DepthAI - Rotate and crop (300x300) rgb frame

depthai_rotate_crop_rgb_frame.py

#!/usr/bin/env python3

import cv2
import depthai as dai

# Create pipeline
pipeline = dai.Pipeline()

# Rotate color frames
camRgb = pipeline.createColorCamera()
camRgb.setPreviewSize(640, 400)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
camRgb.setInterleaved(False)

manipRgb = pipeline.createImageManip()
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)

cropManip = pipeline.createImageManip()
cropManip.initialConfig.setResize(300, 300)
manipRgb.out.link(cropManip.inputImage)

manipRgbOut = pipeline.createXLinkOut()
manipRgbOut.setStreamName("manip_rgb")
cropManip.out.link(manipRgbOut.input)


with dai.Device(pipeline) as device:
    qRgb = device.getOutputQueue(name="manip_rgb", maxSize=8, blocking=False)

    while True:
        inRgb = qRgb.tryGet()
        if inRgb is not None:
            frame = inRgb.getCvFrame()
            print(frame.shape)
            cv2.imshow('Color rotated', frame)

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