesh warping. I am unsure if/when isp will be supported for that.
Thanks, Erik