# ImageManip remap This examples shows an application that processes a camera stream through two image manipulation nodes with 90-degree rotations and different output sizes, displaying the original and manipulated frames with synchronized rotated rectangles, using DepthAI's pipeline and transformation handling. This example requires the DepthAI v3 API, see [installation instructions](https://docs.luxonis.com/software-v3/depthai.md). ## Pipeline ### examples/image_manip_remap.pipeline.json ```json {"pipeline": {"connections": [{"node1Id": 1, "node1Output": "out", "node1OutputGroup": "", "node2Id": 3, "node2Input": "in", "node2InputGroup": ""}, {"node1Id": 0, "node1Output": "0", "node1OutputGroup": "dynamicOutputs", "node2Id": 5, "node2Input": "in", "node2InputGroup": ""}, {"node1Id": 0, "node1Output": "0", "node1OutputGroup": "dynamicOutputs", "node2Id": 1, "node2Input": "inputImage", "node2InputGroup": ""}], "globalProperties": {"calibData": null, "cameraTuningBlobSize": null, "cameraTuningBlobUri": "", "leonCssFrequencyHz": 700000000.0, "leonMssFrequencyHz": 700000000.0, "pipelineName": null, "pipelineVersion": null, "sippBufferSize": 18432, "sippDmaBufferSize": 16384, "xlinkChunkSize": -1}, "nodes": [[5, {"alias": "", "id": 5, "ioInfo": [[["", "in"], {"blocking": true, "group": "", "id": 8, "name": "in", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "XLinkOut", "parentId": -1, "properties": {"maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "__x_0_0"}}], [3, {"alias": "", "id": 3, "ioInfo": [[["", "in"], {"blocking": true, "group": "", "id": 7, "name": "in", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "XLinkOut", "parentId": -1, "properties": {"maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "__x_1__out"}}], [1, {"alias": "", "id": 1, "ioInfo": [[["", "out"], {"blocking": false, "group": "", "id": 6, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "inputImage"], {"blocking": true, "group": "", "id": 5, "name": "inputImage", "queueSize": 3, "type": 3, "waitForMessage": false}], [["", "inputConfig"], {"blocking": true, "group": "", "id": 4, "name": "inputConfig", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "ImageManip", "parentId": -1, "properties": {"backend": 0, "initialConfig": {"base": {"background": 0, "backgroundB": 0, "backgroundG": 0, "backgroundR": 0, "center": true, "colormap": 0, "operations": [{"op": {"index": 1, "value": {"angle": 1.5707963705062866, "center": true, "normalized": false, "offsetX": 0.0, "offsetY": 0.0}}}], "outputHeight": 320, "outputWidth": 200, "resizeMode": 1, "undistort": false}, "outputFrameType": 33, "reusePreviousImage": false, "skipCurrentImage": false}, "numFramesPool": 4, "outputFrameSize": 1048576, "performanceMode": 0}}], [0, {"alias": "", "id": 0, "ioInfo": [[["dynamicOutputs", "0"], {"blocking": false, "group": "dynamicOutputs", "id": 3, "name": "0", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "raw"], {"blocking": false, "group": "", "id": 2, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "mockIsp"], {"blocking": true, "group": "", "id": 1, "name": "mockIsp", "queueSize": 8, "type": 3, "waitForMessage": false}], [["", "inputControl"], {"blocking": true, "group": "", "id": 0, "name": "inputControl", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "Camera", "parentId": -1, "properties": {"boardSocket": 0, "cameraName": "", "fps": -1.0, "imageOrientation": -1, "initialControl": {"aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": {"height": 0, "priority": 0, "width": 0, "x": 0, "y": 0}, "afRegion": {"height": 0, "priority": 0, "width": 0, "x": 0, "y": 0}, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "enableHdr": false, "expCompensation": 0, "expManual": {"exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0}, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "miscControls": [], "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": {"activeLevel": 0, "enable": 0, "gpioNumber": 0}, "strobeTimings": {"durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0}, "wbColorTemp": 0}, "isp3aFps": 0, "mockIspHeight": -1, "mockIspWidth": -1, "numFramesPoolIsp": 3, "numFramesPoolPreview": 4, "numFramesPoolRaw": 3, "numFramesPoolStill": 4, "numFramesPoolVideo": 4, "outputRequests": [{"enableUndistortion": null, "fps": {"value": {"index": 0, "value": 30.0}}, "resizeMode": 0, "size": {"value": {"index": 0, "value": [640, 400]}}, "type": 10}], "resolutionHeight": -1, "resolutionWidth": -1}}]]}} ``` ## Source code #### Python ```python import depthai as dai import cv2 import numpy as np def draw_rotated_rectangle(frame, center, size, angle, color, thickness=2): """ Draws a rotated rectangle on the given frame. Args: frame (numpy.ndarray): The image/frame to draw on. center (tuple): The (x, y) coordinates of the rectangle's center. size (tuple): The (width, height) of the rectangle. angle (float): The rotation angle of the rectangle in degrees (counter-clockwise). color (tuple): The color of the rectangle in BGR format (e.g., (0, 255, 0) for green). thickness (int): The thickness of the rectangle edges. Default is 2. """ # Create a rotated rectangle rect = ((center[0], center[1]), (size[0], size[1]), angle) # Get the four vertices of the rotated rectangle box = cv2.boxPoints(rect) box = np.intp(box) # Convert to integer coordinates # Draw the rectangle on the frame cv2.polylines(frame, [box], isClosed=True, color=color, thickness=thickness) with dai.Pipeline() as pipeline: cam = pipeline.create(dai.node.Camera).build() camOut = cam.requestOutput((640, 400), dai.ImgFrame.Type.BGR888i, fps = 30.0) manip1 = pipeline.create(dai.node.ImageManip) manip2 = pipeline.create(dai.node.ImageManip) camOut.link(manip1.inputImage) manip1.out.link(manip2.inputImage) manip1.initialConfig.addRotateDeg(90) manip1.initialConfig.setOutputSize(200, 320) manip2.initialConfig.addRotateDeg(90) manip2.initialConfig.setOutputSize(320, 200) manip2.setRunOnHost(True) outQcam = camOut.createOutputQueue() outQ1 = manip1.out.createOutputQueue() outQ2 = manip2.out.createOutputQueue() pipeline.start() while True: camFrame: dai.ImgFrame = outQcam.get() manip1Frame: dai.ImgFrame = outQ1.get() manip2Frame: dai.ImgFrame = outQ2.get() camCv = camFrame.getCvFrame() manip1Cv = manip1Frame.getCvFrame() manip2Cv = manip2Frame.getCvFrame() rect2 = dai.RotatedRect(dai.Rect(dai.Point2f(100, 100), dai.Point2f(200, 150)), 0) rect1 = manip2Frame.getTransformation().remapRectTo(manip1Frame.getTransformation(), rect2) rectcam = manip1Frame.getTransformation().remapRectTo(camFrame.getTransformation(), rect1) draw_rotated_rectangle(manip2Cv, (rect2.center.x, rect2.center.y), (rect2.size.width, rect2.size.height), rect2.angle, (255, 0, 0)) draw_rotated_rectangle(manip1Cv, (rect1.center.x, rect1.center.y), (rect1.size.width, rect1.size.height), rect1.angle, (255, 0, 0)) draw_rotated_rectangle(camCv, (rectcam.center.x, rectcam.center.y), (rectcam.size.width, rectcam.size.height), rectcam.angle, (255, 0, 0)) cv2.imshow("cam", camCv) cv2.imshow("manip1", manip1Cv) cv2.imshow("manip2", manip2Cv) if cv2.waitKey(1) == ord('q'): break ``` #### C++ ```cpp #include #include #include #include #include #include "depthai/depthai.hpp" // Global flag for graceful shutdown std::atomic quitEvent(false); // Signal handler void signalHandler(int signum) { quitEvent = true; } // Helper function to draw rotated rectangle void draw_rotated_rectangle(cv::Mat& frame, const cv::Point2f& center, const cv::Size2f& size, float angle, const cv::Scalar& color, int thickness = 2) { // Create a rotated rectangle cv::RotatedRect rect(center, size, angle); // Get the four vertices of the rotated rectangle cv::Point2f vertices[4]; rect.points(vertices); // Convert to integer points for drawing std::vector points; for(int i = 0; i < 4; i++) { points.push_back(cv::Point(static_cast(vertices[i].x), static_cast(vertices[i].y))); } // Draw the rectangle on the frame cv::polylines(frame, std::vector>{points}, true, color, thickness); } int main() { // Set up signal handlers signal(SIGTERM, signalHandler); signal(SIGINT, signalHandler); try { // Create pipeline dai::Pipeline pipeline; // Create nodes auto cam = pipeline.create(); cam->build(); auto manip1 = pipeline.create(); auto manip2 = pipeline.create(); // Configure camera output auto camOut = cam->requestOutput(std::make_pair(640, 400), dai::ImgFrame::Type::BGR888i, dai::ImgResizeMode::LETTERBOX, 20, 20); // Configure image manipulators manip1->initialConfig->addRotateDeg(90); manip1->initialConfig->setOutputSize(200, 320); manip2->initialConfig->addRotateDeg(90); manip2->initialConfig->setOutputSize(320, 200); manip2->setRunOnHost(true); // Linking camOut->link(manip1->inputImage); manip1->out.link(manip2->inputImage); // Create output queues auto outQcam = camOut->createOutputQueue(); auto outQ1 = manip1->out.createOutputQueue(); auto outQ2 = manip2->out.createOutputQueue(); // Start pipeline pipeline.start(); // Main loop while(!quitEvent) { // Get frames auto camFrame = outQcam->get(); auto manip1Frame = outQ1->get(); auto manip2Frame = outQ2->get(); // Convert to OpenCV format cv::Mat camCv = camFrame->getCvFrame(); cv::Mat manip1Cv = manip1Frame->getCvFrame(); cv::Mat manip2Cv = manip2Frame->getCvFrame(); // Create and remap rectangles dai::RotatedRect rect2(dai::Rect(dai::Point2f(100, 100), dai::Point2f(200, 150)), 0); auto rect1 = manip2Frame->transformation.remapRectTo(manip1Frame->transformation, rect2); auto rectcam = manip1Frame->transformation.remapRectTo(camFrame->transformation, rect1); // Draw rectangles draw_rotated_rectangle( manip2Cv, cv::Point2f(rect2.center.x, rect2.center.y), cv::Size2f(rect2.size.width, rect2.size.height), rect2.angle, cv::Scalar(255, 0, 0)); draw_rotated_rectangle( manip1Cv, cv::Point2f(rect1.center.x, rect1.center.y), cv::Size2f(rect1.size.width, rect1.size.height), rect1.angle, cv::Scalar(255, 0, 0)); draw_rotated_rectangle(camCv, cv::Point2f(rectcam.center.x, rectcam.center.y), cv::Size2f(rectcam.size.width, rectcam.size.height), rectcam.angle, cv::Scalar(255, 0, 0)); // Display frames cv::imshow("cam", camCv); cv::imshow("manip1", manip1Cv); cv::imshow("manip2", manip2Cv); // Check for quit key if(cv::waitKey(1) == 'q') { break; } } // Cleanup pipeline.stop(); pipeline.wait(); } catch(const std::exception& e) { std::cerr << "Error: " << e.what() << std::endl; return 1; } return 0; } ``` ### Need assistance? 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