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- 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.setBoardSocket(dai.CameraBoardSocket.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) == 27:
- break
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