Shrink camera output

src/surface/gui/gui/operator_app.py

@@ -22,7 +22,6 @@ def __init__(self) -> None:
         super().__init__('operator_gui_node')
 
         self.setWindowTitle('Operator GUI - CWRUbotix ROV 2025')
-
         # Main tab
         main_tab = QWidget()
         main_layout = QHBoxLayout()

src/surface/gui/gui/pilot_app.py

@@ -168,6 +168,7 @@ def make_video_widgets(
                         frame_width,
                         frame_height,
                         CameraManager('manage_flir', CameraManage.Request.FLIR_FRONT),
+                        False,
                     ),
                 ),
                 'switch_left_stream',
@@ -181,6 +182,16 @@ def make_video_widgets(
                         frame_width,
                         frame_height,
                         CameraManager('manage_flir', CameraManage.Request.FLIR_DOWN),
+                        False,
+                    ),
+                    CameraDescription(
+                        mono_cam_type,
+                        CAM1_TOPIC,
+                        'Cropped Down Camera',
+                        frame_height,
+                        frame_height,
+                        CameraManager('manage_flir', CameraManage.Request.FLIR_DOWN),
+                        True,
                     ),
                     CameraDescription(
                         CameraType.DEPTH,
@@ -189,6 +200,7 @@ def make_video_widgets(
                         frame_width,
                         frame_height,
                         CameraManager('manage_luxonis', CameraManage.Request.LUX_LEFT),
+                        False,
                     ),
                     CameraDescription(
                         CameraType.DEPTH,
@@ -197,6 +209,7 @@ def make_video_widgets(
                         frame_width,
                         frame_height,
                         CameraManager('manage_luxonis', CameraManage.Request.LUX_RIGHT),
+                        False,
                     ),
                 ),
                 'switch_right_stream',

src/surface/gui/gui/widgets/video_widget.py

@@ -29,7 +29,6 @@
 HEIGHT = 541
 # 1 Pixel larger than actual pixel dimensions
 
-
 COLOR = 3
 GREY_SCALE = 2
 
@@ -79,6 +78,8 @@ class CameraDescription(NamedTuple):
         The height of the Camera Stream, by default HEIGHT constant.
     manager: CameraManager | None
         Used for toggling cam streams in SwitchableVideoWidgets
+    is_crop: bool
+        Used for cropping the down cam and not the other cams
 
     """
 
@@ -88,6 +89,7 @@ class CameraDescription(NamedTuple):
     width: int = WIDTH
     height: int = HEIGHT
     manager: CameraManager | None = None
+    is_crop: bool = False
 
 
 class ClickableLabel(QLabel):
@@ -141,12 +143,35 @@ def __init__(
     @pyqtSlot(Image)
     def handle_frame(self, frame: Image) -> None:
         cv_image = self.cv_bridge.imgmsg_to_cv2(frame, desired_encoding='passthrough')
-
         qt_image: QImage = self.convert_cv_qt(
             cv_image, self.camera_description.width, self.camera_description.height
         )
+        # for cropped down cam
+        if self.camera_description.is_crop:
+            w = self.camera_description.width
+            h = self.camera_description.height
+
+            zoom = 1.5
+
+            crop_h = int(h / zoom)
+            crop_w = crop_h
+
+            x = (w - crop_w) // 2
+            y = (h - crop_h) // 2 - 60
 
-        self.set_pixmap(QPixmap.fromImage(qt_image))
+            cropped = qt_image.copy(x, y, crop_w, crop_h)
+
+            zoomed = cropped.scaled(
+                w,
+                h,
+                Qt.AspectRatioMode.IgnoreAspectRatio,
+                Qt.TransformationMode.FastTransformation,
+            )
+
+            self.set_pixmap(QPixmap.fromImage(zoomed))
+
+        else:
+            self.set_pixmap(QPixmap.fromImage(qt_image))
 
     def get_pixmap(self) -> QPixmap:
         return self.video_frame_label.pixmap()

src/surface/luxonis_cam/luxonis_cam/cam_driver.py

@@ -310,7 +310,11 @@ def deploy_pipeline(self) -> None:
         ):
             input_name = meta.script_topics.script_input_name
             node.requestOutput(
-                (FRAME_WIDTH, FRAME_HEIGHT), type=depthai.ImgFrame.Type.RGB888p
+                # I think we can just change frame width and frame height
+                # If this doesn't work, we can try size=(width, height),
+                # not sure what size we need to make it
+                (FRAME_WIDTH, FRAME_HEIGHT),
+                type=depthai.ImgFrame.Type.RGB888p,
             ).link(script.inputs[input_name])
             script.inputs[input_name].setBlocking(False)
             script.inputs[input_name].setMaxSize(1)