From decf7d7849bdbdf64bf7ac87f1bd93c01e426c4d Mon Sep 17 00:00:00 2001 From: simleek Date: Sun, 17 Nov 2019 14:26:43 -0700 Subject: [PATCH] Added beter controls and an example. Improved documentation. --- displayarray/__init__.py | 3 +- displayarray/callbacks.py | 16 +- displayarray/effects/__init__.py | 2 + displayarray/effects/crop.py | 39 +-- displayarray/effects/lens.py | 249 +++++++++------ displayarray/frame/frame_updater.py | 13 +- displayarray/frame/np_to_opencv.py | 11 +- displayarray/input.py | 16 +- displayarray/window/subscriber_windows.py | 1 + docs/.doctrees/crop.doctree | Bin 6412 -> 8628 bytes docs/.doctrees/display.doctree | Bin 0 -> 32070 bytes docs/.doctrees/displayarray.doctree | Bin 13299 -> 32909 bytes docs/.doctrees/displayarray_bash.doctree | Bin 11146 -> 13011 bytes docs/.doctrees/effects.doctree | Bin 0 -> 45932 bytes docs/.doctrees/environment.pickle | Bin 76938 -> 87710 bytes docs/.doctrees/frame.doctree | Bin 29600 -> 33388 bytes docs/.doctrees/index.doctree | Bin 6953 -> 6778 bytes docs/.doctrees/input.doctree | Bin 9128 -> 9298 bytes docs/.doctrees/lens.doctree | Bin 8805 -> 34384 bytes docs/.doctrees/select_channels.doctree | Bin 4169 -> 7370 bytes docs/.doctrees/window.doctree | Bin 23352 -> 24359 bytes .../_modules/displayarray/__main__/index.html | 185 +++++++++++ .../displayarray/effects/crop/index.html | 39 ++- .../displayarray/effects/lens/index.html | 206 ++++++++++--- .../effects/select_channels/index.html | 41 ++- .../frame/frame_publishing/index.html | 20 +- .../frame/frame_updater/index.html | 59 ++-- .../frame/get_frame_ids/index.html | 15 +- .../frame/np_to_opencv/index.html | 27 +- docs/_modules/displayarray/input/index.html | 48 ++- .../window/subscriber_windows/index.html | 79 ++--- docs/_modules/index.html | 14 +- .../display.rst.txt} | 11 +- docs/_sources/displayarray.rst.txt | 11 +- docs/_sources/effects.rst.txt | 30 ++ docs/_sources/frame.rst.txt | 8 + docs/_sources/index.rst.txt | 11 +- docs/crop/index.html | 14 +- docs/display/index.html | 212 +++++++++++++ docs/displayarray/index.html | 90 +++++- docs/displayarray_bash/index.html | 10 +- docs/docsrc/conf.py | 22 +- docs/docsrc/crop.rst | 7 - docs/docsrc/display.rst | 11 + docs/docsrc/effects.rst | 30 ++ docs/docsrc/frame.rst | 8 + docs/docsrc/index.rst | 11 +- docs/docsrc/lens.rst | 13 - docs/docsrc/select_channels.rst | 7 - docs/docsrc/window.rst | 7 - docs/effects/index.html | 288 ++++++++++++++++++ docs/frame/index.html | 62 ++-- docs/genindex/index.html | 97 ++++-- docs/index.html | 38 +-- docs/input/index.html | 29 +- docs/lens/index.html | 107 ++++++- docs/objects.inv | Bin 719 -> 774 bytes docs/py-modindex/index.html | 15 +- docs/search/index.html | 11 +- docs/searchindex.js | 2 +- docs/select_channels/index.html | 19 +- docs/window/index.html | 8 +- examples/documentation/fractal.py | 24 +- examples/effects/lens_crop.py | 7 +- examples/effects/manual_control.py | 36 +++ pyproject.toml | 2 +- tests/effects/test_crop.py | 4 +- 67 files changed, 1829 insertions(+), 516 deletions(-) create mode 100644 docs/.doctrees/display.doctree create mode 100644 docs/.doctrees/effects.doctree create mode 100644 docs/_modules/displayarray/__main__/index.html rename docs/{docsrc/displayarray.rst => _sources/display.rst.txt} (59%) create mode 100644 docs/_sources/effects.rst.txt create mode 100644 docs/display/index.html delete mode 100644 docs/docsrc/crop.rst create mode 100644 docs/docsrc/display.rst create mode 100644 docs/docsrc/effects.rst delete mode 100644 docs/docsrc/lens.rst delete mode 100644 docs/docsrc/select_channels.rst delete mode 100644 docs/docsrc/window.rst create mode 100644 docs/effects/index.html create mode 100644 examples/effects/manual_control.py diff --git a/displayarray/__init__.py b/displayarray/__init__.py index 0d09492..90a7bca 100644 --- a/displayarray/__init__.py +++ b/displayarray/__init__.py @@ -4,8 +4,9 @@ Display any array, webcam, or video file. display is a function that displays these in their own windows. """ -__version__ = "0.7.1" +__version__ = "0.7.2" from .window.subscriber_windows import display, breakpoint_display from .frame.frame_updater import read_updates from .frame.frame_publishing import publish_updates_zero_mq, publish_updates_ros +from . import effects diff --git a/displayarray/callbacks.py b/displayarray/callbacks.py index 0e2586c..e276829 100644 --- a/displayarray/callbacks.py +++ b/displayarray/callbacks.py @@ -24,13 +24,15 @@ class function_display_callback(object): # NOSONAR """ Used for running arbitrary functions on pixels. - >>> import random - >>> from displayarray.frame import FrameUpdater - >>> img = np.zeros((300, 300, 3)) - >>> def fun(array, coords, finished): - ... r,g,b = random.random()/20.0, random.random()/20.0, random.random()/20.0 - ... array[coords[0:2]] = (array[coords[0:2]] + [r,g,b])%1.0 - >>> FrameUpdater(video_source=img, callbacks=function_display_callback(fun)).display() + .. code-block:: python + + >>> import random + >>> from displayarray.frame import FrameUpdater + >>> img = np.zeros((300, 300, 3)) + >>> def fun(array, coords, finished): + ... r,g,b = random.random()/20.0, random.random()/20.0, random.random()/20.0 + ... array[coords[0:2]] = (array[coords[0:2]] + [r,g,b])%1.0 + >>> FrameUpdater(video_source=img, callbacks=function_display_callback(fun)).display() :param display_function: a function to run on the input image. :param finish_function: a function to run on the input image when the other function finishes. diff --git a/displayarray/effects/__init__.py b/displayarray/effects/__init__.py index 2885141..b066ad7 100644 --- a/displayarray/effects/__init__.py +++ b/displayarray/effects/__init__.py @@ -1 +1,3 @@ """Effects to run on numpy arrays to make data clearer.""" + +from . import crop, lens, select_channels diff --git a/displayarray/effects/crop.py b/displayarray/effects/crop.py index ae18e32..347a731 100644 --- a/displayarray/effects/crop.py +++ b/displayarray/effects/crop.py @@ -1,28 +1,21 @@ """Crop any n-dimensional array.""" import numpy as np -from displayarray.input import mouse_loop +from ..input import mouse_loop class Crop(object): - """ - A callback class that will return the input array cropped to the output size. N-dimensional. - - >>> crop_it = Crop((2,2,2)) - >>> arr = np.ones((4,4,4)) - >>> crop_it(arr) - array([[[1., 1.], - [1., 1.]], - - [[1., 1.], - [1., 1.]]]) - - """ + """A callback class that will return the input array cropped to the output size. N-dimensional.""" def __init__(self, output_size=(64, 64, 3), center=None): - """Create the cropper.""" + """ + Create the cropping callback class. + + :param output_size: Specified the size the input should be cropped to. Can be redefined later. + :param center: Specifies the center on the input array to take the crop out of. + """ self._output_size = None - self._center = None + self._center = np.asarray([o // 2 for o in output_size]) self.odd_center = None self.mouse_control = None self.input_size = None @@ -32,27 +25,27 @@ class Crop(object): @property def output_size(self): - """Get the output size after cropping.""" + """Get the output size.""" return self._output_size @output_size.setter def output_size(self, set): - """Set what the output size will be after cropping.""" + """Set the output size.""" self._output_size = set if self._output_size is not None: self._output_size = np.asarray(set) @property def center(self): - """Get center crop position on the input.""" + """Get the center.""" return self._center @center.setter def center(self, set): - """Set center crop position on the input.""" - self._center = set - if self._center is not None: - self._center = np.asarray(set) + """Set the center. Guarded so that colors need not be set.""" + if set is not None: + for x in range(len(set)): + self._center[x] = set[x] def __call__(self, arr): """Crop the input array to the specified output size. output is centered on self.center point on input.""" diff --git a/displayarray/effects/lens.py b/displayarray/effects/lens.py index 5dc8278..754522b 100644 --- a/displayarray/effects/lens.py +++ b/displayarray/effects/lens.py @@ -1,145 +1,156 @@ """Create lens effects. Currently only 2D+color arrays are supported.""" import numpy as np -from displayarray.input import mouse_loop +from ..input import mouse_loop import cv2 +try: + import torch +except ImportError: + torch = None # type: ignore + + +class ControllableLens(object): + """A lens callback that can be controlled by the program or the user.""" -class _ControllableLens(object): def __init__(self, use_bleed=False, zoom=1, center=None): - self.center = center - self.zoom = zoom + """Create the lens callback.""" + self._center = center + self._zoom = zoom self.use_bleed = use_bleed self.bleed = None self.mouse_control = None - def check_setup_bleed(self, arr): + def _check_setup_bleed(self, arr): if not isinstance(self.bleed, np.ndarray) and self.use_bleed: self.bleed = np.zeros_like(arr) def run_bleed(self, arr, x, y): + """Spread color outwards, like food coloring in water.""" arr[y, ...] = (arr[(y + 1) % len(y), ...] + arr[(y - 1) % len(y), ...]) / 2 arr[:, x, ...] = ( arr[:, (x + 1) % len(x), ...] + arr[:, (x - 1) % len(x), ...] ) / 2 -class Barrel(_ControllableLens): - """ - Create a barrel distortion. +class Barrel(ControllableLens): + """A barrel lens distortion callback.""" - >>> distort_it = Barrel(zoom=1, barrel_power=1.5) - >>> x = np.linspace(0, 1, 4) - >>> y = np.linspace(0, 1, 4) - >>> c = np.linspace(0, 1, 2) - >>> arrx, arry, arrc = np.meshgrid(x,y,c) - >>> arrx - array([[[0. , 0. ], - [0.33333333, 0.33333333], - [0.66666667, 0.66666667], - [1. , 1. ]], - - [[0. , 0. ], - [0.33333333, 0.33333333], - [0.66666667, 0.66666667], - [1. , 1. ]], - - [[0. , 0. ], - [0.33333333, 0.33333333], - [0.66666667, 0.66666667], - [1. , 1. ]], - - [[0. , 0. ], - [0.33333333, 0.33333333], - [0.66666667, 0.66666667], - [1. , 1. ]]]) - - >>> distort_it(arrx) - array([[[0.33333333, 0.33333333], - [0.33333333, 0.33333333], - [0.66666667, 0.66666667], - [0.66666667, 0.66666667]], - - [[0.33333333, 0.33333333], - [0.33333333, 0.33333333], - [0.66666667, 0.66666667], - [0.66666667, 0.66666667]], - - [[0.33333333, 0.33333333], - [0.33333333, 0.33333333], - [0.66666667, 0.66666667], - [0.66666667, 0.66666667]], - - [[0.33333333, 0.33333333], - [0.33333333, 0.33333333], - [0.66666667, 0.66666667], - [0.66666667, 0.66666667]]]) - - :param zoom: How far to zoom into the array - :param barrel_power: How much to distort. - 1 = no distortion. >1 increases size of center. 0 0: - self.zoom *= 1.1 - else: - self.zoom /= 1.1 + if self.input_size is not None: + if crop_size is not None: + self.center = [ + me.y * self.input_size[0] / crop_size[0], + me.x * self.input_size[1] / crop_size[1], + ] else: - if me.flags > 0: - self.barrel_power *= 1.1 + self.center = [me.y, me.x] + if me.event == cv2.EVENT_MOUSEWHEEL: + if me.flags & cv2.EVENT_FLAG_CTRLKEY: + if me.flags > 0: + self.zoom *= 1.1 + else: + self.zoom /= 1.1 else: - self.barrel_power /= 1.1 + if me.flags > 0: + self.barrel_power *= 1.1 + else: + self.barrel_power /= 1.1 + print(self.barrel_power) self.mouse_control = m_loop return self def __call__(self, arr): - """Run the distortion on an array.""" + """Run the lens distortion algorithm on the input.""" zoom_out = 1.0 / self.zoom - self.check_setup_bleed(arr) + self._check_setup_bleed(arr) + + self.input_size = arr.shape y = np.arange(arr.shape[0]) x = np.arange(arr.shape[1]) - if self.center is None: - self.center = [len(y) / 2.0, len(x) / 2.0] + if self._center is None: + self._center = [len(y) / 2.0, len(x) / 2.0] y2_ = (y - (len(y) / 2.0)) * zoom_out / arr.shape[0] x2_ = (x - (len(x) / 2.0)) * zoom_out / arr.shape[1] p2 = np.array(np.meshgrid(x2_, y2_)) - cy = self.center[0] / arr.shape[0] - cx = self.center[1] / arr.shape[1] - - barrel_power = self.barrel_power + cy = self._center[0] / arr.shape[0] + cx = self._center[1] / arr.shape[1] theta = np.arctan2(p2[1], p2[0]) radius = np.linalg.norm(p2, axis=0, ord=2) - radius = pow(radius, barrel_power) + radius = pow(radius, self.barrel_power) x_new = 0.5 * (radius * np.cos(theta) + cx * 2) x_new = np.clip(x_new * len(x), 0, len(x) - 1) @@ -163,13 +174,54 @@ class Barrel(_ControllableLens): return arr -class Mustache(_ControllableLens): - """Create a mustache distortion.""" +class BarrelPyTorch(Barrel): + """A barrel distortion callback class accelerated by PyTorch.""" + + def __call__(self, arr): + """Run a pytorch accelerated lens distortion algorithm on the input.""" + zoom_out = 1.0 / self.zoom + self.input_size = arr.shape + y = torch.arange(arr.shape[1]).type(torch.FloatTensor).cuda() + x = torch.arange(arr.shape[0]).type(torch.FloatTensor).cuda() + if self._center is None: + self._center = [y.shape[0] / 2.0, x.shape[0] / 2.0] + + y2_ = (y - (y.shape[0] / 2.0)) * zoom_out / arr.shape[1] + x2_ = (x - (x.shape[0] / 2.0)) * zoom_out / arr.shape[0] + p2 = torch.stack(torch.meshgrid(x2_, y2_)) + + cy = self._center[1] / arr.shape[1] + cx = self._center[0] / arr.shape[0] + + theta = torch.atan2(p2[1], p2[0]) + + radius = torch.norm(p2, dim=0) + + radius = torch.pow(radius, self.barrel_power) + + x_new = 0.5 * (radius * torch.cos(theta) + cx * 2) + x_new = torch.clamp(x_new * x.shape[0], 0, x.shape[0] - 1) + + y_new = 0.5 * (radius * torch.sin(theta) + cy * 2) + y_new = torch.clamp(y_new * y.shape[0], 0, y.shape[0] - 1) + + p = torch.stack(torch.meshgrid([x, y])).type(torch.IntTensor) + + p_new = torch.stack((x_new, y_new)) + p_new = p_new.type(torch.IntTensor) + + arr[p[0], p[1], :] = arr[p_new[0], p_new[1], :] + + return arr + + +class Mustache(ControllableLens): + """A mustache distortion callback.""" def __init__( self, use_bleed=False, barrel_power=1, pincushion_power=1, zoom=1, center=None ): - """Create the distorter.""" + """Create the mustache distortion callback.""" super().__init__(use_bleed, zoom, center) self.center = center self.zoom = zoom @@ -181,12 +233,11 @@ class Mustache(_ControllableLens): def enable_mouse_control(self): """ - Enable mouse control. + Enable the default mouse loop to control the mustache distortion. - Move the mouse to center the image. - Scroll to increase/decrease barrel. - Ctrl+scroll to increase/decrease zoom. - Shift+Scroll to increase/decrease pincushion. + ctrl+scroll wheel: zoom in and out + shift+scroll wheel: adjust pincushion power + scroll wheel: adjust barrel power """ @mouse_loop @@ -212,9 +263,9 @@ class Mustache(_ControllableLens): self.mouse_control = m_loop def __call__(self, arr): - """Run the distortion on an array.""" + """Run the mustache distortion algorithm on the input numpy array.""" zoom_out = 1.0 / self.zoom - self.check_setup_bleed(arr) + self._check_setup_bleed(arr) y = np.arange(arr.shape[0]) x = np.arange(arr.shape[1]) diff --git a/displayarray/frame/frame_updater.py b/displayarray/frame/frame_updater.py index b149ac8..de14e01 100644 --- a/displayarray/frame/frame_updater.py +++ b/displayarray/frame/frame_updater.py @@ -48,7 +48,7 @@ class FrameUpdater(threading.Thread): continue def __apply_callbacks_to_frame(self, frame): - if frame is not None: + if frame is not None and not isinstance(frame, NoData): try: for c in self.callbacks: frame_c = c(frame) @@ -133,10 +133,13 @@ async def read_updates( Read back all updates from the requested videos. Example usage: - >>> from examples.videos import test_video - >>> f = 0 - >>> for f, r in enumerate(read_updates(test_video, end_callback=lambda :f==2)): - ... print(f"Frame:{f}. Array:{r}") + + .. code-block:: python + + >>> from examples.videos import test_video + >>> f = 0 + >>> for f, r in enumerate(read_updates(test_video, end_callback=lambda :f==2)): + ... print(f"Frame:{f}. Array:{r}") """ from displayarray.window import SubscriberWindows diff --git a/displayarray/frame/np_to_opencv.py b/displayarray/frame/np_to_opencv.py index a9a482c..a4912a3 100644 --- a/displayarray/frame/np_to_opencv.py +++ b/displayarray/frame/np_to_opencv.py @@ -12,9 +12,14 @@ class NpCam(object): assert isinstance(img, np.ndarray) self.__img = img self.__is_opened = True - - self.__width = self.__img.shape[1] - self.__height = self.__img.shape[0] + if len(img.shape) > 0: + self.__height = self.__img.shape[0] + if len(self.__img.shape) > 1: + self.__width = self.__img.shape[1] + else: + self.__width = self.__height + else: + self.__width = self.__height = 1 self.__ratio = float(self.__width) / self.__height self.__wait_for_ratio = False diff --git a/displayarray/input.py b/displayarray/input.py index ea814cb..3695c0a 100644 --- a/displayarray/input.py +++ b/displayarray/input.py @@ -68,9 +68,11 @@ class mouse_loop(object): # NOSONAR """ Run a function on mouse information that is received by the window, continuously in a new thread. - >>> @mouse_loop - ... def fun(mouse_event): - ... print("x:{}, y:{}".format(mouse_event.x, mouse_event.y)) + .. code-block:: python + + >>> @mouse_loop + ... def fun(mouse_event): + ... print("x:{}, y:{}".format(mouse_event.x, mouse_event.y)) """ def __init__(self, f): @@ -126,9 +128,11 @@ class key_loop(object): # NOSONAR """ Run a function on mouse information that is received by the window, continuously in a new thread. - >>> @key_loop - ... def fun(key): - ... print("key pressed:{}".format(key)) + .. code-block:: python + + >>> @key_loop + ... def fun(key): + ... print("key pressed:{}".format(key)) """ def __init__(self, f: Callable[[str], None]): diff --git a/displayarray/window/subscriber_windows.py b/displayarray/window/subscriber_windows.py index b294803..d054b2d 100644 --- a/displayarray/window/subscriber_windows.py +++ b/displayarray/window/subscriber_windows.py @@ -173,6 +173,7 @@ class SubscriberWindows(object): if 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+
+
+ + +
+ +

Source code for displayarray.__main__

+"""
+DisplayArray.
+
+Display NumPy arrays.
+
+Usage:
+  displayarray (-w <webcam-number> | -v <video-filename> | -t <topic-name>[,dtype])... [-m <msg-backend>]
+  displayarray -h
+  displayarray --version
+
+
+Options:
+  -h, --help                                           Show this help text.
+  --version                                            Show version number.
+  -w <webcam-number>, --webcam=<webcam-number>         Display video from a webcam.
+  -v <video-filename>, --video=<video-filename>        Display frames from a video file.
+  -t <topic-name>, --topic=<topic-name>                Display frames from a topic using the chosen message broker.
+  -m <msg-backend>, --message-backend <msg-backend>    Choose message broker backend. [Default: ROS]
+                                                       Currently supported: ROS, ZeroMQ
+  --ros                                                Use ROS as the backend message broker.
+  --zeromq                                             Use ZeroMQ as the backend message broker.
+"""
+
+from docopt import docopt
+import asyncio
+
+
+
[docs]def main(argv=None):
+    """Process command line arguments."""
+    arguments = docopt(__doc__, argv=argv)
+    if arguments["--version"]:
+        from displayarray import __version__
+
+        print(f"DisplayArray V{__version__}")
+        return
+    from displayarray import display
+
+    vids = [int(w) for w in arguments["--webcam"]] + arguments["--video"]
+    v_disps = None
+    if vids:
+        v_disps = display(*vids, blocking=False)
+    from displayarray.frame.frame_updater import read_updates_ros, read_updates_zero_mq
+
+    topics = arguments["--topic"]
+    topics_split = [t.split(",") for t in topics]
+    d = display()
+
+    async def msg_recv():
+        nonlocal d
+        while d:
+            if arguments["--message-backend"] == "ROS":
+                async for v_name, frame in read_updates_ros(
+                    [t for t, d in topics_split], [d for t, d in topics_split]
+                ):
+                    d.update(arr=frame, id=v_name)
+            if arguments["--message-backend"] == "ZeroMQ":
+                async for v_name, frame in read_updates_zero_mq(
+                    *[bytes(t, encoding="ascii") for t in topics]
+                ):
+                    d.update(arr=frame, id=v_name)
+
+    async def update_vids():
+        while v_disps:
+            if v_disps:
+                v_disps.update()
+                await asyncio.sleep(0)
+
+    async def runner():
+        await asyncio.wait([msg_recv(), update_vids()])
+
+    loop = asyncio.get_event_loop()
+    loop.run_until_complete(runner())
+    loop.close()

+
+
+if __name__ == "__main__":
+    main()
+
+ +
+ +
+
+ +
+
+
+ ©2019, Simulator Leek. + + | + Powered by Sphinx 2.2.1 + & Alabaster 0.7.12 + +
+ + + + + + \ No newline at end of file diff --git a/docs/_modules/displayarray/effects/crop/index.html b/docs/_modules/displayarray/effects/crop/index.html index e569173..3a71165 100644 --- a/docs/_modules/displayarray/effects/crop/index.html +++ b/docs/_modules/displayarray/effects/crop/index.html @@ -31,16 +31,24 @@

Source code for displayarray.effects.crop

-import numpy as np
+"""Crop any n-dimensional array."""
+
+import numpy as np
 from ..input import mouse_loop
 
 
-
[docs]class Crop(object):
+
[docs]class Crop(object):
     """A callback class that will return the input array cropped to the output size. N-dimensional."""
 
     def __init__(self, output_size=(64, 64, 3), center=None):
+        """
+        Create the cropping callback class.
+
+        :param output_size: Specified the size the input should be cropped to. Can be redefined later.
+        :param center: Specifies the center on the input array to take the crop out of.
+        """
         self._output_size = None
-        self._center = None
+        self._center = np.asarray([o // 2 for o in output_size])
         self.odd_center = None
         self.mouse_control = None
         self.input_size = None
@@ -50,23 +58,27 @@
 
     @property
     def output_size(self):
+        """Get the output size."""
         return self._output_size
 
     @output_size.setter
     def output_size(self, set):
+        """Set the output size."""
         self._output_size = set
         if self._output_size is not None:
             self._output_size = np.asarray(set)
 
     @property
     def center(self):
+        """Get the center."""
         return self._center
 
     @center.setter
     def center(self, set):
-        self._center = set
-        if self._center is not None:
-            self._center = np.asarray(set)
+        """Set the center. Guarded so that colors need not be set."""
+        if set is not None:
+            for x in range(len(set)):
+                self._center[x] = set[x]
 
     def __call__(self, arr):
         """Crop the input array to the specified output size. output is centered on self.center point on input."""
@@ -119,8 +131,8 @@
         out_array[put_slices] = arr[get_slices]
         return out_array.astype(arr.dtype)
 
-
[docs]    def enable_mouse_control(self):
-        """Move the mouse to move where the crop is from on the original image"""
+
[docs]    def enable_mouse_control(self):
+        """Move the mouse to move where the crop is from on the original image."""
 
         @mouse_loop
         def m_loop(me):
@@ -154,13 +166,10 @@
 
Navigation

 
Python API

 
 
Bash API

 
    
diff --git a/docs/_modules/displayarray/effects/lens/index.html b/docs/_modules/displayarray/effects/lens/index.html
index 315887a..8465230 100644
--- a/docs/_modules/displayarray/effects/lens/index.html
+++ b/docs/_modules/displayarray/effects/lens/index.html
@@ -31,87 +31,159 @@
           
    
             
   
    Source code for displayarray.effects.lens
    -import numpy as np
+"""Create lens effects. Currently only 2D+color arrays are supported."""
+
+import numpy as np
 from ..input import mouse_loop
 import cv2
 
+try:
+    import torch
+except ImportError:
+    torch = None  # type: ignore
+
+
+
    [docs]class ControllableLens(object):
+    """A lens callback that can be controlled by the program or the user."""
 
-class ControllableLens(object):
     def __init__(self, use_bleed=False, zoom=1, center=None):
-        self.center = center
-        self.zoom = zoom
+        """Create the lens callback."""
+        self._center = center
+        self._zoom = zoom
         self.use_bleed = use_bleed
         self.bleed = None
         self.mouse_control = None
 
-    def check_setup_bleed(self, arr):
+    def _check_setup_bleed(self, arr):
         if not isinstance(self.bleed, np.ndarray) and self.use_bleed:
             self.bleed = np.zeros_like(arr)
 
-    def run_bleed(self, arr, x, y):
+
    [docs]    def run_bleed(self, arr, x, y):
+        """Spread color outwards, like food coloring in water."""
         arr[y, ...] = (arr[(y + 1) % len(y), ...] + arr[(y - 1) % len(y), ...]) / 2
         arr[:, x, ...] = (
             arr[:, (x + 1) % len(x), ...] + arr[:, (x - 1) % len(x), ...]
-        ) / 2
+        ) / 2
    
 
 
-
    [docs]class Barrel(ControllableLens):
+
    [docs]class Barrel(ControllableLens):
+    """A barrel lens distortion callback."""
+
     def __init__(
         self, use_bleed=False, barrel_power=1, pincushion_power=1, zoom=1, center=None
     ):
+        """Create the barrel lens distortion callback."""
         super().__init__(use_bleed, zoom, center)
-        self.center = center
-        self.zoom = zoom
+        self._center = center
+        self._zoom = zoom
         self.use_bleed = use_bleed
         self.bleed = None
-        self.barrel_power = barrel_power
+        self._barrel_power = barrel_power
         self.mouse_control = None
+        self.input_size = None
 
-
    [docs]    def enable_mouse_control(self):
+    @property
+    def center(self):
+        """Guarded get center. Limits to within input."""
+        if self.input_size is not None:
+            self._center[:] = [
+                min(max(0, s), self.input_size[i]) for i, s in enumerate(self._center)
+            ]
+        return self._center
+
+    @center.setter
+    def center(self, setpoint):
+        """Guarded set center. Limits to within input."""
+        if self.input_size is not None:
+            setpoint = [
+                min(max(0, s), self.input_size[i]) for i, s in enumerate(setpoint)
+            ]
+        self._center[:] = setpoint
+
+    @property
+    def zoom(self):
+        """Guarded zoom. Avoids divide by zero conditions."""
+        if self._zoom == 0:
+            return 1e-15
+        else:
+            return self._zoom
+
+    @property
+    def barrel_power(self):
+        """Guarded barrel power. Avoids divide by zero conditions."""
+        if self._barrel_power == 0:
+            return 1e-15
+        else:
+            return self._barrel_power
+
+    @barrel_power.setter
+    def barrel_power(self, setpoint):
+        """Set the barrel power."""
+        self._barrel_power = setpoint
+
+    @zoom.setter  # type: ignore
+    def zoom(self, setpoint):
+        """Set the zoom power."""
+        self._zoom = setpoint
+
+
    [docs]    def enable_mouse_control(self, crop_size=None):
         """
-        Move the mouse to center the image, scroll to increase/decrease barrel, ctrl+scroll to increase/decrease zoom
+        Enable the default mouse controls.
+
+        Move the mouse to center the image
+        scroll to increase/decrease barrel
+        ctrl+scroll to increase/decrease zoom
         """
 
         @mouse_loop
         def m_loop(me):
-            self.center[:] = [me.y, me.x]
-            if me.event == cv2.EVENT_MOUSEWHEEL:
-                if me.flags & cv2.EVENT_FLAG_CTRLKEY:
-                    if me.flags > 0:
-                        self.zoom *= 1.1
-                    else:
-                        self.zoom /= 1.1
+            if self.input_size is not None:
+                if crop_size is not None:
+                    self.center = [
+                        me.y * self.input_size[0] / crop_size[0],
+                        me.x * self.input_size[1] / crop_size[1],
+                    ]
                 else:
-                    if me.flags > 0:
-                        self.barrel_power *= 1.1
+                    self.center = [me.y, me.x]
+                if me.event == cv2.EVENT_MOUSEWHEEL:
+                    if me.flags & cv2.EVENT_FLAG_CTRLKEY:
+                        if me.flags > 0:
+                            self.zoom *= 1.1
+                        else:
+                            self.zoom /= 1.1
                     else:
-                        self.barrel_power /= 1.1
+                        if me.flags > 0:
+                            self.barrel_power *= 1.1
+                        else:
+                            self.barrel_power /= 1.1
+                        print(self.barrel_power)
 
         self.mouse_control = m_loop
         return self
    
 
     def __call__(self, arr):
+        """Run the lens distortion algorithm on the input."""
         zoom_out = 1.0 / self.zoom
-        self.check_setup_bleed(arr)
+        self._check_setup_bleed(arr)
+
+        self.input_size = arr.shape
 
         y = np.arange(arr.shape[0])
         x = np.arange(arr.shape[1])
-        if self.center is None:
-            self.center = [len(y) / 2.0, len(x) / 2.0]
+        if self._center is None:
+            self._center = [len(y) / 2.0, len(x) / 2.0]
         y2_ = (y - (len(y) / 2.0)) * zoom_out / arr.shape[0]
         x2_ = (x - (len(x) / 2.0)) * zoom_out / arr.shape[1]
         p2 = np.array(np.meshgrid(x2_, y2_))
 
-        cy = self.center[0] / arr.shape[0]
-        cx = self.center[1] / arr.shape[1]
-
-        barrel_power = self.barrel_power
+        cy = self._center[0] / arr.shape[0]
+        cx = self._center[1] / arr.shape[1]
 
         theta = np.arctan2(p2[1], p2[0])
 
         radius = np.linalg.norm(p2, axis=0, ord=2)
 
-        radius = pow(radius, barrel_power)
+        radius = pow(radius, self.barrel_power)
 
         x_new = 0.5 * (radius * np.cos(theta) + cx * 2)
         x_new = np.clip(x_new * len(x), 0, len(x) - 1)
@@ -135,10 +207,54 @@
         return arr
    
 
 
-
    [docs]class Mustache(ControllableLens):
+
    [docs]class BarrelPyTorch(Barrel):
+    """A barrel distortion callback class accelerated by PyTorch."""
+
+    def __call__(self, arr):
+        """Run a pytorch accelerated lens distortion algorithm on the input."""
+        zoom_out = 1.0 / self.zoom
+        self.input_size = arr.shape
+        y = torch.arange(arr.shape[1]).type(torch.FloatTensor).cuda()
+        x = torch.arange(arr.shape[0]).type(torch.FloatTensor).cuda()
+        if self._center is None:
+            self._center = [y.shape[0] / 2.0, x.shape[0] / 2.0]
+
+        y2_ = (y - (y.shape[0] / 2.0)) * zoom_out / arr.shape[1]
+        x2_ = (x - (x.shape[0] / 2.0)) * zoom_out / arr.shape[0]
+        p2 = torch.stack(torch.meshgrid(x2_, y2_))
+
+        cy = self._center[1] / arr.shape[1]
+        cx = self._center[0] / arr.shape[0]
+
+        theta = torch.atan2(p2[1], p2[0])
+
+        radius = torch.norm(p2, dim=0)
+
+        radius = torch.pow(radius, self.barrel_power)
+
+        x_new = 0.5 * (radius * torch.cos(theta) + cx * 2)
+        x_new = torch.clamp(x_new * x.shape[0], 0, x.shape[0] - 1)
+
+        y_new = 0.5 * (radius * torch.sin(theta) + cy * 2)
+        y_new = torch.clamp(y_new * y.shape[0], 0, y.shape[0] - 1)
+
+        p = torch.stack(torch.meshgrid([x, y])).type(torch.IntTensor)
+
+        p_new = torch.stack((x_new, y_new))
+        p_new = p_new.type(torch.IntTensor)
+
+        arr[p[0], p[1], :] = arr[p_new[0], p_new[1], :]
+
+        return arr
    
+
+
+
    [docs]class Mustache(ControllableLens):
+    """A mustache distortion callback."""
+
     def __init__(
         self, use_bleed=False, barrel_power=1, pincushion_power=1, zoom=1, center=None
     ):
+        """Create the mustache distortion callback."""
         super().__init__(use_bleed, zoom, center)
         self.center = center
         self.zoom = zoom
@@ -148,7 +264,15 @@
         self.pincushion_power = pincushion_power
         self.mouse_control = None
 
-    def enable_mouse_control(self):
+
    [docs]    def enable_mouse_control(self):
+        """
+        Enable the default mouse loop to control the mustache distortion.
+
+        ctrl+scroll wheel: zoom in and out
+        shift+scroll wheel: adjust pincushion power
+        scroll wheel: adjust barrel power
+        """
+
         @mouse_loop
         def m_loop(me):
             self.center[:] = [me.y, me.x]
@@ -169,11 +293,12 @@
                     else:
                         self.barrel_power /= 1.1
 
-        self.mouse_control = m_loop
+        self.mouse_control = m_loop
    
 
     def __call__(self, arr):
+        """Run the mustache distortion algorithm on the input numpy array."""
         zoom_out = 1.0 / self.zoom
-        self.check_setup_bleed(arr)
+        self._check_setup_bleed(arr)
 
         y = np.arange(arr.shape[0])
         x = np.arange(arr.shape[1])
@@ -234,13 +359,10 @@
 
    Navigation
    
 
    Python API
    
 
 
    Bash API
    
 
      
diff --git a/docs/_modules/displayarray/effects/select_channels/index.html b/docs/_modules/displayarray/effects/select_channels/index.html
index 2c46bb2..ed1ce40 100644
--- a/docs/_modules/displayarray/effects/select_channels/index.html
+++ b/docs/_modules/displayarray/effects/select_channels/index.html
@@ -31,13 +31,24 @@
           
      
             
   
      Source code for displayarray.effects.select_channels
      -import numpy as np
+"""Reduce many color images to the three colors that your eyeballs can see."""
+
+import numpy as np
 from ..input import mouse_loop
 import cv2
 
+from typing import Iterable
 
-
      [docs]class SelectChannels(object):
-    def __init__(self, selected_channels=None):
+
+
      [docs]class SelectChannels(object):
+    """
+    Select channels to display from an array with too many colors.
+
+    :param selected_channels: the list of channels to display.
+    """
+
+    def __init__(self, selected_channels: Iterable[int] = None):
+        """Select which channels from the input array to display in the output."""
         if selected_channels is None:
             selected_channels = [0, 0, 0]
         self.selected_channels = selected_channels
@@ -46,6 +57,7 @@
         self.num_input_channels = None
 
     def __call__(self, arr):
+        """Run the channel selector."""
         self.num_input_channels = arr.shape[-1]
         out_arr = [
             arr[..., min(max(0, x), arr.shape[-1] - 1)] for x in self.selected_channels
@@ -53,7 +65,15 @@
         out_arr = np.stack(out_arr, axis=-1)
         return out_arr
 
-    def enable_mouse_control(self):
+
      [docs]    def enable_mouse_control(self):
+        """
+        Enable mouse control.
+
+        Alt+Scroll to increase/decrease channel 2.
+        Shift+Scroll to increase/decrease channel 1.
+        Ctrl+scroll to increase/decrease channel 0.
+        """
+
         @mouse_loop
         def m_loop(me):
             if me.event == cv2.EVENT_MOUSEWHEEL:
@@ -91,7 +111,7 @@
                     if self.mouse_print_channels:
                         print(f"Channel 2 now maps to {self.selected_channels[2]}.")
 
-        self.mouse_control = m_loop
      
+        self.mouse_control = m_loop
      
 
      
 
           
      
@@ -112,13 +132,10 @@
 
      Navigation
      
 
      Python API
      
 
 
      Bash API
      
 
        
diff --git a/docs/_modules/displayarray/frame/frame_publishing/index.html b/docs/_modules/displayarray/frame/frame_publishing/index.html
index 8c273e4..5945ed5 100644
--- a/docs/_modules/displayarray/frame/frame_publishing/index.html
+++ b/docs/_modules/displayarray/frame/frame_publishing/index.html
@@ -31,7 +31,8 @@
           
        
             
   
        Source code for displayarray.frame.frame_publishing
        -import sys
+"""Publish frames so any function within this program can find them."""
+
 import threading
 import time
 import asyncio
@@ -41,7 +42,7 @@
 
 from displayarray.frame import subscriber_dictionary
 from .np_to_opencv import NpCam
-from displayarray.uid import uid_for_source
+from displayarray._uid import uid_for_source
 
 from typing import Union, Tuple, Optional, Dict, Any, List, Callable
 
@@ -146,6 +147,7 @@
     copy=True,
     track=False
 ):
+    """Publish frames to ZeroMQ when they're updated."""
     import zmq
     from displayarray import read_updates
 
@@ -193,6 +195,7 @@
     rate_hz=None,
     dtype=None
 ):
+    """Publish frames to ROS when they're updated."""
     import rospy
     from rospy.numpy_msg import numpy_msg
     import std_msgs.msg
@@ -220,7 +223,7 @@
             )  # allow users to use their own custom messages in numpy arrays
         return msg_type
 
-    publishers = {}
+    publishers: Dict[str, rospy.Publisher] = {}
     rospy.init_node(node_name, anonymous=True)
     try:
         for v in read_updates(vids, callbacks, fps_limit, size, end_callback, blocking):
@@ -268,13 +271,10 @@
 
        Navigation
        
 
        Python API
        
 
 
        Bash API
        
 
          
diff --git a/docs/_modules/displayarray/frame/frame_updater/index.html b/docs/_modules/displayarray/frame/frame_updater/index.html
index 3673043..34940d7 100644
--- a/docs/_modules/displayarray/frame/frame_updater/index.html
+++ b/docs/_modules/displayarray/frame/frame_updater/index.html
@@ -31,14 +31,16 @@
           
          
             
   
          Source code for displayarray.frame.frame_updater
          -import threading
+"""Get and handle updated frames."""
+
+import threading
 import asyncio
 from typing import Union, Tuple, Any, Callable, List, Optional, Dict
 
 import numpy as np
 
 from displayarray.callbacks import global_cv_display_callback
-from displayarray.uid import uid_for_source
+from displayarray._uid import uid_for_source
 from displayarray.frame import subscriber_dictionary
 from displayarray.frame.frame_publishing import pub_cam_thread
 from displayarray.window import window_commands
@@ -59,6 +61,7 @@
         high_speed: bool = True,
         fps_limit: float = 240,
     ):
+        """Create the frame updater thread."""
         super(FrameUpdater, self).__init__(target=self.loop, args=())
         self.cam_id = uid_for_source(video_source)
         self.video_source = video_source
@@ -78,7 +81,7 @@
             continue
 
     def __apply_callbacks_to_frame(self, frame):
-        if frame is not None:
+        if frame is not None and not isinstance(frame, NoData):
             try:
                 for c in self.callbacks:
                     frame_c = c(frame)
@@ -148,20 +151,28 @@
 
          [docs]async def read_updates(
     *vids,
     callbacks: Optional[
-        Union[Dict[Any, FrameCallable], List[FrameCallable], FrameCallable]
+        Union[
+            Dict[Any, Union[FrameCallable, List[FrameCallable]]],
+            List[FrameCallable],
+            FrameCallable,
+        ]
     ] = None,
     fps_limit=float("inf"),
     size=(-1, -1),
     end_callback: Callable[[], bool] = lambda: False,
     blocking=True,
 ):
-    """Reads back all updates from the requested videos.
+    """
+    Read back all updates from the requested videos.
 
     Example usage:
-    >>> from examples.videos import test_video
-    >>> f = 0
-    >>> for f, r in enumerate(read_updates(test_video, end_callback=lambda :f==2)):
-    ...   print(f"Frame:{f}. Array:{r}")
+
+    .. code-block:: python
+
+      >>> from examples.videos import test_video
+      >>> f = 0
+      >>> for f, r in enumerate(read_updates(test_video, end_callback=lambda :f==2)):
+      ...   print(f"Frame:{f}. Array:{r}")
 
     """
     from displayarray.window import SubscriberWindows
@@ -201,13 +212,14 @@
 
 async def read_updates_zero_mq(
     *topic_names,
-    address="tcp://127.0.0.1:5600",
-    flags=0,
-    copy=True,
-    track=False,
-    blocking=False,
-    end_callback: Callable[[Any], bool] = lambda: False,
+    address: str = "tcp://127.0.0.1:5600",
+    flags: int = 0,
+    copy: bool = True,
+    track: bool = False,
+    blocking: bool = False,
+    end_callback: Callable[[Any], bool] = lambda x: False,
 ):
+    """Read updated frames from ZeroMQ."""
     import zmq
 
     ctx = zmq.Context()
@@ -243,8 +255,9 @@
     dtypes=None,
     listener_node_name=None,
     poll_rate_hz=None,
-    end_callback: Callable[[Any], bool] = lambda: False,
+    end_callback: Callable[[Any], bool] = lambda x: False,
 ):
+    """Read updated frames from ROS."""
     import rospy
     from rospy.numpy_msg import numpy_msg
     from rospy.client import _WFM
@@ -322,7 +335,8 @@
         pass
     finally:
         if s is not None:
-            s.unregister()
+            for _, sub in s.items():
+                sub.unregister()
     if rospy.core.is_shutdown():
         raise rospy.exceptions.ROSInterruptException("rospy shutdown")
 
          
@@ -345,13 +359,10 @@
 
          Navigation
          
 
          Python API
          
 
 
          Bash API
          
 
            
diff --git a/docs/_modules/displayarray/frame/get_frame_ids/index.html b/docs/_modules/displayarray/frame/get_frame_ids/index.html
index d1257b9..88c03ca 100644
--- a/docs/_modules/displayarray/frame/get_frame_ids/index.html
+++ b/docs/_modules/displayarray/frame/get_frame_ids/index.html
@@ -31,7 +31,9 @@
           
            
             
   
            Source code for displayarray.frame.get_frame_ids
            -import cv2
+"""Get camera IDs."""
+
+import cv2
 
 from typing import List
 
@@ -67,13 +69,10 @@
 
            Navigation
            
 
            Python API
            
 
 
            Bash API
            
 
              
diff --git a/docs/_modules/displayarray/frame/np_to_opencv/index.html b/docs/_modules/displayarray/frame/np_to_opencv/index.html
index fbef36c..3ad2aea 100644
--- a/docs/_modules/displayarray/frame/np_to_opencv/index.html
+++ b/docs/_modules/displayarray/frame/np_to_opencv/index.html
@@ -31,7 +31,9 @@
           
              
             
   
              Source code for displayarray.frame.np_to_opencv
              -import numpy as np
+"""Allow OpenCV to handle numpy arrays as input."""
+
+import numpy as np
 import cv2
 
 
@@ -39,12 +41,18 @@
     """Add OpenCV camera controls to a numpy array."""
 
     def __init__(self, img):
+        """Create a fake camera for OpenCV based on the initial array."""
         assert isinstance(img, np.ndarray)
         self.__img = img
         self.__is_opened = True
-
-        self.__width = self.__img.shape[1]
-        self.__height = self.__img.shape[0]
+        if len(img.shape) > 0:
+            self.__height = self.__img.shape[0]
+            if len(self.__img.shape) > 1:
+                self.__width = self.__img.shape[1]
+            else:
+                self.__width = self.__height
+        else:
+            self.__width = self.__height = 1
         self.__ratio = float(self.__width) / self.__height
 
         self.__wait_for_ratio = False
@@ -105,13 +113,10 @@
 
              Navigation
              
 
              Python API
              
 
 
              Bash API
              
 
                
diff --git a/docs/_modules/displayarray/input/index.html b/docs/_modules/displayarray/input/index.html
index d5d6e6a..c6529da 100644
--- a/docs/_modules/displayarray/input/index.html
+++ b/docs/_modules/displayarray/input/index.html
@@ -31,7 +31,9 @@
           
                
             
   
                Source code for displayarray.input
                -from displayarray.window import window_commands
+"""Decorators for creating input loops that OpenCV handles."""
+
+from displayarray.window import window_commands
 import threading
 import time
 
@@ -42,6 +44,7 @@
     """Holds all the OpenCV mouse event information."""
 
     def __init__(self, event, x, y, flags, param):
+        """Create an OpenCV mouse event."""
         self.event = event
         self.x = x
         self.y = y
@@ -95,10 +98,21 @@
 
 
 
                [docs]class mouse_loop(object):  # NOSONAR
-    """Run a function on mouse information that is received by the window, continuously in a new thread."""
+    """
+    Run a function on mouse information that is received by the window, continuously in a new thread.
 
-    def __init__(self, f, run_when_no_events=False):
-        self.t = threading.Thread(target=_mouse_loop_thread(f, run_when_no_events))
+    .. code-block:: python
+
+      >>> @mouse_loop
+      ... def fun(mouse_event):
+      ...   print("x:{}, y:{}".format(mouse_event.x, mouse_event.y))
+    """
+
+    def __init__(self, f):
+        """Start a new mouse thread for the decorated function."""
+        self.t = threading.Thread(
+            target=_mouse_loop_thread(f, run_when_no_events=False)
+        )
         self.t.start()
 
     def __call__(self, *args, **kwargs):
@@ -144,10 +158,19 @@
 
 
 
                [docs]class key_loop(object):  # NOSONAR
-    """Run a function on mouse information that is received by the window, continuously in a new thread."""
+    """
+    Run a function on mouse information that is received by the window, continuously in a new thread.
 
-    def __init__(self, f: Callable[[str], None], run_when_no_events=False):
-        self.t = threading.Thread(target=_key_loop_thread(f, run_when_no_events))
+    .. code-block:: python
+
+      >>> @key_loop
+      ... def fun(key):
+      ...   print("key pressed:{}".format(key))
+    """
+
+    def __init__(self, f: Callable[[str], None]):
+        """Start a new key thread for the decorated function."""
+        self.t = threading.Thread(target=_key_loop_thread(f, run_when_no_events=False))
         self.t.start()
 
     def __call__(self, *args, **kwargs):
@@ -173,13 +196,10 @@
 
                Navigation
                
 
                Python API
                
 
 
                Bash API
                
 
                  
diff --git a/docs/_modules/displayarray/window/subscriber_windows/index.html b/docs/_modules/displayarray/window/subscriber_windows/index.html
index 0a059c9..8e5f4a9 100644
--- a/docs/_modules/displayarray/window/subscriber_windows/index.html
+++ b/docs/_modules/displayarray/window/subscriber_windows/index.html
@@ -31,7 +31,9 @@
           
                  
             
   
                  Source code for displayarray.window.subscriber_windows
                  -import warnings
+"""OpenCV windows that will display the arrays."""
+
+import warnings
 from threading import Thread
 from typing import List, Union, Callable, Any, Dict, Iterable, Optional
 
@@ -40,17 +42,17 @@
 from localpubsub import NoData
 
 from displayarray.callbacks import global_cv_display_callback
-from displayarray.uid import uid_for_source
+from displayarray._uid import uid_for_source
 from displayarray.frame import subscriber_dictionary
 from displayarray.frame.frame_updater import FrameCallable
 from displayarray.frame.frame_updater import FrameUpdater
 from displayarray.input import MouseEvent
 from displayarray.window import window_commands
-from displayarray.util import WeakMethod
+from displayarray._util import WeakMethod
 from displayarray.effects.select_channels import SelectChannels
 
 
-
                  [docs]class SubscriberWindows(object):
+
                  [docs]class SubscriberWindows(object):
     """Windows that subscribe to updates to cameras, videos, and arrays."""
 
     FRAME_DICT: Dict[str, np.ndarray] = {}
@@ -62,6 +64,7 @@
         video_sources: Iterable[Union[str, int]] = (0,),
         callbacks: Optional[List[Callable[[np.ndarray], Any]]] = None,
     ):
+        """Create the array displaying window."""
         self.source_names: List[Union[str, int]] = []
         self.close_threads: Optional[List[Thread]] = []
         self.frames: List[np.ndarray] = []
@@ -84,12 +87,13 @@
         self.update()
         return not self.exited
 
-    def block(self):
+
                  [docs]    def block(self):
+        """Update the window continuously while blocking the outer program."""
         self.loop()
         for ct in self.close_threads:
-            ct.join()
+            ct.join()
                  
 
-
                  [docs]    def add_source(self, name):
+
                  [docs]    def add_source(self, name):
         """Add another source for this class to display."""
         uid = uid_for_source(name)
         self.source_names.append(uid)
@@ -97,7 +101,7 @@
         self.input_cams.append(name)
         return self
                  
 
-
                  [docs]    def add_window(self, name):
+
                  [docs]    def add_window(self, name):
         """Add another window for this class to display sources with. The name will be the title."""
         self.window_names.append(name)
         cv2.namedWindow(name + " (press ESC to quit)")
@@ -105,7 +109,7 @@
         cv2.setMouseCallback(name + " (press ESC to quit)", m)
         return self
                  
 
-
                  [docs]    def add_callback(self, callback):
+
                  [docs]    def add_callback(self, callback):
         """Add a callback for this class to apply to videos."""
         self.callbacks.append(callback)
         return self
                  
@@ -114,9 +118,7 @@
         for c in self.source_names:
             subscriber_dictionary.stop_cam(c)
 
-
                  [docs]    def handle_keys(
-        self, key_input  # type: int
-    ):
+
                  [docs]    def handle_keys(self, key_input: int):
         """Capture key input for the escape function and passing to key control subscriber threads."""
         if key_input in self.ESC_KEY_CODES:
             for name in self.window_names:
@@ -135,7 +137,7 @@
                     )
                 )
                  
 
-
                  [docs]    def handle_mouse(self, event, x, y, flags, param):
+
                  [docs]    def handle_mouse(self, event, x, y, flags, param):
         """Capture mouse input for mouse control subscriber threads."""
         mousey = MouseEvent(event, x, y, flags, param)
         window_commands.mouse_pub.publish(mousey)
                  
@@ -188,7 +190,7 @@
                     self.frames[fr] = self.callbacks[-1](self.frames[fr])
                 break
 
-
                  [docs]    def update_window_frames(self):
+
                  [docs]    def update_window_frames(self):
         """Update the windows with the newest data for all frames."""
         self.frames = []
         for i in range(len(self.input_vid_global_names)):
@@ -204,9 +206,10 @@
                         if frame is not None:
                             self.frames[-1] = frame
                 self.__check_too_many_channels()
+                self.FRAME_DICT[self.input_vid_global_names[i]] = NoData()
         self._display_frames(self.frames)
                  
 
-
                  [docs]    def update(self, arr: np.ndarray = None, id: str = None):
+
                  [docs]    def update(self, arr: np.ndarray = None, id: str = None):
         """Update window frames once. Optionally add a new input and input id."""
         if arr is not None and id is not None:
             global_cv_display_callback(arr, id)
@@ -219,7 +222,7 @@
         key = self.handle_keys(cv2.waitKey(1))
         return msg_cmd, key
                  
 
-
                  [docs]    def wait_for_init(self):
+
                  [docs]    def wait_for_init(self):
         """Update window frames in a loop until they're actually updated. Useful for waiting for cameras to init."""
         msg_cmd = ""
         key = ""
@@ -227,7 +230,7 @@
             msg_cmd, key = self.update()
         return self
                  
 
-
                  [docs]    def end(self):
+
                  [docs]    def end(self):
         """Close all threads. Should be used with non-blocking mode."""
         window_commands.quit(force_all_read=False)
         self.__stop_all_cams()
@@ -246,7 +249,7 @@
     def __delete__(self, instance):
         self.end()
 
-
                  [docs]    def loop(self):
+
                  [docs]    def loop(self):
         """Continually update window frame. OpenCV only allows this in the main thread."""
         sub_cmd = window_commands.win_cmd_sub()
         msg_cmd = ""
@@ -259,7 +262,10 @@
 
 
 def _get_video_callback_dict_threads(
-    *vids, callbacks: Optional[Dict[Any, FrameCallable]] = None, fps=240, size=(-1, -1)
+    *vids,
+    callbacks: Optional[Dict[Any, Union[FrameCallable, List[FrameCallable]]]] = None,
+    fps=240,
+    size=(-1, -1),
 ):
     assert callbacks is not None
     vid_threads = []
@@ -268,14 +274,14 @@
         v_callbacks: List[Callable[[np.ndarray], Any]] = []
         if v_name in callbacks:
             if isinstance(callbacks[v_name], List):
-                v_callbacks.extend(callbacks[v_name])
+                v_callbacks.extend(callbacks[v_name])  # type: ignore
             elif callable(callbacks[v_name]):
-                v_callbacks.append(callbacks[v_name])
+                v_callbacks.append(callbacks[v_name])  # type: ignore
         if v in callbacks:
             if isinstance(callbacks[v], List):
-                v_callbacks.extend(callbacks[v])
+                v_callbacks.extend(callbacks[v])  # type: ignore
             elif callable(callbacks[v]):
-                v_callbacks.append(callbacks[v])
+                v_callbacks.append(callbacks[v])  # type: ignore
         vid_threads.append(
             FrameUpdater(v, callbacks=v_callbacks, fps_limit=fps, request_size=size)
         )
@@ -285,7 +291,11 @@
 def _get_video_threads(
     *vids,
     callbacks: Optional[
-        Union[Dict[Any, FrameCallable], List[FrameCallable], FrameCallable]
+        Union[
+            Dict[Any, Union[FrameCallable, List[FrameCallable]]],
+            List[FrameCallable],
+            FrameCallable,
+        ]
     ] = None,
     fps=240,
     size=(-1, -1),
@@ -312,10 +322,14 @@
     return vid_threads
 
 
-
                  [docs]def display(
+
                  [docs]def display(
     *vids,
     callbacks: Optional[
-        Union[Dict[Any, FrameCallable], List[FrameCallable], FrameCallable]
+        Union[
+            Dict[Any, Union[FrameCallable, List[FrameCallable]]],
+            List[FrameCallable],
+            FrameCallable,
+        ]
     ] = None,
     window_names=None,
     blocking=False,
@@ -346,7 +360,7 @@
         return s
                  
 
 
-
                  [docs]def breakpoint_display(*args, **kwargs):
+
                  [docs]def breakpoint_display(*args, **kwargs):
     """Display all the arrays, cameras, and videos passed in. Stops code execution until the window is closed."""
     return display(*args, **kwargs, blocking=True)
                  
 
                  
@@ -369,13 +383,10 @@
 
                  Navigation
                  
 
                  Python API
                  
 
 
                  Bash API
                  
 
                    
diff --git a/docs/_modules/index.html b/docs/_modules/index.html
index 9c9b24c..bfd20e6 100644
--- a/docs/_modules/index.html
+++ b/docs/_modules/index.html
@@ -31,7 +31,8 @@
           
                    
             
   
                    All modules for which code is available
                    
-
                    • displayarray.effects.crop
                      • 
+
                      • displayarray.__main__
                        • 
+
                      • displayarray.effects.crop
                        • 
 
                      • displayarray.effects.lens
                        • 
 
                      • displayarray.effects.select_channels
                        • 
 
                      • displayarray.frame.frame_publishing
                        • 
@@ -60,13 +61,10 @@
 
                        Navigation
                        
 
                        Python API
                        
 
 
                        Bash API
                        
 
                          
diff --git a/docs/docsrc/displayarray.rst b/docs/_sources/display.rst.txt
similarity index 59%
rename from docs/docsrc/displayarray.rst
rename to docs/_sources/display.rst.txt
index b54dc88..1a324d2 100644
--- a/docs/docsrc/displayarray.rst
+++ b/docs/_sources/display.rst.txt
@@ -1,12 +1,11 @@
-displayarray
+displayarray.display
 ===================================
 .. automodule:: displayarray
 
-Display
--------
 .. autofunction:: display
 .. autofunction:: breakpoint_display
 
-Frames
-------
-.. autofunction:: read_updates
\ No newline at end of file
+Windows
+-------
+.. autoclass:: displayarray.window.SubscriberWindows
+    :members:
\ No newline at end of file
diff --git a/docs/_sources/displayarray.rst.txt b/docs/_sources/displayarray.rst.txt
index b54dc88..7406c76 100644
--- a/docs/_sources/displayarray.rst.txt
+++ b/docs/_sources/displayarray.rst.txt
@@ -9,4 +9,13 @@ Display
 
 Frames
 ------
-.. autofunction:: read_updates
\ No newline at end of file
+.. autofunction:: read_updates
+
+Effects
+-------
+.. autoclass:: displayarray.effects.crop.Crop
+    :members:
+.. autoclass:: displayarray.effects.lens.Barrel
+    :members:
+.. autoclass:: displayarray.effects.select_channels.SelectChannels
+    :members:
diff --git a/docs/_sources/effects.rst.txt b/docs/_sources/effects.rst.txt
new file mode 100644
index 0000000..4e81234
--- /dev/null
+++ b/docs/_sources/effects.rst.txt
@@ -0,0 +1,30 @@
+displayarray.effects
+====================
+
+Crop
+----
+.. currentmodule:: displayarray.effects.crop
+
+.. autoclass:: Crop
+    :members:
+
+Lens
+----
+.. currentmodule:: displayarray.effects.lens
+
+.. automodule:: displayarray.effects.lens
+   :members:
+
+.. autoclass:: Barrel
+    :members:
+
+.. autoclass:: Mustache
+    :members:
+
+Select Channels
+---------------
+.. currentmodule:: displayarray.effects.select_channels
+
+.. autoclass:: SelectChannels
+   :members:
+
diff --git a/docs/_sources/frame.rst.txt b/docs/_sources/frame.rst.txt
index 3d9e51e..8d8412f 100644
--- a/docs/_sources/frame.rst.txt
+++ b/docs/_sources/frame.rst.txt
@@ -1,6 +1,14 @@
 displayarray.frame
 ===================================
 
+Read Updates
+------------
+.. currentmodule:: displayarray
+
+.. autofunction:: read_updates
+
+Frame Passing
+-------------
 .. currentmodule:: displayarray.frame
 
 .. automodule:: displayarray.frame
diff --git a/docs/_sources/index.rst.txt b/docs/_sources/index.rst.txt
index 9bed90f..8b5c696 100644
--- a/docs/_sources/index.rst.txt
+++ b/docs/_sources/index.rst.txt
@@ -14,13 +14,10 @@ DisplayArray displays arrays.
    :maxdepth: 3
    :caption: Python API
 
-   displayarray
-   displayarray.effects.crop 
-   displayarray.effects.lens 
-   displayarray.effects.select_channels 
-   displayarray.frame 
-   displayarray.window 
-   displayarray.input 
+   display 
+   frame 
+   effects 
+   input 
 
 .. toctree::
    :maxdepth: 2
diff --git a/docs/crop/index.html b/docs/crop/index.html
index 8d62983..0761e6f 100644
--- a/docs/crop/index.html
+++ b/docs/crop/index.html
@@ -38,10 +38,22 @@
 
                          
 class Crop(output_size=(64, 64, 3), center=None)[source]
                          
 
                          A callback class that will return the input array cropped to the output size. N-dimensional.
                          
+
                          
+
                          
+property center
                          
+
                          Get the center.
                          
+
                          
+
 
                          
 
                          
 enable_mouse_control()[source]
                          
-
                          Move the mouse to move where the crop is from on the original image
                          
+
                          Move the mouse to move where the crop is from on the original image.
                          
+
                          
+
+
                          
+
                          
+property output_size
                          
+
                          Get the output size.
                          
 
                          
 
 
                          
diff --git a/docs/display/index.html b/docs/display/index.html
new file mode 100644
index 0000000..1cc6500
--- /dev/null
+++ b/docs/display/index.html
@@ -0,0 +1,212 @@
+
+
+
+
+  
+    
+    displayarray.display — DisplayArray  documentation
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+   
+  
+  
+  
+  
+
+  
+  
+
+    
                          
+      
                          
+        
                          
+          
+
+          
                          
+            
+  
                          
+
                          displayarray.display
                          
+
                          Display any array, webcam, or video file.
                          
+
                          display is a function that displays these in their own windows.
                          
+
                          
+
                          
+display(*vids, callbacks: Union[Dict[Any, Union[Callable[[numpy.ndarray], Optional[numpy.ndarray]], List[Callable[[numpy.ndarray], Optional[numpy.ndarray]]]]], List[Callable[[numpy.ndarray], Optional[numpy.ndarray]]], Callable[[numpy.ndarray], Optional[numpy.ndarray]], None] = None, window_names=None, blocking=False, fps_limit=240, size=(-1, -1))[source]
                          
+
                          Display all the arrays, cameras, and videos passed in.
                          
+
                          
+
                          callbacks can be a dictionary linking functions to videos, or a list of function or functions operating on the video
                          data before displaying.
                          
+
                          
+
                          
+
                          Window names end up becoming the title of the windows
                          
+
                          
+
+
                          
+
                          
+breakpoint_display(*args, **kwargs)[source]
                          
+
                          Display all the arrays, cameras, and videos passed in. Stops code execution until the window is closed.
                          
+
                          
+
+
                          
+
                          Windows
                          
+
                          
+
                          
+class SubscriberWindows(window_names: Iterable[str] = ('displayarray',), video_sources: Iterable[Union[str, int]] = (0,), callbacks: Optional[List[Callable[[numpy.ndarray], Any]]] = None)[source]
                          
+
                          Windows that subscribe to updates to cameras, videos, and arrays.
                          
+
                          
+
                          
+add_callback(callback)[source]
                          
+
                          Add a callback for this class to apply to videos.
                          
+
                          
+
+
                          
+
                          
+add_source(name)[source]
                          
+
                          Add another source for this class to display.
                          
+
                          
+
+
                          
+
                          
+add_window(name)[source]
                          
+
                          Add another window for this class to display sources with. The name will be the title.
                          
+
                          
+
+
                          
+
                          
+block()[source]
                          
+
                          Update the window continuously while blocking the outer program.
                          
+
                          
+
+
                          
+
                          
+end()[source]
                          
+
                          Close all threads. Should be used with non-blocking mode.
                          
+
                          
+
+
                          
+
                          
+handle_keys(key_input: int)[source]
                          
+
                          Capture key input for the escape function and passing to key control subscriber threads.
                          
+
                          
+
+
                          
+
                          
+handle_mouse(event, x, y, flags, param)[source]
                          
+
                          Capture mouse input for mouse control subscriber threads.
                          
+
                          
+
+
                          
+
                          
+loop()[source]
                          
+
                          Continually update window frame. OpenCV only allows this in the main thread.
                          
+
                          
+
+
                          
+
                          
+update(arr: numpy.ndarray = None, id: str = None)[source]
                          
+
                          Update window frames once. Optionally add a new input and input id.
                          
+
                          
+
+
                          
+
                          
+update_window_frames()[source]
                          
+
                          Update the windows with the newest data for all frames.
                          
+
                          
+
+
                          
+
                          
+wait_for_init()[source]
                          
+
                          Update window frames in a loop until they’re actually updated. Useful for waiting for cameras to init.
                          
+
                          
+
+
                          
+
+
                          
+
                          
+
+
+          
                          
+          
+        
                          
+      
                          
+      
+      
                          
+    
                          
+    
                          
+      ©2019, Simulator Leek.
+      
+      |
+      Powered by Sphinx 2.2.1
+      & Alabaster 0.7.12
+      
+      |
+      Page source
+    
                          
+
+    
+
+    
+  
+
\ No newline at end of file
diff --git a/docs/displayarray/index.html b/docs/displayarray/index.html
index 05308a7..e2bc6a4 100644
--- a/docs/displayarray/index.html
+++ b/docs/displayarray/index.html
@@ -14,7 +14,6 @@
     
     
     
-    
     
    
   
@@ -40,7 +39,7 @@
 
                          Display
                          
 
                          
 
                          
-display(*vids, callbacks: Union[Dict[Any, Callable[[numpy.ndarray], Optional[numpy.ndarray]]], List[Callable[[numpy.ndarray], Optional[numpy.ndarray]]], Callable[[numpy.ndarray], Optional[numpy.ndarray]], None] = None, window_names=None, blocking=False, fps_limit=240, size=(-1, -1))[source]
                          
+display(*vids, callbacks: Union[Dict[Any, Union[Callable[[numpy.ndarray], Optional[numpy.ndarray]], List[Callable[[numpy.ndarray], Optional[numpy.ndarray]]]]], List[Callable[[numpy.ndarray], Optional[numpy.ndarray]]], Callable[[numpy.ndarray], Optional[numpy.ndarray]], None] = None, window_names=None, blocking=False, fps_limit=240, size=(-1, -1))[source]
 
                          Display all the arrays, cameras, and videos passed in.
                          
 
                          
 
                          callbacks can be a dictionary linking functions to videos, or a list of function or functions operating on the video
                          data before displaying.
                          
@@ -60,8 +59,8 @@
 
                          Frames
                          
 
                          
 
                          
-read_updates(*vids, callbacks: Union[Dict[Any, Callable[[numpy.ndarray], Optional[numpy.ndarray]]], List[Callable[[numpy.ndarray], Optional[numpy.ndarray]]], Callable[[numpy.ndarray], Optional[numpy.ndarray]], None] = None, fps_limit=inf, size=(-1, -1), end_callback: Callable[[], bool] = <function <lambda>>, blocking=True)[source]
                          
-
                          Reads back all updates from the requested videos.
                          
+read_updates(*vids, callbacks: Union[Dict[Any, Union[Callable[[numpy.ndarray], Optional[numpy.ndarray]], List[Callable[[numpy.ndarray], Optional[numpy.ndarray]]]]], List[Callable[[numpy.ndarray], Optional[numpy.ndarray]]], Callable[[numpy.ndarray], Optional[numpy.ndarray]], None] = None, fps_limit=inf, size=(-1, -1), end_callback: Callable[[], bool] = <function <lambda>>, blocking=True)[source]
+
                          Read back all updates from the requested videos.
                          
 
                          Example usage:
 >>> from examples.videos import test_video
 >>> f = 0
@@ -69,6 +68,86 @@
 …   print(f”Frame:{f}. Array:{r}”)
                          
 
                          
 
+
                    
+
                    
+
                    Effects
                    
+
                    
+
                    
+class Crop(output_size=(64, 64, 3), center=None)[source]
                    
+
                    A callback class that will return the input array cropped to the output size. N-dimensional.
                    
+
                    
+
                    
+property center
                    
+
                    Get the center.
                    
+
                    
+
+
                    
+
                    
+enable_mouse_control()[source]
                    
+
                    Move the mouse to move where the crop is from on the original image.
                    
+
                    
+
+
                    
+
                    
+property output_size
                    
+
                    Get the output size.
                    
+
                    
+
+
                    
+
+
                    
+
                    
+class Barrel(use_bleed=False, barrel_power=1, pincushion_power=1, zoom=1, center=None)[source]
                    
+
                    A barrel lens distortion callback.
                    
+
                    
+
                    
+property barrel_power
                    
+
                    Guarded barrel power. Avoids divide by zero conditions.
                    
+
                    
+
+
                    
+
                    
+property center
                    
+
                    Guarded get center. Limits to within input.
                    
+
                    
+
+
                    
+
                    
+enable_mouse_control(crop_size=None)[source]
                    
+
                    Enable the default mouse controls.
                    
+
                    Move the mouse to center the image
+scroll to increase/decrease barrel
+ctrl+scroll to increase/decrease zoom
                    
+
                    
+
+
                    
+
                    
+property zoom
                    
+
                    Guarded zoom. Avoids divide by zero conditions.
                    
+
                    
+
+
                    
+
+
                    
+
                    
+class SelectChannels(selected_channels: Iterable[int] = None)[source]
                    
+
                    Select channels to display from an array with too many colors.
                    
+
                    
+
                    Parameters
                    
+
                    selected_channels – the list of channels to display.
                    
+
                    
+
                    
+
                    
+
                    
+enable_mouse_control()[source]
                    
+
                    Enable mouse control.
                    
+
                    Alt+Scroll to increase/decrease channel 2.
+Shift+Scroll to increase/decrease channel 1.
+Ctrl+scroll to increase/decrease channel 0.
                    
+
                    
+
+
                    
+
 
                    
 
                  
 
@@ -94,9 +173,9 @@
 
                • displayarray
 
                  • 
-
                • displayarray.effects.crop
                  • 
 
                • displayarray.effects.lens
                  • 
 
                • displayarray.effects.select_channels
                  • 
 
                • displayarray.frame
                  • 
@@ -113,7 +192,6 @@
 
 
                
diff --git a/docs/displayarray_bash/index.html b/docs/displayarray_bash/index.html
index de18b08..d8feef0 100644
--- a/docs/displayarray_bash/index.html
+++ b/docs/displayarray_bash/index.html
@@ -33,8 +33,8 @@
             
   
                
 
                displayarray cli
                
-
                DisplayArray.
-Display NumPy arrays.
                
+
                DisplayArray.
                
+
                Display NumPy arrays.
                
 
                
 
                Usage:
                displayarray (-w <webcam-number> | -v <video-filename> | -t <topic-name>[,dtype])… [-m <msg-backend>]
 displayarray -h
@@ -69,6 +69,12 @@ Currently supported: ROS, ZeroMQ
                
 
                
 
 
+
                
+
                
+main(argv=None)[source]
                
+
                Process command line arguments.
                
+
                
+
 
                
 
 
diff --git a/docs/docsrc/conf.py b/docs/docsrc/conf.py
index e505c11..11561d4 100644
--- a/docs/docsrc/conf.py
+++ b/docs/docsrc/conf.py
@@ -10,16 +10,16 @@
 # add these directories to sys.path here. If the directory is relative to the
 # documentation root, use os.path.abspath to make it absolute, like shown here.
 #
-# import os
-# import sys
-# sys.path.insert(0, os.path.abspath('.'))
+import os
+import sys
+sys.path.insert(0, os.path.abspath(f'..{os.sep}..'))
 
 
 # -- Project information -----------------------------------------------------
 
-project = 'DisplayArray'
-copyright = '2019, Simulator Leek'
-author = 'Simulator Leek'
+project = "DisplayArray"
+copyright = "2019, Simulator Leek"
+author = "Simulator Leek"
 
 
 # -- General configuration ---------------------------------------------------
@@ -27,15 +27,15 @@ author = 'Simulator Leek'
 # Add any Sphinx extension module names here, as strings. They can be
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
-extensions = ['sphinx.ext.todo', 'sphinx.ext.viewcode', 'sphinx.ext.autodoc']
+extensions = ["sphinx.ext.todo", "sphinx.ext.viewcode", "sphinx.ext.autodoc"]
 
 # Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
+templates_path = ["_templates"]
 
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 
 add_module_names = False
 
@@ -45,9 +45,9 @@ add_module_names = False
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-html_theme = 'alabaster'
+html_theme = "alabaster"
 
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
\ No newline at end of file
+html_static_path = ["_static"]
diff --git a/docs/docsrc/crop.rst b/docs/docsrc/crop.rst
deleted file mode 100644
index 3f5b9fd..0000000
--- a/docs/docsrc/crop.rst
+++ /dev/null
@@ -1,7 +0,0 @@
-displayarray.effects.crop
-===================================
-
-.. currentmodule:: displayarray.effects.crop
-
-.. autoclass:: Crop
-    :members:
\ No newline at end of file
diff --git a/docs/docsrc/display.rst b/docs/docsrc/display.rst
new file mode 100644
index 0000000..1a324d2
--- /dev/null
+++ b/docs/docsrc/display.rst
@@ -0,0 +1,11 @@
+displayarray.display
+===================================
+.. automodule:: displayarray
+
+.. autofunction:: display
+.. autofunction:: breakpoint_display
+
+Windows
+-------
+.. autoclass:: displayarray.window.SubscriberWindows
+    :members:
\ No newline at end of file
diff --git a/docs/docsrc/effects.rst b/docs/docsrc/effects.rst
new file mode 100644
index 0000000..4e81234
--- /dev/null
+++ b/docs/docsrc/effects.rst
@@ -0,0 +1,30 @@
+displayarray.effects
+====================
+
+Crop
+----
+.. currentmodule:: displayarray.effects.crop
+
+.. autoclass:: Crop
+    :members:
+
+Lens
+----
+.. currentmodule:: displayarray.effects.lens
+
+.. automodule:: displayarray.effects.lens
+   :members:
+
+.. autoclass:: Barrel
+    :members:
+
+.. autoclass:: Mustache
+    :members:
+
+Select Channels
+---------------
+.. currentmodule:: displayarray.effects.select_channels
+
+.. autoclass:: SelectChannels
+   :members:
+
diff --git a/docs/docsrc/frame.rst b/docs/docsrc/frame.rst
index 3d9e51e..8d8412f 100644
--- a/docs/docsrc/frame.rst
+++ b/docs/docsrc/frame.rst
@@ -1,6 +1,14 @@
 displayarray.frame
 ===================================
 
+Read Updates
+------------
+.. currentmodule:: displayarray
+
+.. autofunction:: read_updates
+
+Frame Passing
+-------------
 .. currentmodule:: displayarray.frame
 
 .. automodule:: displayarray.frame
diff --git a/docs/docsrc/index.rst b/docs/docsrc/index.rst
index 9bed90f..8b5c696 100644
--- a/docs/docsrc/index.rst
+++ b/docs/docsrc/index.rst
@@ -14,13 +14,10 @@ DisplayArray displays arrays.
    :maxdepth: 3
    :caption: Python API
 
-   displayarray
-   displayarray.effects.crop 
-   displayarray.effects.lens 
-   displayarray.effects.select_channels 
-   displayarray.frame 
-   displayarray.window 
-   displayarray.input 
+   display 
+   frame 
+   effects 
+   input 
 
 .. toctree::
    :maxdepth: 2
diff --git a/docs/docsrc/lens.rst b/docs/docsrc/lens.rst
deleted file mode 100644
index e59939b..0000000
--- a/docs/docsrc/lens.rst
+++ /dev/null
@@ -1,13 +0,0 @@
-displayarray.effects.lens
-============================
-
-.. currentmodule:: displayarray.effects.lens
-
-.. automodule:: displayarray.effects.lens
-   :members:
-
-.. autoclass:: Barrel
-    :members:
-
-.. autoclass:: Mustache
-    :members:
\ No newline at end of file
diff --git a/docs/docsrc/select_channels.rst b/docs/docsrc/select_channels.rst
deleted file mode 100644
index 4188e74..0000000
--- a/docs/docsrc/select_channels.rst
+++ /dev/null
@@ -1,7 +0,0 @@
-displayarray.effects.select_channels
-======================================
-
-.. currentmodule:: displayarray.effects.select_channels
-
-.. autoclass:: SelectChannels
-   :members:
\ No newline at end of file
diff --git a/docs/docsrc/window.rst b/docs/docsrc/window.rst
deleted file mode 100644
index bcbfbf3..0000000
--- a/docs/docsrc/window.rst
+++ /dev/null
@@ -1,7 +0,0 @@
-displayarray.window
-===================================
-
-.. currentmodule:: displayarray.window
-
-.. autoclass:: SubscriberWindows
-    :members:
diff --git a/docs/effects/index.html b/docs/effects/index.html
new file mode 100644
index 0000000..9ba7bb3
--- /dev/null
+++ b/docs/effects/index.html
@@ -0,0 +1,288 @@
+
+
+
+
+  
+    
+    displayarray.effects — DisplayArray  documentation
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+   
+  
+  
+  
+  
+
+  
+  
+
+    
                
+      
                
+        
                
+          
+
+          
                
+            
+  
                
+
                displayarray.effects
                
+
                
+
                Crop
                
+
                
+
                
+class Crop(output_size=(64, 64, 3), center=None)[source]
                
+
                A callback class that will return the input array cropped to the output size. N-dimensional.
                
+
                
+
                
+property center
                
+
                Get the center.
                
+
                
+
+
                
+
                
+enable_mouse_control()[source]
                
+
                Move the mouse to move where the crop is from on the original image.
                
+
                
+
+
                
+
                
+property output_size
                
+
                Get the output size.
                
+
                
+
+
                
+
+
                
+
                
+
                Lens
                
+
                Create lens effects. Currently only 2D+color arrays are supported.
                
+
                
+
                
+class Barrel(use_bleed=False, barrel_power=1, pincushion_power=1, zoom=1, center=None)[source]
                
+
                A barrel lens distortion callback.
                
+
                
+
                
+property barrel_power
                
+
                Guarded barrel power. Avoids divide by zero conditions.
                
+
                
+
+
                
+
                
+property center
                
+
                Guarded get center. Limits to within input.
                
+
                
+
+
                
+
                
+enable_mouse_control(crop_size=None)[source]
                
+
                Enable the default mouse controls.
                
+
                Move the mouse to center the image
+scroll to increase/decrease barrel
+ctrl+scroll to increase/decrease zoom
                
+
                
+
+
                
+
                
+property zoom
                
+
                Guarded zoom. Avoids divide by zero conditions.
                
+
                
+
+
                
+
+
                
+
                
+class BarrelPyTorch(use_bleed=False, barrel_power=1, pincushion_power=1, zoom=1, center=None)[source]
                
+
                A barrel distortion callback class accelerated by PyTorch.
                
+
                
+
+
                
+
                
+class ControllableLens(use_bleed=False, zoom=1, center=None)[source]
                
+
                A lens callback that can be controlled by the program or the user.
                
+
                
+
                
+run_bleed(arr, x, y)[source]
                
+
                Spread color outwards, like food coloring in water.
                
+
                
+
+
                
+
+
                
+
                
+class Mustache(use_bleed=False, barrel_power=1, pincushion_power=1, zoom=1, center=None)[source]
                
+
                A mustache distortion callback.
                
+
                
+
                
+enable_mouse_control()[source]
                
+
                Enable the default mouse loop to control the mustache distortion.
                
+
                ctrl+scroll wheel: zoom in and out
+shift+scroll wheel: adjust pincushion power
+scroll wheel: adjust barrel power
                
+
                
+
+
                
+
+
                
+
                
+class Barrel(use_bleed=False, barrel_power=1, pincushion_power=1, zoom=1, center=None)[source]
                
+
                A barrel lens distortion callback.
                
+
                
+
                
+property barrel_power
                
+
                Guarded barrel power. Avoids divide by zero conditions.
                
+
                
+
+
                
+
                
+property center
                
+
                Guarded get center. Limits to within input.
                
+
                
+
+
                
+
                
+enable_mouse_control(crop_size=None)[source]
                
+
                Enable the default mouse controls.
                
+
                Move the mouse to center the image
+scroll to increase/decrease barrel
+ctrl+scroll to increase/decrease zoom
                
+
                
+
+
                
+
                
+property zoom
                
+
                Guarded zoom. Avoids divide by zero conditions.
                
+
                
+
+
                
+
+
                
+
                
+class Mustache(use_bleed=False, barrel_power=1, pincushion_power=1, zoom=1, center=None)[source]
                
+
                A mustache distortion callback.
                
+
                
+
                
+enable_mouse_control()[source]
                
+
                Enable the default mouse loop to control the mustache distortion.
                
+
                ctrl+scroll wheel: zoom in and out
+shift+scroll wheel: adjust pincushion power
+scroll wheel: adjust barrel power
                
+
                
+
+
                
+
+
                
+
                
+
                Select Channels
                
+
                
+
                
+class SelectChannels(selected_channels: Iterable[int] = None)[source]
                
+
                Select channels to display from an array with too many colors.
                
+
                
+
                Parameters
                
+
                selected_channels – the list of channels to display.
                
+
                
+
                
+
                
+
                
+enable_mouse_control()[source]
                
+
                Enable mouse control.
                
+
                Alt+Scroll to increase/decrease channel 2.
+Shift+Scroll to increase/decrease channel 1.
+Ctrl+scroll to increase/decrease channel 0.
                
+
                
+
+
                
+
+
                
+
                
+
+
+          
                
+          
+        
                
+      
                
+      
+      
                
+    
                
+    
                
+      ©2019, Simulator Leek.
+      
+      |
+      Powered by Sphinx 2.2.1
+      & Alabaster 0.7.12
+      
+      |
+      Page source
+    
                
+
+    
+
+    
+  
+
\ No newline at end of file
diff --git a/docs/frame/index.html b/docs/frame/index.html
index 186f0cf..ea9a7b7 100644
--- a/docs/frame/index.html
+++ b/docs/frame/index.html
@@ -14,8 +14,8 @@
     
     
     
-    
-    
+    
+    
    
   
   
@@ -32,8 +32,26 @@
 
           
                
             
-  
                
-
                displayarray.frame
                
+  
                
+
                displayarray.frame
                
+
                
+
                Read Updates
                
+
                
+
                
+read_updates(*vids, callbacks: Union[Dict[Any, Union[Callable[[numpy.ndarray], Optional[numpy.ndarray]], List[Callable[[numpy.ndarray], Optional[numpy.ndarray]]]]], List[Callable[[numpy.ndarray], Optional[numpy.ndarray]]], Callable[[numpy.ndarray], Optional[numpy.ndarray]], None] = None, fps_limit=inf, size=(-1, -1), end_callback: Callable[[], bool] = <function <lambda>>, blocking=True)[source]
                
+
                Read back all updates from the requested videos.
                
+
                Example usage:
                
+
                >>> from examples.videos import test_video
+>>> f = 0
+>>> for f, r in enumerate(read_updates(test_video, end_callback=lambda :f==2)):
+...   print(f"Frame:{f}. Array:{r}")
+
                
+
                
+
                
+
+
                
+
                
+
                Frame Passing
                
 
                Handles publishing arrays, videos, and cameras.
                
 
                CamCtrl handles sending and receiving commands to specific camera (or array/video) publishers
 VideoHandlerThread updates the frames for the global displayer, since OpenCV can only update on the main thread
@@ -66,13 +84,15 @@ np_cam simulates numpy arrays as OpenCV cameras
                
 
 
                
 
                
-read_updates(*vids, callbacks: Union[Dict[Any, Callable[[numpy.ndarray], Optional[numpy.ndarray]]], List[Callable[[numpy.ndarray], Optional[numpy.ndarray]]], Callable[[numpy.ndarray], Optional[numpy.ndarray]], None] = None, fps_limit=inf, size=(-1, -1), end_callback: Callable[[], bool] = <function <lambda>>, blocking=True)[source]
                
-
                Reads back all updates from the requested videos.
                
-
                Example usage:
->>> from examples.videos import test_video
->>> f = 0
->>> for f, r in enumerate(read_updates(test_video, end_callback=lambda :f==2)):
-…   print(f”Frame:{f}. Array:{r}”)
                
+read_updates(*vids, callbacks: Union[Dict[Any, Union[Callable[[numpy.ndarray], Optional[numpy.ndarray]], List[Callable[[numpy.ndarray], Optional[numpy.ndarray]]]]], List[Callable[[numpy.ndarray], Optional[numpy.ndarray]]], Callable[[numpy.ndarray], Optional[numpy.ndarray]], None] = None, fps_limit=inf, size=(-1, -1), end_callback: Callable[[], bool] = <function <lambda>>, blocking=True)[source]
+
                Read back all updates from the requested videos.
                
+
                Example usage:
                
+
                >>> from examples.videos import test_video
+>>> f = 0
+>>> for f, r in enumerate(read_updates(test_video, end_callback=lambda :f==2)):
+...   print(f"Frame:{f}. Array:{r}")
+
                
+
                
 
                
 
 
                
@@ -123,6 +143,7 @@ np_cam simulates numpy arrays as OpenCV cameras
                
 
                Run pub_cam_loop in a new thread. Starts on creation.
                
 
                
 
+
                
 
                
 
 
@@ -144,13 +165,14 @@ np_cam simulates numpy arrays as OpenCV cameras
                
 
                Navigation
                
 
                Python API
                
 
 
                Bash API
                
 
                
diff --git a/docs/genindex/index.html b/docs/genindex/index.html
index 979c7e6..288e791 100644
--- a/docs/genindex/index.html
+++ b/docs/genindex/index.html
@@ -48,23 +48,25 @@
  | L
  | M
  | N
+ | O
  | P
  | R
  | S
  | U
  | W
+ | Z
  
 
                
 
                A
                
 
                
   
   
 
                
@@ -72,11 +74,17 @@
 
                B
                
 
                
   
   
 
                
@@ -84,7 +92,17 @@
 
                C
                
 
+  
                
   
 
                
@@ -95,16 +113,16 @@
       
              • display() (FrameUpdater method)
 
       
                • 
-      
              • displayarray (module)
+      
              • displayarray (module)
 
                • 
   
              
   
@@ -190,13 +212,15 @@
 
              M
              
 
              
   
   
 
              
@@ -209,6 +233,14 @@
   
            
 
 
+
            O
            
+
+  
+
            
+
 
            P
            
 
            
   
              
@@ -222,7 +254,7 @@
   
            		
   
 
            
@@ -238,13 +272,13 @@
 
            S
            
 
            
   
   
 
            
@@ -252,11 +286,11 @@
 
            U
            
 
            
   
   
 
            
@@ -264,7 +298,15 @@
 
            W
            
 
+
            
   
            
+
+
            Z
            
+
+  
            
 
            
@@ -289,13 +331,10 @@
 
            Navigation
            
 
            Python API
            
 
 
            Bash API
            
 
            
@@ -79,13 +89,10 @@
 
            Navigation
            
 
            Python API
            
 
              
-
            • displayarray
              • 
-
            • displayarray.effects.crop
              • 
-
            • displayarray.effects.lens
              • 
-
            • displayarray.effects.select_channels
              • 
-
            • displayarray.frame
              • 
-
            • displayarray.window
              • 
-
            • displayarray.input
                
+
              • display
                • 
+
              • frame
                • 
+
              • effects
                • 
+
              • input
@@ -100,7 +107,7 @@
 
                Related Topics
                
 
diff --git a/docs/lens/index.html b/docs/lens/index.html
index 9ba4162..88a8165 100644
--- a/docs/lens/index.html
+++ b/docs/lens/index.html
@@ -34,13 +34,54 @@
             
   
                
 
                displayarray.effects.lens
                
+
                Create lens effects. Currently only 2D+color arrays are supported.
                
 
                
 
                
 class Barrel(use_bleed=False, barrel_power=1, pincushion_power=1, zoom=1, center=None)[source]
                
-
                
+
                A barrel lens distortion callback.
                
+
                
+
                
+property barrel_power
                
+
                Guarded barrel power. Avoids divide by zero conditions.
                
+
                
+
+
                
+
                
+property center
                
+
                Guarded get center. Limits to within input.
                
+
                
+
+
                
 
                
-enable_mouse_control()[source]
                
-
                Move the mouse to center the image, scroll to increase/decrease barrel, ctrl+scroll to increase/decrease zoom
                
+enable_mouse_control(crop_size=None)[source]
+
                Enable the default mouse controls.
                
+
                Move the mouse to center the image
+scroll to increase/decrease barrel
+ctrl+scroll to increase/decrease zoom
                
+
                
+
+
                
+
                
+property zoom
                
+
                Guarded zoom. Avoids divide by zero conditions.
                
+
                
+
+
                
+
+
                
+
                
+class BarrelPyTorch(use_bleed=False, barrel_power=1, pincushion_power=1, zoom=1, center=None)[source]
                
+
                A barrel distortion callback class accelerated by PyTorch.
                
+
                
+
+
                
+
                
+class ControllableLens(use_bleed=False, zoom=1, center=None)[source]
                
+
                A lens callback that can be controlled by the program or the user.
                
+
                
+
                
+run_bleed(arr, x, y)[source]
                
+
                Spread color outwards, like food coloring in water.
                
 
                
 
 
                
@@ -48,7 +89,65 @@
 
                
 
                
 class Mustache(use_bleed=False, barrel_power=1, pincushion_power=1, zoom=1, center=None)[source]
                
-
                
+
                A mustache distortion callback.
                
+
                
+
                
+enable_mouse_control()[source]
                
+
                Enable the default mouse loop to control the mustache distortion.
                
+
                ctrl+scroll wheel: zoom in and out
+shift+scroll wheel: adjust pincushion power
+scroll wheel: adjust barrel power
                
+
                
+
+
                
+
+
                
+
                
+class Barrel(use_bleed=False, barrel_power=1, pincushion_power=1, zoom=1, center=None)[source]
                
+
                A barrel lens distortion callback.
                
+
                
+
                
+property barrel_power
                
+
                Guarded barrel power. Avoids divide by zero conditions.
                
+
                
+
+
                
+
                
+property center
                
+
                Guarded get center. Limits to within input.
                
+
                
+
+
                
+
                
+enable_mouse_control(crop_size=None)[source]
                
+
                Enable the default mouse controls.
                
+
                Move the mouse to center the image
+scroll to increase/decrease barrel
+ctrl+scroll to increase/decrease zoom
                
+
                
+
+
                
+
                
+property zoom
                
+
                Guarded zoom. Avoids divide by zero conditions.
                
+
                
+
+
                
+
+
                
+
                
+class Mustache(use_bleed=False, barrel_power=1, pincushion_power=1, zoom=1, center=None)[source]
                
+
                A mustache distortion callback.
                
+
                
+
                
+enable_mouse_control()[source]
                
+
                Enable the default mouse loop to control the mustache distortion.
                
+
                ctrl+scroll wheel: zoom in and out
+shift+scroll wheel: adjust pincushion power
+scroll wheel: adjust barrel power
                
+
                
+
+
                
 
 
                
 
diff --git a/docs/objects.inv b/docs/objects.inv
index 22362040bd209eab05b8e5b112f92da923575b28..d06227a145b1fa6b05f503f486255683b1da543d 100644
GIT binary patch
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ziW}UxQI0`mO$A2
        
-       displayarray
+       displayarray
        
      
        
@@ -58,7 +58,7 @@
      
        
           
-       displayarray.effects.lens
+       displayarray.effects.lens
        
      
        
@@ -86,13 +86,10 @@
 
                Navigation
                
 
                Python API
                
 
 
                Bash API
                
 
                  
diff --git a/docs/search/index.html b/docs/search/index.html
index 4ff96c6..2c9735c 100644
--- a/docs/search/index.html
+++ b/docs/search/index.html
@@ -77,13 +77,10 @@
 
                  Navigation
                  
 
                  Python API
                  
 
 
                  Bash API
                  
 
                    
diff --git a/docs/searchindex.js b/docs/searchindex.js
index 93f7251..edd8c42 100644
--- a/docs/searchindex.js
+++ b/docs/searchindex.js
@@ -1 +1 @@
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\ No newline at end of file
+Search.setIndex({docnames:["display","displayarray_bash","effects","frame","index","input"],envversion:{"sphinx.domains.c":1,"sphinx.domains.changeset":1,"sphinx.domains.citation":1,"sphinx.domains.cpp":1,"sphinx.domains.javascript":1,"sphinx.domains.math":2,"sphinx.domains.python":1,"sphinx.domains.rst":1,"sphinx.domains.std":1,"sphinx.ext.todo":2,"sphinx.ext.viewcode":1,sphinx:56},filenames:["display.rst","displayarray_bash.rst","effects.rst","frame.rst","index.rst","input.rst"],objects:{"":{displayarray:[0,0,0,"-"]},"displayarray.__main__":{main:[1,1,1,""]},"displayarray.effects":{lens:[2,0,0,"-"]},"displayarray.effects.crop":{Crop:[2,2,1,""]},"displayarray.effects.crop.Crop":{center:[2,3,1,""],enable_mouse_control:[2,3,1,""],output_size:[2,3,1,""]},"displayarray.effects.lens":{Barrel:[2,2,1,""],BarrelPyTorch:[2,2,1,""],ControllableLens:[2,2,1,""],Mustache:[2,2,1,""]},"displayarray.effects.lens.Barrel":{barrel_power:[2,3,1,""],center:[2,3,1,""],enable_mouse_control:[2,3,1,""],zoom:[2,3,1,""]},"displayarray.effects.lens.ControllableLens":{run_bleed:[2,3,1,""]},"displayarray.effects.lens.Mustache":{enable_mouse_control:[2,3,1,""]},"displayarray.effects.select_channels":{SelectChannels:[2,2,1,""]},"displayarray.effects.select_channels.SelectChannels":{enable_mouse_control:[2,3,1,""]},"displayarray.frame":{FrameUpdater:[3,2,1,""],NpCam:[3,2,1,""],get_cam_ids:[3,1,1,""],pub_cam_thread:[3,1,1,""],read_updates:[3,1,1,""]},"displayarray.frame.FrameUpdater":{display:[3,3,1,""],loop:[3,3,1,""]},"displayarray.frame.NpCam":{get:[3,3,1,""],isOpened:[3,3,1,""],read:[3,3,1,""],release:[3,3,1,""],set:[3,3,1,""]},"displayarray.input":{MouseEvent:[5,2,1,""],key_loop:[5,2,1,""],mouse_loop:[5,2,1,""]},"displayarray.window":{SubscriberWindows:[0,2,1,""]},"displayarray.window.SubscriberWindows":{add_callback:[0,3,1,""],add_source:[0,3,1,""],add_window:[0,3,1,""],block:[0,3,1,""],end:[0,3,1,""],handle_keys:[0,3,1,""],handle_mouse:[0,3,1,""],loop:[0,3,1,""],update:[0,3,1,""],update_window_frames:[0,3,1,""],wait_for_init:[0,3,1,""]},displayarray:{__main__:[1,0,0,"-"],breakpoint_display:[0,1,1,""],display:[0,1,1,""],frame:[3,0,0,"-"],read_updates:[3,1,1,""]}},objnames:{"0":["py","module","Python 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diff --git a/docs/select_channels/index.html b/docs/select_channels/index.html
index c3e57c9..11367ed 100644
--- a/docs/select_channels/index.html
+++ b/docs/select_channels/index.html
@@ -36,8 +36,23 @@
 
                    displayarray.effects.select_channels
                    
 
                    
 
                    
-class SelectChannels(selected_channels=None)[source]
                    
-
                    
+class SelectChannels(selected_channels: Iterable[int] = None)[source]
+
                    Select channels to display from an array with too many colors.
                    
+
                    
+
                    Parameters
                    
+
                    selected_channels – the list of channels to display.
                    
+
                    
+
                    
+
                    
+
                    
+enable_mouse_control()[source]
                    
+
                    Enable mouse control.
                    
+
                    Alt+Scroll to increase/decrease channel 2.
+Shift+Scroll to increase/decrease channel 1.
+Ctrl+scroll to increase/decrease channel 0.
                    
+
                    
+
+
                    
 
 
            
 
diff --git a/docs/window/index.html b/docs/window/index.html
index 293643d..fcede89 100644
--- a/docs/window/index.html
+++ b/docs/window/index.html
@@ -56,6 +56,12 @@
 
            Add another window for this class to display sources with. The name will be the title.
            
 
            
 
+
            
+
            
+block()[source]
            
+
            Update the window continuously while blocking the outer program.
            
+
            
+
 
            
 
            
 end()[source]
            
@@ -64,7 +70,7 @@
 
 
            
 
            
-handle_keys(key_input)[source]
            
+handle_keys(key_input: int)[source]
 
            Capture key input for the escape function and passing to key control subscriber threads.
            
 
            
 
diff --git a/examples/documentation/fractal.py b/examples/documentation/fractal.py
index e61a200..9c15b84 100644
--- a/examples/documentation/fractal.py
+++ b/examples/documentation/fractal.py
@@ -10,17 +10,19 @@ def mandel(
 
     source: https://thesamovar.wordpress.com/2009/03/22/fast-fractals-with-python-and-numpy/
 
-    >>> img = mandel()
-    >>> center = (0, -1.78)
-    >>> length = 3.2
-    >>> d = display(img)
-    >>> while d:
-    ...   length*=.9
-    ...   y_min = center[1]-length/2.0
-    ...   y_max = center[1]+length/2.0
-    ...   x_min = center[0]-length/2.0
-    ...   x_max = center[0]+length/2.0
-    ...   img[...] = mandel(y_min=y_min, y_max=y_max, x_min=x_min, x_max=x_max)
+    .. code-block:: python
+
+      >>> img = mandel()
+      >>> center = (0, -1.78)
+      >>> length = 3.2
+      >>> d = display(img)
+      >>> while d:
+      ...   length*=.9
+      ...   y_min = center[1]-length/2.0
+      ...   y_max = center[1]+length/2.0
+      ...   x_min = center[0]-length/2.0
+      ...   x_max = center[0]+length/2.0
+      ...   img[...] = mandel(y_min=y_min, y_max=y_max, x_min=x_min, x_max=x_max)
     """
 
     ix, iy = np.mgrid[0:height, 0:width]
diff --git a/examples/effects/lens_crop.py b/examples/effects/lens_crop.py
index 7db1f2e..556adfc 100644
--- a/examples/effects/lens_crop.py
+++ b/examples/effects/lens_crop.py
@@ -6,10 +6,11 @@ from examples.videos import test_video
 
 d = (
     display(test_video)
-    .add_callback(crop.Crop())
-    .add_callback(lens.Barrel().enable_mouse_control())
+    .add_callback(lens.BarrelPyTorch().enable_mouse_control(crop_size=(256, 256)))
+    .add_callback(crop.Crop(output_size=(256, 256, 3)))
     .wait_for_init()
 )
 
 while d:
-    print(d.frames[0].shape)
+    if len(d.frames) > 0:
+        pass
diff --git a/examples/effects/manual_control.py b/examples/effects/manual_control.py
new file mode 100644
index 0000000..758ce86
--- /dev/null
+++ b/examples/effects/manual_control.py
@@ -0,0 +1,36 @@
+from displayarray.effects import crop, lens
+from displayarray import display
+from examples.videos import test_video
+import math as m
+
+# Move the mouse to center the image, scroll to increase/decrease barrel, ctrl+scroll to increase/decrease zoom
+
+pre_crop_callback = crop.Crop(output_size=(480, 640, 3)).enable_mouse_control()
+lens_callback = lens.BarrelPyTorch()
+post_crop_callback = crop.Crop(output_size=(256, 256, 3)).enable_mouse_control()
+
+d = (
+    display(0, size=(99999, 99999))
+    .add_callback(pre_crop_callback)
+    .add_callback(lens_callback)
+    .add_callback(post_crop_callback)
+    .wait_for_init()
+)
+
+i = 0
+while d:
+    if len(d.frames) > 0:
+        i += 1
+        frame = d.frames[0]
+        center_sin = [(m.sin(m.pi * (i / 70.0))), (m.cos(m.pi * (i / 120.0)))]
+        pre_crop_callback.center = [
+            center_sin[0] * 720 / 2 + 720 / 2,
+            center_sin[1] * 1280 / 2 + 1280 / 2,
+        ]
+        lens_callback.center = [
+            center_sin[0] * 480 / 2 + 480 / 2,
+            center_sin[1] * 640 / 2 + 640 / 2,
+        ]
+        post_crop_callback.center = [480 / 2, 640 / 2]
+        lens_callback.zoom = m.sin(m.pi * ((i + 25) / 50.0)) + 1.01
+        lens_callback.barrel_power = m.sin((m.pi * (i + 33) / 25)) + 1.5
diff --git a/pyproject.toml b/pyproject.toml
index db49003..f32c23d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = 'displayarray'
-version = '0.7.1'
+version = '0.7.2'
 description = 'Tool for displaying numpy arrays.'
 authors = ['SimLeek ']
 license = 'MIT'
diff --git a/tests/effects/test_crop.py b/tests/effects/test_crop.py
index 108dcde..b3529ee 100644
--- a/tests/effects/test_crop.py
+++ b/tests/effects/test_crop.py
@@ -8,7 +8,7 @@ def test_init_defaults():
     c = crop.Crop()
 
     assert np.all(c.output_size == (64, 64, 3))
-    assert c.center is None
+    assert all(c.center == [32, 32, 1])
     assert c.odd_center is None
     assert c.input_size is None
 
@@ -16,7 +16,7 @@ def test_init_defaults():
 def test_init():
     c = crop.Crop((32, 32, 3), (16, 16, 1))
 
-    c(np.ndarray((64,64,3)))
+    c(np.ndarray((64, 64, 3)))
 
     assert np.all(c.output_size == (32, 32, 3))
     assert np.all(c.center == (16, 16, 1))