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DOCS-3168: Add two new features for crop transform camera #3773

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Dec 23, 2024
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DOCS-3168: Add two new features for crop transform camera #3773

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Add new features for transform camera
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108 changes: 69 additions & 39 deletions docs/components/camera/transform.md
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Original file line number Diff line number Diff line change
Expand Up @@ -122,8 +122,7 @@ The following attributes are available for `transform` views:

The following are the transformation objects available for the `pipeline`:

{{< tabs >}}
{{% tab name="Classifications" %}}
### Classifications

Classifications overlay text from the `GetClassifications` method of the [vision service](/services/vision/) onto the image.

Expand Down Expand Up @@ -151,12 +150,13 @@ Classifications overlay text from the `GetClassifications` method of the [vision
- `max_classifications`: _Optional_. The maximum number of classifications to display on the camera stream at any given time. Default: `1`.
- `valid_labels`: _Optional_. An array of labels that you to see detections for on the camera stream. If not specified, all labels from the classifier are used.

{{% /tab %}}

{{% tab name="Crop" %}}
### Crop

The Crop transform crops takes an image and crops it to a rectangular area specified by two points: the top left point (`(x_min, y_min)`) and the bottom right point (`(x_max, y_max)`).

{{< tabs >}}
{{% tab name="Template" %}}

```json {class="line-numbers linkable-line-numbers"}
{
"source": "<your-source-camera-name>",
Expand All @@ -167,23 +167,72 @@ The Crop transform crops takes an image and crops it to a rectangular area speci
"x_min_px": <int>,
"y_min_px": <int>,
"x_max_px": <int>,
"y_max_px": <int>
"y_max_px": <int>,
"overlay_crop_box": <bool>
}
}
]
}
```

**Attributes:**
{{% /tab %}}
{{% tab name="Coordinate Example" %}}

If you have a 100 x 200 image, and you want to crop to a box between the points (30, 40) and (60,80), the following would suffice:

- `x_min_px`: The x coordinate of the top left point of the rectangular area to crop the image to.
- `y_min_px`: The y coordinate of the top left point of the rectangular area to crop the image to.
- `x_max_px`: The x coordinate of the bottom right point of the rectangular area to crop the image to.
- `y_max_px`: The y coordinate of the bottom right point of the rectangular area to crop the image to.
```json {class="line-numbers linkable-line-numbers"}
{
"source": "<your-source-camera-name>",
"pipeline": [
{
"type": "crop",
"attributes": {
"x_min_px": 30,
"y_min_px": 40,
"x_max_px": 60,
"y_max_px": 80,
"overlay_crop_box": false
}
}
]
}
```

{{% /tab %}}
{{% tab name="Proportion Example" %}}

{{% tab name="Depth Edges" %}}
If you have a 100 x 200 image, and you want to crop to a box between the points (30, 40) and (60,80), the following would suffice:

```json {class="line-numbers linkable-line-numbers"}
{
"source": "<your-source-camera-name>",
"pipeline": [
{
"type": "crop",
"attributes": {
"x_min_px": 0.3,
"y_min_px": 0.2,
"x_max_px": 0.6,
"y_max_px": 0.4,
"overlay_crop_box": false
}
}
]
}
```

{{% /tab %}}
{{< /tabs >}}

**Attributes:**

- `x_min_px`: The x coordinate or the relative proportion of the top left point of the rectangular area to crop the image to.
- `y_min_px`: The y coordinate or the relative proportion of the top left point of the rectangular area to crop the image to.
- `x_max_px`: The x coordinate or the relative proportion of the bottom right point of the rectangular area to crop the image to.
- `y_max_px`: The y coordinate or the relative proportion of the bottom right point of the rectangular area to crop the image to.
- `overlay_crop_box`: Set to `true` to not actually carry out the crop, but instead overlay the cropping box on the original image and visualize where the crop would be applied.

### Depth edges

The Depth Edges transform creates a canny edge detector to detect edges on an input depth map.

Expand All @@ -209,8 +258,7 @@ The Depth Edges transform creates a canny edge detector to detect edges on an in
- `low_threshold_pct`: The low threshold value: between 0.0 - 1.0.
- `blur_radius_px`: The blur radius used to smooth the image before applying the filter.

{{% /tab %}}
{{% tab name="Depth Preprocess" %}}
### Depth preprocess

Depth Preprocessing applies some basic hole-filling and edge smoothing to a depth map.

Expand All @@ -230,9 +278,7 @@ Depth Preprocessing applies some basic hole-filling and edge smoothing to a dept

- None.

{{% /tab %}}

{{% tab name="Depth to Pretty" %}}
### Depth to pretty

The Depth-to-Pretty transform takes a depth image and turns it into a colorful image, with blue indicating distant points and red indicating nearby points.
The actual depth information is lost in the transform.
Expand All @@ -253,9 +299,7 @@ The actual depth information is lost in the transform.

- None.

{{% /tab %}}

{{% tab name="Detections" %}}
### Detections

The Detections transform takes the input image and overlays the detections from a given detector configured within the [vision service](/services/vision/).

Expand All @@ -281,9 +325,7 @@ The Detections transform takes the input image and overlays the detections from
- `confidence_threshold`: Specify to only display detections above the specified threshold (decimal between 0 and 1).
- `valid_labels`: _Optional_. An array of labels that you to see detections for on the camera stream. If not specified, all labels from the classifier are used.

{{% /tab %}}

{{% tab name="Identity"%}}
### Identity

The Identity transform does nothing to the image.
You can use this transform to change the underlying camera source's intrinsic parameters or stream type, for example.
Expand All @@ -303,9 +345,7 @@ You can use this transform to change the underlying camera source's intrinsic pa

- None

{{% /tab %}}

{{% tab name="Overlay" %}}
### Overlay

Overlays the depth and the color 2D images.
Useful to debug the alignment of the two images.
Expand Down Expand Up @@ -341,9 +381,7 @@ Useful to debug the alignment of the two images.
- `fx`: The image focal x.
- `fy`: The image focal y.

{{% /tab %}}

{{% tab name="Resize" %}}
### Resize

The Resize transform resizes the image to the specified height and width.

Expand All @@ -367,9 +405,7 @@ The Resize transform resizes the image to the specified height and width.
- `width_px`: Specify the expected width for the aligned image. Value must be >= 0.
- `height_px`: Specify the expected width for the aligned image. Value must be >= 0.

{{% /tab %}}

{{% tab name="Rotate" %}}
### Rotate

The Rotate transformation rotates the image by the angle specified in `angle_deg`. Default: 180 degrees.
This feature is useful for when the camera is installed upside down or sideways on your machine.
Expand All @@ -392,9 +428,7 @@ This feature is useful for when the camera is installed upside down or sideways

- `angle_deg`: Rotate the image by a specific angle in degrees.

{{% /tab %}}

{{% tab name="Undistort" %}}
### Undistort

The Undistort transform undistorts the input image according to the intrinsic and distortion parameters specified within the camera parameters.
Currently only supports a Brown-Conrady model of distortion (20 September 2022).
Expand Down Expand Up @@ -444,10 +478,6 @@ For further information, please refer to the [OpenCV docs](https://docs.opencv.o
- `tp1`: The tangential distortion x.
- `tp2`: The tangential distortion y.

{{% /tab %}}

{{< /tabs >}}

## Example

```json {class="line-numbers linkable-line-numbers"}
Expand Down
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