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  • ImageManip Rotate
  • Demos
  • Setup
  • Source code
  • Pipeline

ImageManip Rotate

This example showcases how to rotate color and mono frames with the help of ImageManip node. In the example, we are rotating by 90°.

Demos

Here I have DepthAI device positioned vertically on my desk.

Setup

Please run the install script to download all required dependencies. Please note that this script must be ran from git context, so you have to download the depthai-python repository first and then run the script
Command Line
1git clone https://github.com/luxonis/depthai-python.git
2cd depthai-python/examples
3python3 install_requirements.py
For additional information, please follow the installation guide.

Source code

Python
C++

Python

Python
GitHub
1#!/usr/bin/env python3
2
3import cv2
4import depthai as dai
5
6# Create pipeline
7pipeline = dai.Pipeline()
8
9# Rotate color frames
10camRgb = pipeline.create(dai.node.ColorCamera)
11camRgb.setPreviewSize(640, 400)
12camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
13camRgb.setInterleaved(False)
14
15manipRgb = pipeline.create(dai.node.ImageManip)
16rgbRr = dai.RotatedRect()
17rgbRr.center.x, rgbRr.center.y = camRgb.getPreviewWidth() // 2, camRgb.getPreviewHeight() // 2
18rgbRr.size.width, rgbRr.size.height = camRgb.getPreviewHeight(), camRgb.getPreviewWidth()
19rgbRr.angle = 90
20manipRgb.initialConfig.setCropRotatedRect(rgbRr, False)
21camRgb.preview.link(manipRgb.inputImage)
22
23manipRgbOut = pipeline.create(dai.node.XLinkOut)
24manipRgbOut.setStreamName("manip_rgb")
25manipRgb.out.link(manipRgbOut.input)
26
27# Rotate mono frames
28monoLeft = pipeline.create(dai.node.MonoCamera)
29monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
30monoLeft.setCamera("left")
31
32manipLeft = pipeline.create(dai.node.ImageManip)
33rr = dai.RotatedRect()
34rr.center.x, rr.center.y = monoLeft.getResolutionWidth() // 2, monoLeft.getResolutionHeight() // 2
35rr.size.width, rr.size.height = monoLeft.getResolutionHeight(), monoLeft.getResolutionWidth()
36rr.angle = 90
37manipLeft.initialConfig.setCropRotatedRect(rr, False)
38monoLeft.out.link(manipLeft.inputImage)
39
40manipLeftOut = pipeline.create(dai.node.XLinkOut)
41manipLeftOut.setStreamName("manip_left")
42manipLeft.out.link(manipLeftOut.input)
43
44with dai.Device(pipeline) as device:
45    qLeft = device.getOutputQueue(name="manip_left", maxSize=8, blocking=False)
46    qRgb = device.getOutputQueue(name="manip_rgb", maxSize=8, blocking=False)
47
48    while True:
49        inLeft = qLeft.tryGet()
50        if inLeft is not None:
51            cv2.imshow('Left rotated', inLeft.getCvFrame())
52
53        inRgb = qRgb.tryGet()
54        if inRgb is not None:
55            cv2.imshow('Color rotated', inRgb.getCvFrame())
56
57        if cv2.waitKey(1) == ord('q'):
58            break

Pipeline

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