Hi Lucas_Lima This is something I have implemented a few days ago, here - https://github.com/dhruvsheth-ai/gen2-depthai-experiments
This repo contains examples of using OpenCV functionalities like Background Subtraction, Edge and Corner detection, Hough transform etc. But this is being processed on host, with data retireved from OAK-D. OpenCV functionalities are light, so have kept it on host, but will migrate to processing on OAK-D for a later version.
Also, you'll find this example - https://github.com/luxonis/depthai-python/blob/main/examples/20_color_rotate_warp.py which uses pure OpenCV functions to do the task.
There might be some more examples, I might not be aware of, but if there's anythin I can help here, let me know!