Hi @all, Is it possible to rotate camera lens by 90 degrees programmatically? We have below options, I don't see 90 DEG... class depthai.CameraImageOrientation Members: AUTO NORMAL HORIZONTAL_MIRROR VERTICAL_FLIP ROTATE_180_DEG Thanks & Best Regards, Ram

Hi @"ramkunchur"#p1578 , I do not think this is currently supported. The other rotations I believe are being done on by the image sensor itself (changing the readout/etc.). That said, I'm not sure if the Image Manip node can be used for this. Looking. Thanks, Brandon

On the subject of Image Manip - we will be adding quite a bit of functionality soon-ish, with the efforts below starting likely at the end of this month: https://github.com/luxonis/depthai/issues/376 That said, it looks like you can use Image Manip now to rotate an image 90 degrees: https://docs.luxonis.com/projects/api/en/latest/components/nodes/image_manip/ [URL=https://i.imgur.com/ihet5jd.png][IMG]https://i.imgur.com/ihet5jdh.png[/IMG][/URL] That said, I don't immediately see the function. Asking @"erik"#175 . Thanks, Brandon

Hello @"ramkunchur"#p1578 , here's a [minimal demo code](https://gist.github.com/Erol444/73383c07df936608bb7041790522dc16) that achieves rotating of the frame with ImageManip. You could also use `colorCamera` instead of mono camera - you would just need to change the values of the `dai.RotatedRect` (center and size) according to the resolution. I hope this helps! Thanks, Erik

Hi @"Brandon"#p1581 and @"erik"#p1584 . Thanks so much for the information... I'm trying to implement camera rotation to 90 degrees using specified method using colorCamera Below is code snippet, I get an error, seems there is unknown property error. pipeline = depthai.Pipeline() if camera: print("Creating Color Camera...") cam = pipeline.createColorCamera() # code to rotate camera by 90 degrees - start manip90 = pipeline.createImageManip() rr = depthai.RotatedRect() rr.center.x, rr.center.y = cam.getResolutionWidth() // 2, cam.getResolutionHeight() // 2 rr.size.width, rr.size.height = cam.getResolutionHeight(), cam.getResolutionWidth() rr.angle = 90 manip90.initialConfig.setCropRotatedRect(rr, False) cam.out.link(manip90.inputImage) # problem with this line... # code to rotate camera by 90 degrees - end cam.setPreviewSize(300,300) cam.setResolution(depthai.ColorCameraProperties.SensorResolution.THE_1080_P) cam.setInterleaved(False) cam.setBoardSocket(depthai.CameraBoardSocket.RGB) cam_xout = pipeline.createXLinkOut() cam_xout.setStreamName("cam_out") cam.preview.link(cam_xout.input) Error message as below: cam.out.link(manip90.inputImage) # problem with this line... AttributeError: 'depthai.ColorCamera' object has no attribute 'out' Requesting your kind help here.. Please let me know if my implementation is correct and also how to resolve this error. **I need to simply implement the following: The camera is placed horizontally, so need to rotate it to 90 degrees so that straight image is captured... This needs to happen both at sending image for inference and the one which we display finally in imshow method.** Thanks & Best Regards, Ram

Hello @"ramkunchur"#p1586, the [colorCamera](https://docs.luxonis.com/projects/api/en/latest/components/nodes/color_camera/) doesn't have `out` output, you should use `preview` instead. Please refer to our [documentation](https://docs.luxonis.com/projects/api/en/latest/components/nodes/color_camera/) for more information. I just tried it out with color camera instead of mono but it doesn't seem like it's working correctly ([code here](https://gist.github.com/Erol444/4659af8c53db5462673e3fb340622f9c)). We are investigating this further and it should be fixed this week, we apologize for the inconvenience. Thanks, Erik

Hi @"erik"#p1587 Thanks a lot for your quick response, really appreciate it. I'll wait for an update about the fix. Thanks & Best Regards, Ram

Hello @"ramkunchur"#p1588 , sorry for the troubles, it turns out I was incorrect - rotating color frames is already available, the width of the (input) frame just has to be in **multiples of 16**. Here's a [minimal example code](https://github.com/luxonis/depthai-python/blob/imagemanip-rotating-mono/examples/image_manip_rotate.py). Thanks, Erik

Hi @"erik"#p1591 , Thanks so much. I have come across another issue now, since I set preview to multiples of 16 i.e (640,400) originally it was (300,300) **cam.setPreviewSize(300,300)** changed to... **cam.setPreviewSize(640,400)** Inference doesn't work due to above changes, I tried to reset (300,300) to (640,400) in all other instances, inference doesn't work. Can you please tell me how I should adjust in other instances after changing preview size to 640,400? I also tried to change to (640,640) in all instances, get following error: **[NeuralNetwork(2)] [warning] Input image (640x640) does not match NN (300x300)** Need your help with this last step. Thanks & Best Regards, Ram

Hello @"ramkunchur"#p1593, here I quickly prepared a [minimal solution](https://gist.github.com/Erol444/4cead08da26adb1fddf4d7a8ec2d66e2) to achieve that. It uses another ImageManip to crop the frame into 300x300. You could also use cropping on the first imageManip, but for some reason, the output frame doesn't keep its aspect ratio (it gets stretched). Thanks, Erik

Hi @"erik"#p1596 Thanks so much for detailed help. The program doesn't seem to run... nothing happens Could you please check once? Thanks & Best Regards, Ram

Rotate camera by 90 DEGREES

erik

Hi chandrian ,
Please prepare the full MRE.
Thanks, Erik

chandrian

erik
Hi Erik,

What do you mean when you say that? Do I post those things here in the forum post? Or do I submit something like a git issue?

erik

Hi chandrian ,
You can submit it here, just make is minimal, as the code above isn't.
Thanks, Erik

chandrian

Ah ok thanks. I tried to keep it minimal with the images above but maybe that was too much? Basically I fed the camera.isp output through two image crops to see if it would work and I got an error. Both image crops worked independently but it feeding through both nodes gave me an error.

chandrian

what should the general approach be? This is the camera source flow through two nodes. The crop node works fine but I am not seeing the face recognition working when I add the rotation:

# Define source and output
camRgb = pipeline.create(dai.node.ColorCamera)
xoutVideo = pipeline.create(dai.node.XLinkOut)

xoutVideo.setStreamName("video")

# Properties
camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
camRgb.setVideoSize(1920, 1080)
camRgb.setPreviewSize(300, 300)

xoutVideo.input.setBlocking(False)
xoutVideo.input.setQueueSize(1)

# Create MobileNet detection network
mobilenet = pipeline.create(dai.node.MobileNetDetectionNetwork)
mobilenet.setBlobPath(
    blobconverter.from_zoo(name="face-detection-retail-0004", shaves=3)
)
mobilenet.setConfidenceThreshold(0.7)


crop_manip = 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
crop_manip.initialConfig.setCropRotatedRect(rgbRr, False)
camRgb.isp.link(crop_manip.inputImage)

crop_manip2 = pipeline.create(dai.node.ImageManip)
crop_manip2.initialConfig.setResize(300, 300)
crop_manip2.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)
crop_manip.out.link(crop_manip2.inputImage)

crop_manip2.out.link(mobilenet.input)

erik

Hi chandrian , I believe NNs should be run after rotating (90deg) the camera, as otherwise you will try to run inference on rotated frames (-90deg) which will have much worse performance?

chandrian

I didnt quite follow. We rotated the camera so the faces coming in would be rotated 90 going into the NN so we are trying to rotate in software before the NN so that they are upright. Did I miss understand you?

chandrian

I even tried it with a rotation of zero degrees to see if the facial recognition was working and it was not working.

chandrian

You probably dont have time to try it yourself but if you had any guidance on the approach that would help a lot. Hoping to get this done before production next week. Thanks again

chandrian

I actually got the rotated face detection working with the gen2_face detection examples so I'm trying to dissect that to make this work.

chandrian

How does the "while True:" work with the script nodes? It seems like it would get stuck in there without a break..?

erik

Hi chandrian ,
Sorry for the delay, I have been sick for the last one week. Regarding your last question; that's intentional. Otherwise the script node would be ran only once (at device startup) and never again. If you want a continuous operation, you need while True loop.
Thanks, Erik

chandrian

Ok thanks for the reply. I was not able to get the rotation working for the facial recognition. I am trying to train a model for rotated faces atm.

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