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‎docs/source/components/nodes/image_manip.rst‎

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@@ -87,6 +87,8 @@ Examples of functionality
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- :ref:`Mono & MobilenetSSD`
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- :ref:`RGB Encoding & Mono & MobilenetSSD`
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- :ref:`RGB Camera Control`
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- :ref:`ImageManip tiling` - Using ImageManip for frame tiling
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- :ref:`ImageManip rotate` - Using ImageManip to rotate color/mono frames
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Reference
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#########

‎docs/source/samples/image_manip_rotate.rst‎

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ImageManip Rotate
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=================
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This example showcases how to rotate color and mono frames with the help of :ref:`ImageManip` node.
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In the example, we are rotating by 90°.
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.. note::
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Due to HW warp constraint, input image (to be rotated) has to have **width value of multiples of 16.**
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Demos
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#####
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.. image:: https://user-images.githubusercontent.com/18037362/128074634-d2baa78e-8f35-40fc-8661-321f3a3c3850.png
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:alt: Rotated mono and color frames
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Here I have DepthAI device positioned vertically on my desk.
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Setup
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#####
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.. include:: /includes/install_from_pypi.rst
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Source code
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###########
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.. tabs::
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.. tab:: Python
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Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/image_manip_rotate.py>`__
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.. literalinclude:: ../../../examples/image_manip_rotate.py
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:language: python
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:linenos:
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.. tab:: C++
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Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/image_manip_rotate.cpp>`__
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.. literalinclude:: ../../../depthai-core/examples/src/image_manip_rotate.cpp
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:language: cpp
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:linenos:
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.. include:: /includes/footer-short.rst

‎docs/source/samples/image_manip_tiling.rst‎

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ImageManip Tiling
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=================
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Frame tiling could be useful for eg. feeding large frame into a :ref:`NeuralNetwork` whose input size isn't as large. In such case,
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you can tile the large frame into multiple smaller ones and feed smaller frames to the :ref:`NeuralNetwork`.
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In this example we use 2 :ref:`ImageManip` for splitting the original :code:`1000x500` preview frame into two :code:`500x500` frames.
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Demo
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####
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.. image:: https://user-images.githubusercontent.com/18037362/128074673-045ed4b6-ac8c-4a76-83bb-0f3dc996f7a5.png
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:alt: Tiling preview into 2 frames/tiles
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Setup
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#####
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.. include:: /includes/install_from_pypi.rst
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Source code
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###########
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.. tabs::
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.. tab:: Python
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Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/image_manip_tiling.py>`__
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.. literalinclude:: ../../../examples/image_manip_tiling.py
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:language: python
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:linenos:
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.. tab:: C++
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Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/image_manip_tiling.cpp>`__
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.. literalinclude:: ../../../depthai-core/examples/src/image_manip_tiling.cpp
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:language: cpp
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:linenos:
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.. include:: /includes/footer-short.rst

‎docs/source/tutorials/code_samples.rst‎

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- :ref:`Edge detector` - Edge detection on input frame
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- :ref:`Script camera control` - Controlling the camera with the Script node
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- :ref:`Bootloader version` - Retrieves Version of Bootloader on the device
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- :ref:`ImageManip tiling` - Using ImageManip for frame tiling
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- :ref:`ImageManip rotate` - Using ImageManip to rotate color/mono frames
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.. rubric:: Complex
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‎docs/source/tutorials/simple_samples.rst‎

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../samples/edge_detector.rst
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../samples/script_camera_control.rst
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../samples/bootloader_version.rst
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../samples/image_manip_tiling.rst
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../samples/image_manip_rotate.rst
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These samples are great starting point for the gen2 API.
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- :ref:`Mono & MobilenetSSD` - Runs MobileNetSSD on mono frames and displays detections on the frame
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- :ref:`Video & MobilenetSSD` - Runs MobileNetSSD on the video from the host
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- :ref:`Edge detector` - Edge detection on input frame
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- :ref:`Script camera control` - Controlling the camera with the Script node
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- :ref:`Bootloader Version` - Retrieves Version of Bootloader on the device
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- :ref:`ImageManip Tiling` - Using ImageManip for frame tiling
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- :ref:`ImageManip Rotate` - Using ImageManip to rotate color/mono frames

‎examples/image_manip_rotate.py‎

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#!/usr/bin/env python3
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import cv2
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import depthai as dai
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# Create pipeline
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pipeline = dai.Pipeline()
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# Rotate color frames
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camRgb = pipeline.createColorCamera()
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camRgb.setPreviewSize(640, 400)
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camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
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camRgb.setInterleaved(False)
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manipRgb = pipeline.createImageManip()
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rgbRr = dai.RotatedRect()
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rgbRr.center.x, rgbRr.center.y = camRgb.getPreviewWidth() // 2, camRgb.getPreviewHeight() // 2
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rgbRr.size.width, rgbRr.size.height = camRgb.getPreviewHeight(), camRgb.getPreviewWidth()
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rgbRr.angle = 90
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manipRgb.initialConfig.setCropRotatedRect(rgbRr, False)
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camRgb.preview.link(manipRgb.inputImage)
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manipRgbOut = pipeline.createXLinkOut()
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manipRgbOut.setStreamName("manip_rgb")
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manipRgb.out.link(manipRgbOut.input)
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# Rotate mono frames
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monoLeft = pipeline.createMonoCamera()
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monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
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monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
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manipLeft = pipeline.createImageManip()
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rr = dai.RotatedRect()
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rr.center.x, rr.center.y = monoLeft.getResolutionWidth() // 2, monoLeft.getResolutionHeight() // 2
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rr.size.width, rr.size.height = monoLeft.getResolutionHeight(), monoLeft.getResolutionWidth()
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rr.angle = 90
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manipLeft.initialConfig.setCropRotatedRect(rr, False)
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monoLeft.out.link(manipLeft.inputImage)
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manipLeftOut = pipeline.createXLinkOut()
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manipLeftOut.setStreamName("manip_left")
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manipLeft.out.link(manipLeftOut.input)
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with dai.Device(pipeline) as device:
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qLeft = device.getOutputQueue(name="manip_left", maxSize=8, blocking=False)
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qRgb = device.getOutputQueue(name="manip_rgb", maxSize=8, blocking=False)
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while True:
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inLeft = qLeft.tryGet()
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if inLeft is not None:
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cv2.imshow('Left rotated', inLeft.getCvFrame())
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inRgb = qRgb.tryGet()
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if inRgb is not None:
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cv2.imshow('Color rotated', inRgb.getCvFrame())
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if cv2.waitKey(1) == ord('q'):
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break

‎examples/image_manip_tiling.py‎

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#!/usr/bin/env python3
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import cv2
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import depthai as dai
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# Create pipeline
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pipeline = dai.Pipeline()
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camRgb = pipeline.createColorCamera()
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camRgb.setPreviewSize(1000, 500)
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camRgb.setInterleaved(False)
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maxFrameSize = camRgb.getPreviewHeight() * camRgb.getPreviewHeight() * 3
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# In this example we use 2 imageManips for splitting the original 1000x500
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# preview frame into 2 500x500 frames
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manip1 = pipeline.createImageManip()
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manip1.initialConfig.setCropRect(0, 0, 0.5, 1)
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manip1.setMaxOutputFrameSize(maxFrameSize)
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camRgb.preview.link(manip1.inputImage)
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manip2 = pipeline.createImageManip()
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manip2.initialConfig.setCropRect(0.5, 0, 1, 1)
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manip2.setMaxOutputFrameSize(maxFrameSize)
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camRgb.preview.link(manip2.inputImage)
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xout1 = pipeline.createXLinkOut()
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xout1.setStreamName('out1')
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manip1.out.link(xout1.input)
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xout2 = pipeline.createXLinkOut()
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xout2.setStreamName('out2')
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manip2.out.link(xout2.input)
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# Connect to device and start pipeline
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with dai.Device(pipeline) as device:
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# Output queue will be used to get the rgb frames from the output defined above
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q1 = device.getOutputQueue(name="out1", maxSize=4, blocking=False)
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q2 = device.getOutputQueue(name="out2", maxSize=4, blocking=False)
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while True:
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in1 = q1.tryGet()
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if in1 is not None:
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cv2.imshow("Tile 1", in1.getCvFrame())
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in2 = q2.tryGet()
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if in2 is not None:
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cv2.imshow("Tile 2", in2.getCvFrame())
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if cv2.waitKey(1) == ord('q'):
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break

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