# 单目相机控制 此示例展示如何控制设备端的裁剪和相机触发。输出是一个显示的单目裁剪帧，可使用以下按键进行操作： * w 将向上移动裁剪区域 * a 将向左移动裁剪区域 * s 将向下移动裁剪区域 * d 将向右移动裁剪区域 * e 将触发自动曝光 * i 和 o 将减少/增加曝光时间 * k 和 l 将减少/增加感光度ISO ### 相似示例： * [RGB相机控制](https://docs.luxonis.com/software/depthai/examples/rgb_camera_control.md) * [深度裁剪控制](https://docs.luxonis.com/software/depthai/examples/depth_crop_control.md) ## 演示 ## 设置 这个示例需要DepthAI v3 API，参见[安装说明](https://docs.luxonis.com/software-v3/depthai.md)。 ## 源代码 #### Python ```python #!/usr/bin/env python3 """ This example shows usage of mono camera in crop mode with the possibility to move the crop. Uses 'WASD' controls to move the crop window, '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 To go back to auto controls: 'E' - autoexposure """ import cv2 import depthai as dai # Step size ('W','A','S','D' controls) stepSize = 0.02 # Manual exposure/focus set step expStep = 500 # us isoStep = 50 def clamp(num, v0, v1): return max(v0, min(num, v1)) sendCamConfig = False # Create pipeline pipeline = dai.Pipeline() # Define sources and outputs monoRight = pipeline.create(dai.node.MonoCamera) monoLeft = pipeline.create(dai.node.MonoCamera) manipRight = pipeline.create(dai.node.ImageManip) manipLeft = pipeline.create(dai.node.ImageManip) controlIn = pipeline.create(dai.node.XLinkIn) configIn = pipeline.create(dai.node.XLinkIn) manipOutRight = pipeline.create(dai.node.XLinkOut) manipOutLeft = pipeline.create(dai.node.XLinkOut) controlIn.setStreamName('control') configIn.setStreamName('config') manipOutRight.setStreamName("right") manipOutLeft.setStreamName("left") # Crop range topLeft = dai.Point2f(0.2, 0.2) bottomRight = dai.Point2f(0.8, 0.8) # Properties monoRight.setCamera("right") monoLeft.setCamera("left") monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P) monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P) manipRight.initialConfig.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y) manipLeft.initialConfig.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y) manipRight.setMaxOutputFrameSize(monoRight.getResolutionHeight()*monoRight.getResolutionWidth()*3) # Linking monoRight.out.link(manipRight.inputImage) monoLeft.out.link(manipLeft.inputImage) controlIn.out.link(monoRight.inputControl) controlIn.out.link(monoLeft.inputControl) configIn.out.link(manipRight.inputConfig) configIn.out.link(manipLeft.inputConfig) manipRight.out.link(manipOutRight.input) manipLeft.out.link(manipOutLeft.input) # Connect to device and start pipeline with dai.Device(pipeline) as device: # Output queues will be used to get the grayscale frames 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()) # Defaults and limits for manual focus/exposure controls expTime = 20000 expMin = 1 expMax = 33000 sensIso = 800 sensMin = 100 sensMax = 1600 while True: inRight = qRight.get() inLeft = qLeft.get() cv2.imshow("right", inRight.getCvFrame()) cv2.imshow("left", inLeft.getCvFrame()) # Update screen (1ms pooling rate) key = cv2.waitKey(1) if key == ord('q'): break 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 # Send new config to camera if sendCamConfig: cfg = dai.ImageManipConfig() cfg.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y) configQueue.send(cfg) sendCamConfig = False ``` #### C++ ```cpp /** * This example shows usage of mono camera in crop mode with the possibility to move the crop. * Uses 'WASD' controls to move the crop window, '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 * To go back to auto controls: * 'E' - autoexposure */ #include // Includes common necessary includes for development using depthai library #include "depthai/depthai.hpp" // Step size ('W','A','S','D' controls) static constexpr float stepSize = 0.02f; // Manual exposure/focus set step static constexpr int EXP_STEP = 500; // us static constexpr int ISO_STEP = 50; static int clamp(int num, int v0, int v1) { return std::max(v0, std::min(num, v1)); } static std::atomic sendCamConfig{false}; int main() { // Create pipeline dai::Pipeline pipeline; // Define sources and outputs auto monoRight = pipeline.create(); auto monoLeft = pipeline.create(); auto manipRight = pipeline.create(); auto manipLeft = pipeline.create(); auto controlIn = pipeline.create(); auto configIn = pipeline.create(); auto manipOutRight = pipeline.create(); auto manipOutLeft = pipeline.create(); controlIn->setStreamName("control"); configIn->setStreamName("config"); manipOutRight->setStreamName("right"); manipOutLeft->setStreamName("left"); // Crop range dai::Point2f topLeft(0.2f, 0.2f); dai::Point2f bottomRight(0.8f, 0.8f); // Properties monoRight->setCamera("right"); monoLeft->setCamera("left"); monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P); monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P); manipRight->initialConfig.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y); manipLeft->initialConfig.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y); // Linking monoRight->out.link(manipRight->inputImage); monoLeft->out.link(manipLeft->inputImage); controlIn->out.link(monoRight->inputControl); controlIn->out.link(monoLeft->inputControl); configIn->out.link(manipRight->inputConfig); configIn->out.link(manipLeft->inputConfig); manipRight->out.link(manipOutRight->input); manipLeft->out.link(manipOutLeft->input); // Connect to device and start pipeline dai::Device device(pipeline); // Output queues will be used to get the grayscale frames auto qRight = device.getOutputQueue(manipOutRight->getStreamName(), 4, false); auto qLeft = device.getOutputQueue(manipOutLeft->getStreamName(), 4, false); auto controlQueue = device.getInputQueue(controlIn->getStreamName()); auto configQueue = device.getInputQueue(configIn->getStreamName()); // Defaults and limits for manual focus/exposure controls int exp_time = 20000; int exp_min = 1; int exp_max = 33000; int sens_iso = 800; int sens_min = 100; int sens_max = 1600; while(true) { auto inRight = qRight->get(); auto inLeft = qLeft->get(); cv::imshow("right", inRight->getCvFrame()); cv::imshow("left", inLeft->getCvFrame()); // Update screen (1ms pooling rate) int key = cv::waitKey(1); if(key == 'q') { break; } else if(key == 'e') { printf("Autoexposure enable\n"); dai::CameraControl ctrl; ctrl.setAutoExposureEnable(); controlQueue->send(ctrl); } else if(key == 'i' || key == 'o' || key == 'k' || key == 'l') { if(key == 'i') exp_time -= EXP_STEP; if(key == 'o') exp_time += EXP_STEP; if(key == 'k') sens_iso -= ISO_STEP; if(key == 'l') sens_iso += ISO_STEP; exp_time = clamp(exp_time, exp_min, exp_max); sens_iso = clamp(sens_iso, sens_min, sens_max); printf("Setting manual exposure, time: %d, iso: %d\n", exp_time, sens_iso); dai::CameraControl ctrl; ctrl.setManualExposure(exp_time, sens_iso); controlQueue->send(ctrl); } else if(key == 'w') { if(topLeft.y - stepSize >= 0) { topLeft.y -= stepSize; bottomRight.y -= stepSize; sendCamConfig = true; } } else if(key == 'a') { if(topLeft.x - stepSize >= 0) { topLeft.x -= stepSize; bottomRight.x -= stepSize; sendCamConfig = true; } } else if(key == 's') { if(bottomRight.y + stepSize <= 1) { topLeft.y += stepSize; bottomRight.y += stepSize; sendCamConfig = true; } } else if(key == 'd') { if(bottomRight.x + stepSize <= 1) { topLeft.x += stepSize; bottomRight.x += stepSize; sendCamConfig = true; } } // Send new config to camera if(sendCamConfig) { dai::ImageManipConfig cfg; cfg.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y); configQueue->send(cfg); sendCamConfig = false; } } return 0; } ``` ## 流水线 ### examples/mono_camera_control.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 0, "node1Output": "out", "node1OutputGroup": "", "node2Id": 2, "node2Input": "inputImage", "node2InputGroup": "" }, { "node1Id": 5, "node1Output": "out", "node1OutputGroup": "", "node2Id": 2, "node2Input": "inputConfig", "node2InputGroup": "" }, { "node1Id": 1, "node1Output": "out", "node1OutputGroup": "", "node2Id": 3, "node2Input": "inputImage", "node2InputGroup": "" }, { "node1Id": 5, "node1Output": "out", "node1OutputGroup": "", "node2Id": 3, "node2Input": "inputConfig", "node2InputGroup": "" }, { "node1Id": 4, "node1Output": "out", "node1OutputGroup": "", "node2Id": 0, "node2Input": "inputControl", "node2InputGroup": "" }, { "node1Id": 4, "node1Output": "out", "node1OutputGroup": "", "node2Id": 1, "node2Input": "inputControl", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "out", "node1OutputGroup": "", "node2Id": 6, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 3, "node1Output": "out", "node1OutputGroup": "", "node2Id": 7, "node2Input": "in", "node2InputGroup": "" } ], "globalProperties": { "calibData": null, "cameraTuningBlobSize": null, "cameraTuningBlobUri": "", "leonCssFrequencyHz": 700000000.0, "leonMssFrequencyHz": 700000000.0, "pipelineName": null, "pipelineVersion": null, "sippBufferSize": 18432, "sippDmaBufferSize": 16384, "xlinkChunkSize": -1 }, "nodes": [ [ 0, { "id": 0, "ioInfo": [ [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 1, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 2, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 3, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 4, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "MonoCamera", "properties": { "boardSocket": -1, "cameraName": "right", "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "isp3aFps": 0, "numFramesPool": 3, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 0 } } ], [ 1, { "id": 1, "ioInfo": [ [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 5, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 6, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 7, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 8, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "MonoCamera", "properties": { "boardSocket": -1, "cameraName": "left", "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "isp3aFps": 0, "numFramesPool": 3, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 0 } } ], [ 2, { "id": 2, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": true, "group": "", "id": 9, "name": "inputConfig", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "inputImage" ], { "blocking": true, "group": "", "id": 10, "name": "inputImage", "queueSize": 8, "type": 3, "waitForMessage": true } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 11, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "ImageManip", "properties": { "initialConfig": { "cropConfig": { "cropRatio": 1.0, "cropRect": { "xmax": 0.800000011920929, "xmin": 0.20000000298023224, "ymax": 0.800000011920929, "ymin": 0.20000000298023224 }, "cropRotatedRect": { "angle": 0.0, "center": { "x": 0.0, "y": 0.0 }, "size": { "height": 0.0, "width": 0.0 } }, "enableCenterCropRectangle": false, "enableRotatedRect": false, "normalizedCoords": true, "widthHeightAspectRatio": 1.0 }, "enableCrop": true, "enableFormat": false, "enableResize": false, "formatConfig": { "colormap": 0, "colormapMax": 255, "colormapMin": 0, "flipHorizontal": false, "flipVertical": false, "type": 32 }, "interpolation": -1, "resizeConfig": { "bgBlue": 0, "bgGreen": 0, "bgRed": 0, "enableRotation": false, "enableWarp4pt": false, "enableWarpMatrix": false, "height": 0, "keepAspectRatio": true, "lockAspectRatioFill": false, "normalizedCoords": true, "rotationAngleDeg": 0.0, "warpBorderReplicate": false, "warpFourPoints": [], "warpMatrix3x3": [], "width": 0 }, "reusePreviousImage": false, "skipCurrentImage": false }, "meshHeight": 0, "meshUri": "", "meshWidth": 0, "numFramesPool": 4, "outputFrameSize": 2764800 } } ], [ 3, { "id": 3, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": true, "group": "", "id": 12, "name": "inputConfig", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "inputImage" ], { "blocking": true, "group": "", "id": 13, "name": "inputImage", "queueSize": 8, "type": 3, "waitForMessage": true } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 14, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "ImageManip", "properties": { "initialConfig": { "cropConfig": { "cropRatio": 1.0, "cropRect": { "xmax": 0.800000011920929, "xmin": 0.20000000298023224, "ymax": 0.800000011920929, "ymin": 0.20000000298023224 }, "cropRotatedRect": { "angle": 0.0, "center": { "x": 0.0, "y": 0.0 }, "size": { "height": 0.0, "width": 0.0 } }, "enableCenterCropRectangle": false, "enableRotatedRect": false, "normalizedCoords": true, "widthHeightAspectRatio": 1.0 }, "enableCrop": true, "enableFormat": false, "enableResize": false, "formatConfig": { "colormap": 0, "colormapMax": 255, "colormapMin": 0, "flipHorizontal": false, "flipVertical": false, "type": 32 }, "interpolation": -1, "resizeConfig": { "bgBlue": 0, "bgGreen": 0, "bgRed": 0, "enableRotation": false, "enableWarp4pt": false, "enableWarpMatrix": false, "height": 0, "keepAspectRatio": true, "lockAspectRatioFill": false, "normalizedCoords": true, "rotationAngleDeg": 0.0, "warpBorderReplicate": false, "warpFourPoints": [], "warpMatrix3x3": [], "width": 0 }, "reusePreviousImage": false, "skipCurrentImage": false }, "meshHeight": 0, "meshUri": "", "meshWidth": 0, "numFramesPool": 4, "outputFrameSize": 1048576 } } ], [ 4, { "id": 4, "ioInfo": [ [ [ "", "out" ], { "blocking": false, "group": "", "id": 15, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "XLinkIn", "properties": { "maxDataSize": 5242880, "numFrames": 8, "streamName": "control" } } ], [ 5, { "id": 5, "ioInfo": [ [ [ "", "out" ], { "blocking": false, "group": "", "id": 16, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "XLinkIn", "properties": { "maxDataSize": 5242880, "numFrames": 8, "streamName": "config" } } ], [ 6, { "id": 6, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 17, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "right" } } ], [ 7, { "id": 7, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 18, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "left" } } ] ] } } ``` ### 需要帮助？ 请前往 [OAKChina 官网](https://www.oakchina.cn/) 获取技术支持或解答您的任何疑问。