DepthAI ImageManip rotate frames

depthai_imagemanip_rotate.py

import cv2
import depthai as dai

# Create pipeline
pipeline = dai.Pipeline()

# Define sources and outputs
monoLeft = pipeline.createMonoCamera()
monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)

manipLeft = pipeline.createImageManip()
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.createXLinkOut()
manipLeftOut.setStreamName("manip_left")
manipLeft.out.link(manipLeftOut.input)

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

    while True:
        in_manip = qManip.get()
        # print(f'Width {in_manip.getWidth()}, Height {in_manip.getHeight()}')
        cv2.imshow('Left rotated', in_manip.getCvFrame())

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