ImgFrame¶

These are all the images (regardless of their encoding/format), as well as the depth/disparity “image”. ColorCamera and MonoCamera are the source of the image frame messages.

Examples of functionality¶

Reference¶

class depthai.ImgFrame

ImgFrame message. Carries image data and metadata.

class Type

Members:

YUV422i

YUV444p

YUV420p

YUV422p

YUV400p

RGBA8888

RGB161616

RGB888p

BGR888p

RGB888i

BGR888i

RGBF16F16F16p

BGRF16F16F16p

RGBF16F16F16i

BGRF16F16F16i

GRAY8

GRAYF16

LUT2

LUT4

LUT16

RAW16

RAW14

RAW12

RAW10

RAW8

PACK10

PACK12

YUV444i

NV12

NV21

BITSTREAM

HDR

NONE

property name

getCategory(self: depthai.ImgFrame) → int: Retrieves image category

getCvFrame(self: object) → object: Returns BGR or grayscale frame compatible with use in other opencv functions

getData(self: object) → numpy.ndarray[numpy.uint8]

Returns: Reference to internal buffer

getFrame(self: object, copy: bool = False) → numpy.ndarray: Returns numpy array with shape as specified by width, height and type

getHeight(self: depthai.ImgFrame) → int: Retrieves image height in pixels

getInstanceNum(self: depthai.ImgFrame) → int: Retrieves instance number

getRaw(self: depthai.ADatatype) → depthai.RawBuffer

getSequenceNum(self: depthai.ImgFrame) → int: Retrieves image sequence number

getTimestamp(self: depthai.ImgFrame) → datetime.timedelta: Retrieves image timestamp related to steady_clock / time.monotonic

getTimestampDevice(self: depthai.ImgFrame) → datetime.timedelta: Retrieves image timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

getType(self: depthai.ImgFrame) → depthai.RawImgFrame.Type: Retrieves image type

getWidth(self: depthai.ImgFrame) → int: Retrieves image width in pixels

setCategory(self: depthai.ImgFrame, category: int) → None

Parameter category:: Image category

setData(*args, **kwargs)

Overloaded function.

setData(self: depthai.Buffer, arg0: List[int]) -> None

Parameter data:: Copies data to internal buffer

setData(self: depthai.Buffer, arg0: numpy.ndarray[numpy.uint8]) -> None

Parameter data:: Copies data to internal buffer

setFrame(self: depthai.ImgFrame, array: numpy.ndarray) → None: Copies array bytes to ImgFrame buffer

setHeight(self: depthai.ImgFrame, height: int) → None

Specifies frame height

Parameter height:: frame height

setInstanceNum(self: depthai.ImgFrame, instance: int) → None

Instance number relates to the origin of the frame (which camera)

Parameter instance:: Instance number

setSequenceNum(self: depthai.ImgFrame, seq: int) → None

Specifies sequence number

Parameter seq:: Sequence number

setSize(*args, **kwargs)

Overloaded function.

setSize(self: depthai.ImgFrame, width: int, height: int) -> None

Specifies frame size

Parameter height:: frame height
Parameter width:: frame width

setSize(self: depthai.ImgFrame, sizer: Tuple[int, int]) -> None

Specifies frame size

Parameter size:: frame size

setTimestamp(self: depthai.ImgFrame, timestamp: datetime.timedelta) → None: Specifies current timestamp, related to steady_clock / time.monotonic

setType(self: depthai.ImgFrame, type: depthai.RawImgFrame.Type) → None

Specifies frame type, RGB, BGR, …

Parameter type:: Type of image

setWidth(self: depthai.ImgFrame, width: int) → None

Specifies frame width

Parameter width:: frame width

class dai::ImgFrame : public dai::Buffer ¶

ImgFrame message. Carries image data and metadata.

Public Types

using Type = RawImgFrame::Type¶

using Specs = RawImgFrame::Specs ¶

Public Functions

ImgFrame()¶: Construct ImgFrame message. Timestamp is set to now

ImgFrame(std::shared_ptr<RawImgFrame> ptr)¶

~ImgFrame() = default¶

std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestamp() const¶: Retrieves image timestamp related to steady_clock / time.monotonic

std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestampDevice() const¶: Retrieves image timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

unsigned int getInstanceNum() const¶: Retrieves instance number

unsigned int getCategory() const¶: Retrieves image category

unsigned int getSequenceNum() const¶: Retrieves image sequence number

unsigned int getWidth() const¶: Retrieves image width in pixels

unsigned int getHeight() const¶: Retrieves image height in pixels

Type getType() const¶: Retrieves image type

void setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp)¶: Specifies current timestamp, related to steady_clock / time.monotonic

void setInstanceNum(unsigned int instance)¶

Instance number relates to the origin of the frame (which camera)

Parameters

instance: Instance number

void setCategory(unsigned int category)¶

Parameters

category: Image category

void setSequenceNum(unsigned int seq)¶

Specifies sequence number

Parameters

seq: Sequence number

void setWidth(unsigned int width)¶

Specifies frame width

Parameters

width: frame width

void setHeight(unsigned int height)¶

Specifies frame height

Parameters

height: frame height

void setSize(unsigned int width, unsigned int height)¶

Specifies frame size

Parameters

height: frame height
width: frame width

void setSize(std::tuple<unsigned int, unsigned int> size)¶

Specifies frame size

Parameters

size: frame size

void setType(Type type)¶

Specifies frame type, RGB, BGR, …

Parameters

type: Type of image

void setFrame(cv::Mat frame)¶

Copies cv::Mat data to

ImgFrame buffer

Note: This API only available if OpenCV support is enabled

Parameters

frame: Input cv::Mat frame from which to copy the data

cv::Mat getFrame(bool copy = false)¶

Retrieves data as cv::Mat with specified width, height and type

Note: This API only available if OpenCV support is enabled

Return

cv::Mat with corresponding to ImgFrame parameters

Parameters

copy: If false only a reference to data is made, otherwise a copy

cv::Mat getCvFrame()¶

Retrieves cv::Mat suitable for use in common opencv functions.

ImgFrame is converted to color BGR interleaved or grayscale depending on type.

Note: This API only available if OpenCV support is enabled

A copy is always made

Return: cv::Mat for use in opencv functions

Private Functions

std::shared_ptr<RawBuffer> serialize() const override¶

Private Members

RawImgFrame &img¶

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ImgFrame¶

Examples of functionality¶

Reference¶

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