rgb_preview_rotation_error

rgb_preview_rotation_error.py

import cv2
import depthai as dai

# Create pipeline
pipeline = dai.Pipeline()

# Color camera
rgbCam = pipeline.createColorCamera()
rgbCam.setPreviewSize(600,300) # Just a random size
rgbCam.setInterleaved(False)

manipRgb = pipeline.createImageManip()
rr_rgb = dai.RotatedRect()
rr_rgb.center.x, rr_rgb.center.y = rgbCam.getPreviewWidth() // 2, rgbCam.getPreviewHeight() // 2
rr_rgb.size.width, rr_rgb.size.height = rgbCam.getPreviewHeight(), rgbCam.getPreviewWidth()
rr_rgb.angle = 90
manipRgb.initialConfig.setCropRotatedRect(rr_rgb, False)
rgbCam.preview.link(manipRgb.inputImage)

rgbOut = pipeline.createXLinkOut()
rgbOut.setStreamName("manip_rgb")
manipRgb.out.link(rgbOut.input)

# Mono camera
monoLeft = pipeline.createMonoCamera()
monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)

manipLeft = pipeline.createImageManip()
rr_mono = dai.RotatedRect()
rr_mono.center.x, rr_mono.center.y = monoLeft.getResolutionWidth() // 2, monoLeft.getResolutionHeight() // 2
rr_mono.size.width, rr_mono.size.height = monoLeft.getResolutionHeight(), monoLeft.getResolutionWidth()
rr_mono.angle = 90
manipLeft.initialConfig.setCropRotatedRect(rr_mono, False)
monoLeft.out.link(manipLeft.inputImage)

leftOut = pipeline.createXLinkOut()
leftOut.setStreamName("manip_left")
manipLeft.out.link(leftOut.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:
        in_left = qLeft.tryGet()
        if in_left is not None:
            cv2.imshow('Left rotated', in_left.getCvFrame())

        in_rgb = qRgb.tryGet()
        if in_rgb is not None:
            cv2.imshow('Rgb rotated', in_rgb.getCvFrame())

        if cv2.waitKey(1) == ord('q'):
            break