ImageManip 旋转

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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

1#include <iostream>
2
3// Includes common necessary includes for development using depthai library
4#include "depthai/depthai.hpp"
5
6int main() {
7    using namespace std;
8
9    // Create pipeline
10    dai::Pipeline pipeline;
11
12    // Rotate color frames
13    auto camRgb = pipeline.create<dai::node::ColorCamera>();
14    camRgb->setPreviewSize(640, 400);
15    camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
16    camRgb->setInterleaved(false);
17
18    auto manipRgb = pipeline.create<dai::node::ImageManip>();
19    dai::RotatedRect rgbRr = {{camRgb->getPreviewWidth() / 2.0f, camRgb->getPreviewHeight() / 2.0f},  // center
20                              {camRgb->getPreviewHeight() * 1.0f, camRgb->getPreviewWidth() * 1.0f},  // size
21                              90};                                                                    // angle
22    manipRgb->initialConfig.setCropRotatedRect(rgbRr, false);
23    camRgb->preview.link(manipRgb->inputImage);
24
25    auto manipRgbOut = pipeline.create<dai::node::XLinkOut>();
26    manipRgbOut->setStreamName("manip_rgb");
27    manipRgb->out.link(manipRgbOut->input);
28
29    // Rotate mono frames
30    auto monoLeft = pipeline.create<dai::node::MonoCamera>();
31    monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
32    monoLeft->setCamera("left");
33
34    auto manipLeft = pipeline.create<dai::node::ImageManip>();
35    dai::RotatedRect rr = {{monoLeft->getResolutionWidth() / 2.0f, monoLeft->getResolutionHeight() / 2.0f},  // center
36                           {monoLeft->getResolutionHeight() * 1.0f, monoLeft->getResolutionWidth() * 1.0f},  // size
37                           90};                                                                              // angle
38    manipLeft->initialConfig.setCropRotatedRect(rr, false);
39    monoLeft->out.link(manipLeft->inputImage);
40
41    auto manipLeftOut = pipeline.create<dai::node::XLinkOut>();
42    manipLeftOut->setStreamName("manip_left");
43    manipLeft->out.link(manipLeftOut->input);
44
45    dai::Device device(pipeline);
46
47    auto qLeft = device.getOutputQueue("manip_left", 8, false);
48    auto qRgb = device.getOutputQueue("manip_rgb", 8, false);
49
50    while(true) {
51        auto inLeft = qLeft->tryGet<dai::ImgFrame>();
52        if(inLeft) {
53            cv::imshow("Left rotated", inLeft->getCvFrame());
54        }
55
56        auto inRgb = qRgb->tryGet<dai::ImgFrame>();
57        if(inRgb) {
58            cv::imshow("Color rotated", inRgb->getCvFrame());
59        }
60
61        int key = cv::waitKey(1);
62        if(key == 'q' || key == 'Q') return 0;
63    }
64    return 0;
65}