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| #!/usr/bin/env python3 | ||
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| ''' Control keys: | ||
| 'IOKL' for manual exposure/iso: | ||
| Control: key[dec/inc] min..max | ||
| exposure time: I O 20..33000 [us] | ||
| sensitivity iso: K L 100..1600 | ||
| To go back to auto controls: | ||
| 'E' - autoexposure | ||
| Other camera 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 | ||
| For the 'Select control: ...' options, use these keys to modify the value: | ||
| '-' or '_' to decrease | ||
| '+' or '=' to increase | ||
| 'C' - capture a set of frames (PNG and unprocessed) | ||
| 'Q' - quit | ||
| ''' | ||
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| import cv2 | ||
| import numpy as np | ||
| import numba as nb | ||
| import depthai as dai | ||
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| streams = [] | ||
| # Enable one or both streams | ||
| streams.append('isp') | ||
| streams.append('raw') | ||
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| ''' Packing scheme for RAW10 - MIPI CSI-2 | ||
| - 4 pixels: p0[9:0], p1[9:0], p2[9:0], p3[9:0] | ||
| - stored on 5 bytes (byte0..4) as: | ||
| | byte0[7:0] | byte1[7:0] | byte2[7:0] | byte3[7:0] | byte4[7:0] | | ||
| | p0[9:2] | p1[9:2] | p2[9:2] | p3[9:2] | p3[1:0],p2[1:0],p1[1:0],p0[1:0] | | ||
| ''' | ||
| # Optimized with 'numba' as otherwise would be extremely slow (55 seconds per frame!) | ||
| @nb.njit(nb.uint16[::1] (nb.uint8[::1], nb.uint16[::1], nb.boolean), parallel=True, cache=True) | ||
| def unpack_raw10(input, out, expand16bit): | ||
| lShift = 6 if expand16bit else 0 | ||
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| #for i in np.arange(input.size // 5): # around 25ms per frame (with numba) | ||
| for i in nb.prange(input.size // 5): # around 5ms per frame | ||
| b4 = input[i * 5 + 4] | ||
| out[i * 4] = ((input[i * 5] << 2) | ( b4 & 0x3)) << lShift | ||
| out[i * 4 + 1] = ((input[i * 5 + 1] << 2) | ((b4 >> 2) & 0x3)) << lShift | ||
| out[i * 4 + 2] = ((input[i * 5 + 2] << 2) | ((b4 >> 4) & 0x3)) << lShift | ||
| out[i * 4 + 3] = ((input[i * 5 + 3] << 2) | (b4 >> 6) ) << lShift | ||
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| return out | ||
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| print("depthai:", dai.__version__, dai.__commit_datetime__) | ||
| pipeline = dai.Pipeline() | ||
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| cam = pipeline.createMonoCamera() | ||
| cam.setBoardSocket(dai.CameraBoardSocket.LEFT) # or RIGHT | ||
| cam.setResolution(dai.MonoCameraProperties.SensorResolution.THE_800_P) | ||
| # Uncomment to be able to set a larger manual exposure, e.g: 10fps / 100ms | ||
| # cam.setFps(10) | ||
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| # Camera control input | ||
| control = pipeline.createXLinkIn() | ||
| control.setStreamName('control') | ||
| control.out.link(cam.inputControl) | ||
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| if 'isp' in streams: | ||
| xout_isp = pipeline.createXLinkOut() | ||
| xout_isp.setStreamName('isp') | ||
| cam.out.link(xout_isp.input) | ||
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| if 'raw' in streams: | ||
| xout_raw = pipeline.createXLinkOut() | ||
| xout_raw.setStreamName('raw') | ||
| cam.raw.link(xout_raw.input) | ||
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| device = dai.Device(pipeline) | ||
| device.startPipeline() | ||
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| q_list = [] | ||
| for s in streams: | ||
| q = device.getOutputQueue(name=s, maxSize=3, blocking=False) | ||
| q_list.append(q) | ||
| # Make window resizable, and configure initial size | ||
| cv2.namedWindow(s, cv2.WINDOW_NORMAL) | ||
| cv2.resizeWindow(s, (1280, 800)) | ||
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| controlQueue = device.getInputQueue('control') | ||
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| # Manual exposure set step, configurable | ||
| EXP_STEP = 500 # us | ||
| ISO_STEP = 50 | ||
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| # Defaults and limits for manual focus/exposure controls | ||
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| exp_time = 20000 | ||
| exp_min = 20 | ||
| # Note: need to reduce FPS (see .setFps) to be able to set higher exposure time | ||
| exp_max = 33000 # 1000000 | ||
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| sens_iso = 800 | ||
| sens_min = 100 | ||
| sens_max = 1600 | ||
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| # TODO make automatically iterable | ||
| awb_mode_idx = -1 | ||
| awb_mode_list = [ | ||
| dai.CameraControl.AutoWhiteBalanceMode.OFF, | ||
| dai.CameraControl.AutoWhiteBalanceMode.AUTO, | ||
| dai.CameraControl.AutoWhiteBalanceMode.INCANDESCENT, | ||
| dai.CameraControl.AutoWhiteBalanceMode.FLUORESCENT, | ||
| dai.CameraControl.AutoWhiteBalanceMode.WARM_FLUORESCENT, | ||
| dai.CameraControl.AutoWhiteBalanceMode.DAYLIGHT, | ||
| dai.CameraControl.AutoWhiteBalanceMode.CLOUDY_DAYLIGHT, | ||
| dai.CameraControl.AutoWhiteBalanceMode.TWILIGHT, | ||
| dai.CameraControl.AutoWhiteBalanceMode.SHADE, | ||
| ] | ||
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| anti_banding_mode_idx = -1 | ||
| anti_banding_mode_list = [ | ||
| dai.CameraControl.AntiBandingMode.OFF, | ||
| dai.CameraControl.AntiBandingMode.MAINS_50_HZ, | ||
| dai.CameraControl.AntiBandingMode.MAINS_60_HZ, | ||
| dai.CameraControl.AntiBandingMode.AUTO, | ||
| ] | ||
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| effect_mode_idx = -1 | ||
| effect_mode_list = [ | ||
| dai.CameraControl.EffectMode.OFF, | ||
| dai.CameraControl.EffectMode.MONO, | ||
| dai.CameraControl.EffectMode.NEGATIVE, | ||
| dai.CameraControl.EffectMode.SOLARIZE, | ||
| dai.CameraControl.EffectMode.SEPIA, | ||
| dai.CameraControl.EffectMode.POSTERIZE, | ||
| dai.CameraControl.EffectMode.WHITEBOARD, | ||
| dai.CameraControl.EffectMode.BLACKBOARD, | ||
| dai.CameraControl.EffectMode.AQUA, | ||
| ] | ||
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| ae_comp = 0 # Valid: -9 .. +9 | ||
| ae_lock = False | ||
| awb_lock = False | ||
| saturation = 0 | ||
| contrast = 0 | ||
| brightness = 0 | ||
| sharpness = 0 | ||
| luma_denoise = 0 | ||
| control = 'none' | ||
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| def clamp(num, v0, v1): return max(v0, min(num, v1)) | ||
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| capture_flag = False | ||
| while True: | ||
| for q in q_list: | ||
| name = q.getName() | ||
| data = q.get() | ||
| width, height = data.getWidth(), data.getHeight() | ||
| payload = data.getData() | ||
| capture_file_info_str = ('capture_' + name | ||
| + '_' + str(width) + 'x' + str(height) | ||
| + '_' + str(data.getSequenceNum()) | ||
| ) | ||
| if name == 'isp': | ||
| if capture_flag: | ||
| filename = capture_file_info_str + '_P400.yuv' | ||
| print("Saving to file:", filename) | ||
| payload.tofile(filename) | ||
| shape = (height, width) | ||
| bgr = payload.reshape(shape).astype(np.uint8) | ||
| if name == 'raw': | ||
| # Preallocate the output buffer | ||
| unpacked = np.empty(payload.size * 4 // 5, dtype=np.uint16) | ||
| if capture_flag: | ||
| # Save to capture file on bits [9:0] of the 16-bit pixels | ||
| unpack_raw10(payload, unpacked, expand16bit=False) | ||
| filename = capture_file_info_str + '_10bit.bw' | ||
| print("Saving to file:", filename) | ||
| unpacked.tofile(filename) | ||
| # Full range for display, use bits [15:6] of the 16-bit pixels | ||
| unpack_raw10(payload, unpacked, expand16bit=True) | ||
| shape = (height, width) | ||
| bgr = unpacked.reshape(shape).astype(np.uint16) | ||
| if capture_flag: # Save to disk if `c` was pressed | ||
| filename = capture_file_info_str + '.png' | ||
| print("Saving to file:", filename) | ||
| bgr = np.ascontiguousarray(bgr) # just in case | ||
| cv2.imwrite(filename, bgr) | ||
| bgr = np.ascontiguousarray(bgr) # just in case | ||
| cv2.imshow(name, bgr) | ||
| # Reset capture_flag after iterating through all streams | ||
| capture_flag = False | ||
| key = cv2.waitKey(1) | ||
| if key == ord('c'): | ||
| capture_flag = True | ||
| 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'): exp_time -= EXP_STEP | ||
| if key == ord('o'): exp_time += EXP_STEP | ||
| if key == ord('k'): sens_iso -= ISO_STEP | ||
| if key == ord('l'): sens_iso += ISO_STEP | ||
| exp_time = clamp(exp_time, exp_min, exp_max) | ||
| sens_iso = clamp(sens_iso, sens_min, sens_max) | ||
| print("Setting manual exposure, time:", exp_time, "iso:", sens_iso) | ||
| ctrl = dai.CameraControl() | ||
| ctrl.setManualExposure(exp_time, sens_iso) | ||
| controlQueue.send(ctrl) | ||
| 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' | ||
| 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': | ||
| cnt = len(anti_banding_mode_list) | ||
| anti_banding_mode_idx = (anti_banding_mode_idx + cnt + change) % cnt | ||
| anti_banding_mode = anti_banding_mode_list[anti_banding_mode_idx] | ||
| print("Anti-banding mode:", anti_banding_mode) | ||
| ctrl.setAntiBandingMode(anti_banding_mode) | ||
| elif control == 'awb_mode': | ||
| cnt = len(awb_mode_list) | ||
| awb_mode_idx = (awb_mode_idx + cnt + change) % cnt | ||
| awb_mode = awb_mode_list[awb_mode_idx] | ||
| print("Auto white balance mode:", awb_mode) | ||
| ctrl.setAutoWhiteBalanceMode(awb_mode) | ||
| elif control == 'effect_mode': | ||
| cnt = len(effect_mode_list) | ||
| effect_mode_idx = (effect_mode_idx + cnt + change) % cnt | ||
| effect_mode = effect_mode_list[effect_mode_idx] | ||
| print("Effect mode:", effect_mode) | ||
| ctrl.setEffectMode(effect_mode) | ||
| 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) | ||
| controlQueue.send(ctrl) | ||
| elif key == ord('q'): | ||
| break |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,6 @@ | ||
| numpy | ||
| numba | ||
| opencv-python | ||
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| --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/ | ||
| depthai==2.3.0.0.dev+642b687ac42a03ae3ef0dc64d81c969fb60eb06c |
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Hey @alex-luxonis, is this the correct depthai artifact? I have the frame showing up but none of the controls work. A pip install of requirements.txt fails due to snapshot-local url. Anything I can test here?
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@chris-piekarski Yes, this should work. Being focused on one of the windows, and pressing
6, followed by=3 times, the "isp" stream gets inverted, and I get these logs:It's also possible to use the latest release, as this feature was included there:
Then the version printed is:
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Thanks @alex-luxonis. I did get the effects working. However I am unable to see any changes for contrast, saturation and brightness. Also not seeing any changes for AWB modes. Should those be functional on most recent version?
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Thanks for testing @chris-piekarski. These controls don't seem to work on MonoCamera. It's unclear where the problem is, as they get properly forwarded to the camera 3A algorithms (where we don't have visibility). We'll investigate further.