ImgFrame.hpp

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#pragma once
 
#include <chrono>
#include <unordered_map>
#include <vector>
 
// project
#include "depthai/build/config.hpp"
#include "depthai/common/CameraExposureOffset.hpp"
#include "depthai/pipeline/datatype/Buffer.hpp"
 
// shared
#include "depthai-shared/datatype/RawImgFrame.hpp"
 
// optional
#ifdef DEPTHAI_HAVE_OPENCV_SUPPORT
    #include <opencv2/opencv.hpp>
#endif
 
namespace dai {
 
class ImgFrame : public Buffer {
    std::shared_ptr<RawBuffer> serialize() const override;
    RawImgFrame& img;
 
   public:
    // Raw* mirror
    using Type = RawImgFrame::Type;
    using Specs = RawImgFrame::Specs;
    using CameraSettings = RawImgFrame::CameraSettings;
    using Buffer::getTimestamp;
    using Buffer::getTimestampDevice;
 
    ImgFrame();
    explicit ImgFrame(std::shared_ptr<RawImgFrame> ptr);
    virtual ~ImgFrame() = default;
 
    // getters
    std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestamp(CameraExposureOffset offset) const;
 
    std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestampDevice(CameraExposureOffset offset) const;
 
    unsigned int getInstanceNum() const;
 
    unsigned int getCategory() const;
 
    unsigned int getWidth() const;
 
    unsigned int getHeight() const;
 
    Type getType() const;
 
    std::chrono::microseconds getExposureTime() const;
 
    int getSensitivity() const;
 
    int getColorTemperature() const;
 
    int getLensPosition() const;
 
    float getLensPositionRaw() const;
 
    // setters
    ImgFrame& setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
 
    ImgFrame& setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
 
    ImgFrame& setInstanceNum(unsigned int instance);
 
    ImgFrame& setCategory(unsigned int category);
 
    ImgFrame& setSequenceNum(int64_t seq);
 
    ImgFrame& setWidth(unsigned int width);
 
    ImgFrame& setHeight(unsigned int height);
 
    ImgFrame& setSize(unsigned int width, unsigned int height);
 
    ImgFrame& setSize(std::tuple<unsigned int, unsigned int> size);
 
    ImgFrame& setType(Type type);
 
// Optional - OpenCV support
#ifdef DEPTHAI_HAVE_OPENCV_SUPPORT
 
    ImgFrame& setFrame(cv::Mat frame);
 
    cv::Mat getFrame(bool copy = false);
 
    cv::Mat getCvFrame();
 
#else
 
    template <typename... T>
    struct dependent_false {
        static constexpr bool value = false;
    };
    template <typename... T>
    ImgFrame& setFrame(T...) {
        static_assert(dependent_false<T...>::value, "Library not configured with OpenCV support");
        return *this;
    }
    template <typename... T>
    void getFrame(T...) {
        static_assert(dependent_false<T...>::value, "Library not configured with OpenCV support");
    }
    template <typename... T>
    void getCvFrame(T...) {
        static_assert(dependent_false<T...>::value, "Library not configured with OpenCV support");
    }
 
#endif
};
 
}  // namespace dai