# Send an updated config with continuous rotate, or after a key press
if key >= 0 or (not testFourPt and abs(rotateRate) > 0.0001):
cfg = dai.ImageManipConfig()
if testFourPt:
test = warpList[warpIdx]
points, normalized = test[0], test[1]
point2fList = []
for p in points:
pt = dai.Point2f()
pt.x, pt.y = p[0], p[1]
point2fList.append(pt)
cfg.setWarpTransformFourPoints(point2fList, normalized)
else:
angleDeg += rotateRate
rotatedRect = ((320, 240), (400, 400), angleDeg)
rr = dai.RotatedRect()
rr.center.x, rr.center.y = rotatedRect[0]
rr.size.width, rr.size.height = rotatedRect[1]
rr.angle = rotatedRect[2]
cfg.setCropRotatedRect(rr, False)
if resizeFactor > 0:
cfg.setResize(resizeX, resizeY)
# cfg.setWarpBorderFillColor(255, 0, 0)
# cfg.setWarpBorderReplicatePixels()
qManipCfg.send(cfg)
for q in [qPreview, qManip]:
pkt = q.get()
name = q.getName()
shape = (3, pkt.getHeight(), pkt.getWidth())
frame = pkt.getCvFrame()
#!/usr/bin/env python3
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)