ImageManip tiling and rotating example

docs/source/components/nodes/image_manip.rst

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

docs/source/samples/image_manip_rotate.rst

@@ -0,0 +1,44 @@
+ImageManip Rotate
+=================
+
+This example showcases how to rotate color and mono frames with the help of :ref:`ImageManip` node.
+In the example, we are rotating by 90°. 
+
+.. note::
+    Due to HW warp constraint, input image (to be rotated) has to have **width value of multiples of 16.**
+
+Demos
+#####
+
+.. image:: https://user-images.githubusercontent.com/18037362/128074634-d2baa78e-8f35-40fc-8661-321f3a3c3850.png
+  :alt: Rotated mono and color frames
+
+Here I have DepthAI device positioned vertically on my desk.
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/image_manip_rotate.py>`__
+
+        .. literalinclude:: ../../../examples/image_manip_rotate.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/image_manip_rotate.cpp>`__
+
+        .. literalinclude:: ../../../depthai-core/examples/src/image_manip_rotate.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst

docs/source/samples/image_manip_tiling.rst

@@ -0,0 +1,41 @@
+ImageManip Tiling
+=================
+
+Frame tiling could be useful for eg. feeding large frame into a :ref:`NeuralNetwork` whose input size isn't as large. In such case,
+you can tile the large frame into multiple smaller ones and feed smaller frames to the :ref:`NeuralNetwork`.
+
+In this example we use 2 :ref:`ImageManip` for splitting the original :code:`1000x500` preview frame into two :code:`500x500` frames.
+
+Demo
+####
+
+.. image:: https://user-images.githubusercontent.com/18037362/128074673-045ed4b6-ac8c-4a76-83bb-0f3dc996f7a5.png
+  :alt: Tiling preview into 2 frames/tiles
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/image_manip_tiling.py>`__
+
+        .. literalinclude:: ../../../examples/image_manip_tiling.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/image_manip_tiling.cpp>`__
+
+        .. literalinclude:: ../../../depthai-core/examples/src/image_manip_tiling.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst

docs/source/tutorials/code_samples.rst

@@ -32,6 +32,8 @@ Code samples are used for automated testing. They are also a great starting poin
 - :ref:`Edge detector` - Edge detection on input frame
 - :ref:`Script camera control` - Controlling the camera with the Script node
 - :ref:`Bootloader version` - Retrieves Version of Bootloader on the device
+- :ref:`ImageManip tiling` - Using ImageManip for frame tiling
+- :ref:`ImageManip rotate` - Using ImageManip to rotate color/mono frames
 
 .. rubric:: Complex
 

docs/source/tutorials/simple_samples.rst

@@ -24,6 +24,8 @@ Simple
    ../samples/edge_detector.rst
    ../samples/script_camera_control.rst
    ../samples/bootloader_version.rst
+   ../samples/image_manip_tiling.rst
+   ../samples/image_manip_rotate.rst
 
 These samples are great starting point for the gen2 API.
 
@@ -41,4 +43,7 @@ These samples are great starting point for the gen2 API.
 - :ref:`Mono & MobilenetSSD` - Runs MobileNetSSD on mono frames and displays detections on the frame
 - :ref:`Video & MobilenetSSD` - Runs MobileNetSSD on the video from the host
 - :ref:`Edge detector` - Edge detection on input frame
+- :ref:`Script camera control` - Controlling the camera with the Script node
 - :ref:`Bootloader Version` - Retrieves Version of Bootloader on the device
+- :ref:`ImageManip Tiling` - Using ImageManip for frame tiling
+- :ref:`ImageManip Rotate` - Using ImageManip to rotate color/mono frames

examples/image_manip_rotate.py

@@ -0,0 +1,58 @@
+#!/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)
+
+manipRgbOut = pipeline.createXLinkOut()
+manipRgbOut.setStreamName("manip_rgb")
+manipRgb.out.link(manipRgbOut.input)
+
+# Rotate mono frames
+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:
+    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) == ord('q'):
+            break

examples/image_manip_tiling.py

@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+camRgb = pipeline.createColorCamera()
+camRgb.setPreviewSize(1000, 500)
+camRgb.setInterleaved(False)
+maxFrameSize = camRgb.getPreviewHeight() * camRgb.getPreviewHeight() * 3
+
+# In this example we use 2 imageManips for splitting the original 1000x500
+# preview frame into 2 500x500 frames
+manip1 = pipeline.createImageManip()
+manip1.initialConfig.setCropRect(0, 0, 0.5, 1)
+manip1.setMaxOutputFrameSize(maxFrameSize)
+camRgb.preview.link(manip1.inputImage)
+
+manip2 = pipeline.createImageManip()
+manip2.initialConfig.setCropRect(0.5, 0, 1, 1)
+manip2.setMaxOutputFrameSize(maxFrameSize)
+camRgb.preview.link(manip2.inputImage)
+
+xout1 = pipeline.createXLinkOut()
+xout1.setStreamName('out1')
+manip1.out.link(xout1.input)
+
+xout2 = pipeline.createXLinkOut()
+xout2.setStreamName('out2')
+manip2.out.link(xout2.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+    # Output queue will be used to get the rgb frames from the output defined above
+    q1 = device.getOutputQueue(name="out1", maxSize=4, blocking=False)
+    q2 = device.getOutputQueue(name="out2", maxSize=4, blocking=False)
+
+    while True:
+        in1 = q1.tryGet()
+        if in1 is not None:
+            cv2.imshow("Tile 1", in1.getCvFrame())
+
+        in2 = q2.tryGet()
+        if in2 is not None:
+            cv2.imshow("Tile 2", in2.getCvFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break