ImageManip remap

1import depthai as dai
2import cv2
3import numpy as np
4
5def draw_rotated_rectangle(frame, center, size, angle, color, thickness=2):
6    """
7    Draws a rotated rectangle on the given frame.
8
9    Args:
10        frame (numpy.ndarray): The image/frame to draw on.
11        center (tuple): The (x, y) coordinates of the rectangle's center.
12        size (tuple): The (width, height) of the rectangle.
13        angle (float): The rotation angle of the rectangle in degrees (counter-clockwise).
14        color (tuple): The color of the rectangle in BGR format (e.g., (0, 255, 0) for green).
15        thickness (int): The thickness of the rectangle edges. Default is 2.
16    """
17    # Create a rotated rectangle
18    rect = ((center[0], center[1]), (size[0], size[1]), angle)
19
20    # Get the four vertices of the rotated rectangle
21    box = cv2.boxPoints(rect)
22    box = np.intp(box)  # Convert to integer coordinates
23
24    # Draw the rectangle on the frame
25    cv2.polylines(frame, [box], isClosed=True, color=color, thickness=thickness)
26
27with dai.Pipeline() as pipeline:
28    cam = pipeline.create(dai.node.Camera).build()
29    camOut = cam.requestOutput((640, 400), dai.ImgFrame.Type.BGR888i, fps = 30.0)
30    manip1 = pipeline.create(dai.node.ImageManip)
31    manip2 = pipeline.create(dai.node.ImageManip)
32
33    # GPU is not available on RVC2 and some RVC4 devices
34    backend = dai.node.ImageManip.Backend.GPU if pipeline.getDefaultDevice().hasGPU() else dai.node.ImageManip.Backend.CPU
35    manip1.setBackend(backend)
36    manip2.setBackend(backend)
37
38    camOut.link(manip1.inputImage)
39    manip1.out.link(manip2.inputImage)
40
41    manip1.initialConfig.addRotateDeg(90)
42    manip1.initialConfig.setOutputSize(200, 320)
43
44    manip2.initialConfig.addRotateDeg(90)
45    manip2.initialConfig.setOutputSize(320, 200)
46
47    outQcam = camOut.createOutputQueue()
48    outQ1 = manip1.out.createOutputQueue()
49    outQ2 = manip2.out.createOutputQueue()
50
51    pipeline.start()
52
53    while True:
54        camFrame: dai.ImgFrame = outQcam.get()
55        manip1Frame: dai.ImgFrame = outQ1.get()
56        manip2Frame: dai.ImgFrame = outQ2.get()
57
58        camCv = camFrame.getCvFrame()
59        manip1Cv = manip1Frame.getCvFrame()
60        manip2Cv = manip2Frame.getCvFrame()
61
62        rect2 = dai.RotatedRect(dai.Rect(dai.Point2f(100, 100), dai.Point2f(200, 150)), 0)
63        rect1 = manip2Frame.getTransformation().remapRectTo(manip1Frame.getTransformation(), rect2)
64        rectcam = manip1Frame.getTransformation().remapRectTo(camFrame.getTransformation(), rect1)
65
66        draw_rotated_rectangle(manip2Cv, (rect2.center.x, rect2.center.y), (rect2.size.width, rect2.size.height), rect2.angle, (255, 0, 0))
67        draw_rotated_rectangle(manip1Cv, (rect1.center.x, rect1.center.y), (rect1.size.width, rect1.size.height), rect1.angle, (255, 0, 0))
68        draw_rotated_rectangle(camCv, (rectcam.center.x, rectcam.center.y), (rectcam.size.width, rectcam.size.height), rectcam.angle, (255, 0, 0))
69
70        cv2.imshow("cam", camCv)
71        cv2.imshow("manip1", manip1Cv)
72        cv2.imshow("manip2", manip2Cv)
73        if cv2.waitKey(1) == ord('q'):
74            break

1#include <atomic>
2#include <csignal>
3#include <iostream>
4#include <memory>
5#include <opencv2/opencv.hpp>
6
7#include "depthai/depthai.hpp"
8
9// Global flag for graceful shutdown
10std::atomic<bool> quitEvent(false);
11
12// Signal handler
13void signalHandler(int signum) {
14    quitEvent = true;
15}
16
17// Helper function to draw rotated rectangle
18void draw_rotated_rectangle(cv::Mat& frame, const cv::Point2f& center, const cv::Size2f& size, float angle, const cv::Scalar& color, int thickness = 2) {
19    // Create a rotated rectangle
20    cv::RotatedRect rect(center, size, angle);
21
22    // Get the four vertices of the rotated rectangle
23    cv::Point2f vertices[4];
24    rect.points(vertices);
25
26    // Convert to integer points for drawing
27    std::vector<cv::Point> points;
28    for(int i = 0; i < 4; i++) {
29        points.push_back(cv::Point(static_cast<int>(vertices[i].x), static_cast<int>(vertices[i].y)));
30    }
31
32    // Draw the rectangle on the frame
33    cv::polylines(frame, std::vector<std::vector<cv::Point>>{points}, true, color, thickness);
34}
35
36int main() {
37    // Set up signal handlers
38    signal(SIGTERM, signalHandler);
39    signal(SIGINT, signalHandler);
40
41    try {
42        // Create pipeline
43        dai::Pipeline pipeline;
44
45        // Create nodes
46        auto cam = pipeline.create<dai::node::Camera>();
47        cam->build();
48
49        auto manip1 = pipeline.create<dai::node::ImageManip>();
50        auto manip2 = pipeline.create<dai::node::ImageManip>();
51
52        // GPU is not available on RVC2 and some RVC4 devices
53        auto backend = pipeline.getDefaultDevice()->hasGPU() ? dai::node::ImageManip::Backend::GPU : dai::node::ImageManip::Backend::CPU;
54        manip1->setBackend(backend);
55        manip2->setBackend(backend);
56
57        // Configure camera output
58        auto* camOut = cam->requestOutput(std::make_pair(640, 400), dai::ImgFrame::Type::BGR888i, dai::ImgResizeMode::LETTERBOX, 20, 20);
59
60        // Configure image manipulators
61        manip1->initialConfig->addRotateDeg(90);
62        manip1->initialConfig->setOutputSize(200, 320);
63
64        manip2->initialConfig->addRotateDeg(90);
65        manip2->initialConfig->setOutputSize(320, 200);
66
67        // Linking
68        camOut->link(manip1->inputImage);
69        manip1->out.link(manip2->inputImage);
70
71        // Create output queues
72        auto outQcam = camOut->createOutputQueue();
73        auto outQ1 = manip1->out.createOutputQueue();
74        auto outQ2 = manip2->out.createOutputQueue();
75
76        // Start pipeline
77        pipeline.start();
78
79        // Main loop
80        while(!quitEvent) {
81            // Get frames
82            auto camFrame = outQcam->get<dai::ImgFrame>();
83            auto manip1Frame = outQ1->get<dai::ImgFrame>();
84            auto manip2Frame = outQ2->get<dai::ImgFrame>();
85
86            // Convert to OpenCV format
87            cv::Mat camCv = camFrame->getCvFrame();
88            cv::Mat manip1Cv = manip1Frame->getCvFrame();
89            cv::Mat manip2Cv = manip2Frame->getCvFrame();
90
91            // Create and remap rectangles
92            dai::RotatedRect rect2(dai::Rect(dai::Point2f(100, 100), dai::Point2f(200, 150)), 0);
93            auto rect1 = manip2Frame->transformation.remapRectTo(manip1Frame->transformation, rect2);
94            auto rectcam = manip1Frame->transformation.remapRectTo(camFrame->transformation, rect1);
95
96            // Draw rectangles
97            draw_rotated_rectangle(
98                manip2Cv, cv::Point2f(rect2.center.x, rect2.center.y), cv::Size2f(rect2.size.width, rect2.size.height), rect2.angle, cv::Scalar(255, 0, 0));
99
100            draw_rotated_rectangle(
101                manip1Cv, cv::Point2f(rect1.center.x, rect1.center.y), cv::Size2f(rect1.size.width, rect1.size.height), rect1.angle, cv::Scalar(255, 0, 0));
102
103            draw_rotated_rectangle(camCv,
104                                   cv::Point2f(rectcam.center.x, rectcam.center.y),
105                                   cv::Size2f(rectcam.size.width, rectcam.size.height),
106                                   rectcam.angle,
107                                   cv::Scalar(255, 0, 0));
108
109            // Display frames
110            cv::imshow("cam", camCv);
111            cv::imshow("manip1", manip1Cv);
112            cv::imshow("manip2", manip2Cv);
113
114            // Check for quit key
115            if(cv::waitKey(1) == 'q') {
116                break;
117            }
118        }
119
120        // Cleanup
121        pipeline.stop();
122        pipeline.wait();
123
124    } catch(const std::exception& e) {
125        std::cerr << "Error: " << e.what() << std::endl;
126        return 1;
127    }
128
129    return 0;
130}