# ImageManip Rotate This example showcases how to rotate color and mono frames with the help of [ImageManip](https://docs.luxonis.com/software/depthai-components/nodes/image_manip.md) node. In the example, we are rotating by 90°. > Due to HW warp constraint, input image (to be rotated) has to have > **width value of multiples of 16.** ## Demos Here I have DepthAI device positioned vertically on my desk. ## Setup Please run the [install script](https://github.com/luxonis/depthai-python/blob/main/examples/install_requirements.py) to download all required dependencies. Please note that this script must be ran from git context, so you have to download the [depthai-python](https://github.com/luxonis/depthai-python) repository first and then run the script ```bash git clone https://github.com/luxonis/depthai-python.git cd depthai-python/examples python3 install_requirements.py ``` For additional information, please follow the [installation guide](https://docs.luxonis.com/software/depthai/manual-install.md). ## Source code #### Python ```python #!/usr/bin/env python3 import cv2 import depthai as dai # Create pipeline pipeline = dai.Pipeline() # Rotate color frames camRgb = pipeline.create(dai.node.ColorCamera) camRgb.setPreviewSize(640, 400) camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P) camRgb.setInterleaved(False) manipRgb = pipeline.create(dai.node.ImageManip) rgbRr = dai.RotatedRect() rgbRr.center.x, rgbRr.center.y = camRgb.getPreviewWidth() // 2, camRgb.getPreviewHeight() // 2 rgbRr.size.width, rgbRr.size.height = camRgb.getPreviewHeight(), camRgb.getPreviewWidth() rgbRr.angle = 90 manipRgb.initialConfig.setCropRotatedRect(rgbRr, False) camRgb.preview.link(manipRgb.inputImage) manipRgbOut = pipeline.create(dai.node.XLinkOut) manipRgbOut.setStreamName("manip_rgb") manipRgb.out.link(manipRgbOut.input) # Rotate mono frames monoLeft = pipeline.create(dai.node.MonoCamera) monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P) monoLeft.setCamera("left") manipLeft = pipeline.create(dai.node.ImageManip) rr = dai.RotatedRect() rr.center.x, rr.center.y = monoLeft.getResolutionWidth() // 2, monoLeft.getResolutionHeight() // 2 rr.size.width, rr.size.height = monoLeft.getResolutionHeight(), monoLeft.getResolutionWidth() rr.angle = 90 manipLeft.initialConfig.setCropRotatedRect(rr, False) monoLeft.out.link(manipLeft.inputImage) manipLeftOut = pipeline.create(dai.node.XLinkOut) manipLeftOut.setStreamName("manip_left") manipLeft.out.link(manipLeftOut.input) with dai.Device(pipeline) as device: qLeft = device.getOutputQueue(name="manip_left", maxSize=8, blocking=False) qRgb = device.getOutputQueue(name="manip_rgb", maxSize=8, blocking=False) while True: inLeft = qLeft.tryGet() if inLeft is not None: cv2.imshow('Left rotated', inLeft.getCvFrame()) inRgb = qRgb.tryGet() if inRgb is not None: cv2.imshow('Color rotated', inRgb.getCvFrame()) if cv2.waitKey(1) == ord('q'): break ``` #### C++ ```cpp #include // Includes common necessary includes for development using depthai library #include "depthai/depthai.hpp" int main() { using namespace std; // Create pipeline dai::Pipeline pipeline; // Rotate color frames auto camRgb = pipeline.create(); camRgb->setPreviewSize(640, 400); camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P); camRgb->setInterleaved(false); auto manipRgb = pipeline.create(); dai::RotatedRect rgbRr = {{camRgb->getPreviewWidth() / 2.0f, camRgb->getPreviewHeight() / 2.0f}, // center {camRgb->getPreviewHeight() * 1.0f, camRgb->getPreviewWidth() * 1.0f}, // size 90}; // angle manipRgb->initialConfig.setCropRotatedRect(rgbRr, false); camRgb->preview.link(manipRgb->inputImage); auto manipRgbOut = pipeline.create(); manipRgbOut->setStreamName("manip_rgb"); manipRgb->out.link(manipRgbOut->input); // Rotate mono frames auto monoLeft = pipeline.create(); monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P); monoLeft->setCamera("left"); auto manipLeft = pipeline.create(); dai::RotatedRect rr = {{monoLeft->getResolutionWidth() / 2.0f, monoLeft->getResolutionHeight() / 2.0f}, // center {monoLeft->getResolutionHeight() * 1.0f, monoLeft->getResolutionWidth() * 1.0f}, // size 90}; // angle manipLeft->initialConfig.setCropRotatedRect(rr, false); monoLeft->out.link(manipLeft->inputImage); auto manipLeftOut = pipeline.create(); manipLeftOut->setStreamName("manip_left"); manipLeft->out.link(manipLeftOut->input); dai::Device device(pipeline); auto qLeft = device.getOutputQueue("manip_left", 8, false); auto qRgb = device.getOutputQueue("manip_rgb", 8, false); while(true) { auto inLeft = qLeft->tryGet(); if(inLeft) { cv::imshow("Left rotated", inLeft->getCvFrame()); } auto inRgb = qRgb->tryGet(); if(inRgb) { cv::imshow("Color rotated", inRgb->getCvFrame()); } int key = cv::waitKey(1); if(key == 'q' || key == 'Q') return 0; } return 0; } ``` ## Pipeline ### examples/image_manip_rotate.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 0, "node1Output": "preview", "node1OutputGroup": "", "node2Id": 1, "node2Input": "inputImage", "node2InputGroup": "" }, { "node1Id": 1, "node1Output": "out", "node1OutputGroup": "", "node2Id": 2, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 3, "node1Output": "out", "node1OutputGroup": "", "node2Id": 4, "node2Input": "inputImage", "node2InputGroup": "" }, { "node1Id": 4, "node1Output": "out", "node1OutputGroup": "", "node2Id": 5, "node2Input": "in", "node2InputGroup": "" } ], "globalProperties": { "calibData": null, "cameraTuningBlobSize": null, "cameraTuningBlobUri": "", "leonCssFrequencyHz": 700000000.0, "leonMssFrequencyHz": 700000000.0, "pipelineName": null, "pipelineVersion": null, "sippBufferSize": 18432, "sippDmaBufferSize": 16384, "xlinkChunkSize": -1 }, "nodes": [ [ 0, { "id": 0, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": false, "group": "", "id": 1, "name": "inputConfig", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 6, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "still" ], { "blocking": false, "group": "", "id": 7, "name": "still", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 2, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "video" ], { "blocking": false, "group": "", "id": 3, "name": "video", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "isp" ], { "blocking": false, "group": "", "id": 4, "name": "isp", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "preview" ], { "blocking": false, "group": "", "id": 5, "name": "preview", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 8, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "ColorCamera", "properties": { "boardSocket": -1, "cameraName": "", "colorOrder": 0, "fp16": false, "fps": 30.0, "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, "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, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "interleaved": false, "isp3aFps": 0, "ispScale": { "horizDenominator": 0, "horizNumerator": 0, "vertDenominator": 0, "vertNumerator": 0 }, "numFramesPoolIsp": 3, "numFramesPoolPreview": 4, "numFramesPoolRaw": 3, "numFramesPoolStill": 4, "numFramesPoolVideo": 4, "previewHeight": 400, "previewKeepAspectRatio": true, "previewWidth": 640, "rawPacked": null, "resolution": 0, "sensorCropX": -1.0, "sensorCropY": -1.0, "stillHeight": -1, "stillWidth": -1, "videoHeight": -1, "videoWidth": -1 } } ], [ 1, { "id": 1, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": true, "group": "", "id": 9, "name": "inputConfig", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "inputImage" ], { "blocking": true, "group": "", "id": 10, "name": "inputImage", "queueSize": 8, "type": 3, "waitForMessage": true } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 11, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "ImageManip", "properties": { "initialConfig": { "cropConfig": { "cropRatio": 1.0, "cropRect": { "xmax": 0.0, "xmin": 0.0, "ymax": 0.0, "ymin": 0.0 }, "cropRotatedRect": { "angle": 90.0, "center": { "x": 320.0, "y": 200.0 }, "size": { "height": 640.0, "width": 400.0 } }, "enableCenterCropRectangle": false, "enableRotatedRect": true, "normalizedCoords": false, "widthHeightAspectRatio": 1.0 }, "enableCrop": true, "enableFormat": false, "enableResize": false, "formatConfig": { "colormap": 0, "colormapMax": 255, "colormapMin": 0, "flipHorizontal": false, "flipVertical": false, "type": 32 }, "interpolation": -1, "resizeConfig": { "bgBlue": 0, "bgGreen": 0, "bgRed": 0, "enableRotation": false, "enableWarp4pt": false, "enableWarpMatrix": false, "height": 0, "keepAspectRatio": true, "lockAspectRatioFill": false, "normalizedCoords": true, "rotationAngleDeg": 0.0, "warpBorderReplicate": false, "warpFourPoints": [], "warpMatrix3x3": [], "width": 0 }, "reusePreviousImage": false, "skipCurrentImage": false }, "meshHeight": 0, "meshUri": "", "meshWidth": 0, "numFramesPool": 4, "outputFrameSize": 1048576 } } ], [ 2, { "id": 2, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 12, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "manip_rgb" } } ], [ 3, { "id": 3, "ioInfo": [ [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 13, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 14, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 15, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 16, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "MonoCamera", "properties": { "boardSocket": -1, "cameraName": "left", "fps": 30.0, "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, "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, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "isp3aFps": 0, "numFramesPool": 3, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 2 } } ], [ 4, { "id": 4, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": true, "group": "", "id": 17, "name": "inputConfig", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "inputImage" ], { "blocking": true, "group": "", "id": 18, "name": "inputImage", "queueSize": 8, "type": 3, "waitForMessage": true } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 19, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "ImageManip", "properties": { "initialConfig": { "cropConfig": { "cropRatio": 1.0, "cropRect": { "xmax": 0.0, "xmin": 0.0, "ymax": 0.0, "ymin": 0.0 }, "cropRotatedRect": { "angle": 90.0, "center": { "x": 320.0, "y": 200.0 }, "size": { "height": 640.0, "width": 400.0 } }, "enableCenterCropRectangle": false, "enableRotatedRect": true, "normalizedCoords": false, "widthHeightAspectRatio": 1.0 }, "enableCrop": true, "enableFormat": false, "enableResize": false, "formatConfig": { "colormap": 0, "colormapMax": 255, "colormapMin": 0, "flipHorizontal": false, "flipVertical": false, "type": 32 }, "interpolation": -1, "resizeConfig": { "bgBlue": 0, "bgGreen": 0, "bgRed": 0, "enableRotation": false, "enableWarp4pt": false, "enableWarpMatrix": false, "height": 0, "keepAspectRatio": true, "lockAspectRatioFill": false, "normalizedCoords": true, "rotationAngleDeg": 0.0, "warpBorderReplicate": false, "warpFourPoints": [], "warpMatrix3x3": [], "width": 0 }, "reusePreviousImage": false, "skipCurrentImage": false }, "meshHeight": 0, "meshUri": "", "meshWidth": 0, "numFramesPool": 4, "outputFrameSize": 1048576 } } ], [ 5, { "id": 5, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 20, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "manip_left" } } ] ] } } ``` ### Need assistance? 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