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Merge pull request luxonis#38 from luxonis/gen2_imagemanip_rotate
ImageManip: rotated/arbitrary cropping, add camera controls
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,172 @@ | ||
| #include <iostream> | ||
| #include <cstdio> | ||
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| #include "utility.hpp" | ||
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| #include "depthai/depthai.hpp" | ||
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| struct warpFourPointTest { | ||
| std::vector<dai::Point2f> points; | ||
| bool normalizedCoords; | ||
| const char *description; | ||
| }; | ||
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| #define ROTATE_RATE_MAX 5.0 | ||
| #define ROTATE_RATE_INC 0.1 | ||
| #define KEY_ROTATE_DECR 'z' | ||
| #define KEY_ROTATE_INCR 'x' | ||
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| #define RESIZE_MAX_W 800 | ||
| #define RESIZE_MAX_H 600 | ||
| #define RESIZE_FACTOR_MAX 5 | ||
| #define KEY_RESIZE_INC 'v' | ||
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| /* The crop points are specified in clockwise order, | ||
| * with first point mapped to output top-left, as: | ||
| * P0 -> P1 | ||
| * ^ v | ||
| * P3 <- P2 | ||
| */ | ||
| #define P0 {0, 0} // top-left | ||
| #define P1 {1, 0} // top-right | ||
| #define P2 {1, 1} // bottom-right | ||
| #define P3 {0, 1} // bottom-left | ||
| std::vector<warpFourPointTest> warpList = { | ||
| //{{{ 0, 0},{ 1, 0},{ 1, 1},{ 0, 1}}, true, "passthrough"}, | ||
| //{{{ 0, 0},{639, 0},{639,479},{ 0,479}}, false,"passthrough (pixels)"}, | ||
| {{P0, P1, P2, P3}, true, "1.passthrough"}, | ||
| {{P3, P0, P1, P2}, true, "2.rotate 90"}, | ||
| {{P2, P3, P0, P1}, true, "3.rotate 180"}, | ||
| {{P1, P2, P3, P0}, true, "4.rotate 270"}, | ||
| {{P1, P0, P3, P2}, true, "5.horizontal mirror"}, | ||
| {{P3, P2, P1, P0}, true, "6.vertical flip"}, | ||
| {{{-0.1,-0.1},{1.1,-0.1},{1.1,1.1},{-0.1,1.1}}, true, "7.add black borders"}, | ||
| {{{-0.3, 0},{1, 0},{1.3, 1},{0, 1}}, true, "8.parallelogram transform"}, | ||
| {{{-0.2, 0},{1.8, 0},{1, 1},{0, 1}}, true, "9.trapezoid transform"}, | ||
| }; | ||
| #define KEY_WARP_TEST_CYCLE 'c' | ||
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| void printControls() { | ||
| printf("\n=== Controls:\n"); | ||
| printf(" %c -rotated rectangle crop, decrease rate\n", KEY_ROTATE_DECR); | ||
| printf(" %c -rotated rectangle crop, increase rate\n", KEY_ROTATE_INCR); | ||
| printf(" %c -warp 4-point transform, cycle through modes\n", KEY_WARP_TEST_CYCLE); | ||
| printf(" %c -resize cropped region, or disable resize\n", KEY_RESIZE_INC); | ||
| printf(" h -print controls (help)\n"); | ||
| } | ||
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| int main(){ | ||
| dai::Pipeline pipeline; | ||
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| auto colorCam = pipeline.create<dai::node::ColorCamera>(); | ||
| auto camOut = pipeline.create<dai::node::XLinkOut>(); | ||
| auto manip = pipeline.create<dai::node::ImageManip>(); | ||
| auto manipCfg = pipeline.create<dai::node::XLinkIn>(); | ||
| auto manipOut = pipeline.create<dai::node::XLinkOut>(); | ||
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| camOut->setStreamName("preview"); | ||
| manipOut->setStreamName("manip"); | ||
| manipCfg->setStreamName("manipCfg"); | ||
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| colorCam->setPreviewSize(640, 480); | ||
| colorCam->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P); | ||
| colorCam->setInterleaved(false); | ||
| colorCam->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR); | ||
| manip->setMaxOutputFrameSize(2000*1500*3); | ||
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| /* Link nodes: CAM --> XLINK(preview) | ||
| * \--> manip -> XLINK(manipOut) | ||
| * manipCfg ---/ | ||
| */ | ||
| colorCam->preview.link(camOut->input); | ||
| colorCam->preview.link(manip->inputImage); | ||
| manip->out.link(manipOut->input); | ||
| manipCfg->out.link(manip->inputConfig); | ||
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| // Connect to device and start pipeline | ||
| dai::Device device(pipeline); | ||
| device.startPipeline(); | ||
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| // Create input & output queues | ||
| auto previewQueue = device.getOutputQueue("preview", 8, false); | ||
| auto manipQueue = device.getOutputQueue("manip", 8, false); | ||
| auto manipInQueue = device.getInputQueue("manipCfg"); | ||
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| std::vector<decltype(previewQueue)> frameQueues {previewQueue, manipQueue}; | ||
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| // keep processing data | ||
| int key = -1; | ||
| float angleDeg = 0; | ||
| float rotateRate = 1.0; | ||
| int resizeFactor = 0, resizeX, resizeY; | ||
| bool testFourPt = false; | ||
| int warpIdx = -1; | ||
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| printControls(); | ||
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| while (key != 'q') { | ||
| if (key >= 0) { | ||
| printf("Pressed: %c | ", key); | ||
| if (key == KEY_ROTATE_DECR || key == KEY_ROTATE_INCR) { | ||
| if (key == KEY_ROTATE_DECR) { | ||
| if (rotateRate > -ROTATE_RATE_MAX) | ||
| rotateRate -= ROTATE_RATE_INC; | ||
| } else if (key == KEY_ROTATE_INCR) { | ||
| if (rotateRate < ROTATE_RATE_MAX) | ||
| rotateRate += ROTATE_RATE_INC; | ||
| } | ||
| testFourPt = false; | ||
| printf("Crop rotated rectangle, rate: %g degrees", rotateRate); | ||
| } else if (key == KEY_RESIZE_INC) { | ||
| resizeFactor++; | ||
| if (resizeFactor > RESIZE_FACTOR_MAX) { | ||
| resizeFactor = 0; | ||
| printf("Crop region not resized"); | ||
| } else { | ||
| resizeX = RESIZE_MAX_W / resizeFactor; | ||
| resizeY = RESIZE_MAX_H / resizeFactor; | ||
| printf("Crop region resized to: %d x %d", resizeX, resizeY); | ||
| } | ||
| } else if (key == KEY_WARP_TEST_CYCLE) { | ||
| resizeFactor = 0; // Disable resizing initially | ||
| warpIdx = (warpIdx + 1) % warpList.size(); | ||
| printf("Warp 4-point transform, %s", warpList[warpIdx].description); | ||
| testFourPt = true; | ||
| } else if (key == 'h') { | ||
| printControls(); | ||
| } | ||
| printf("\n"); | ||
| } | ||
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| // Send an updated config with continuous rotate, or after a key press | ||
| if (key >= 0 || (!testFourPt && std::abs(rotateRate) > 0.0001)) { | ||
| dai::ImageManipConfig cfg; | ||
| if (testFourPt) { | ||
| cfg.setWarpTransformFourPoints(warpList[warpIdx].points, | ||
| warpList[warpIdx].normalizedCoords); | ||
| } else { | ||
| angleDeg += rotateRate; | ||
| dai::RotatedRect rr = { | ||
| {320, 240}, // center | ||
| {640, 480}, //{400, 400}, // size | ||
| angleDeg | ||
| }; | ||
| bool normalized = false; | ||
| cfg.setCropRotatedRect(rr, normalized); | ||
| } | ||
| if (resizeFactor > 0) { | ||
| cfg.setResize(resizeX, resizeY); | ||
| } | ||
| //cfg.setWarpBorderFillColor(255, 0, 0); | ||
| //cfg.setWarpBorderReplicatePixels(); | ||
| manipInQueue->send(cfg); | ||
| } | ||
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| for (const auto& q : frameQueues) { | ||
| auto img = q->get<dai::ImgFrame>(); | ||
| auto mat = toMat(img->getData(), img->getWidth(), img->getHeight(), 3, 1); | ||
| cv::imshow(q->getName(), mat); | ||
| } | ||
| key = cv::waitKey(1); | ||
| } | ||
| } |
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