Class RGBDData

• Defined in File RGBDData.hpp

Inheritance Relationships

Base Types

• public dai::Buffer (Class Buffer)

• public dai::ProtoSerializable (Class ProtoSerializable)

Class Documentation

class RGBDData : public dai::Buffer, public dai::ProtoSerializable

RGBD message. Carries RGB and Depth frames. Frames can be either of type ImgFrame or EncodedFrame.

Public Types

using FrameVariant = std::variant<std::shared_ptr<ImgFrame>, std::shared_ptr<EncodedFrame>>

Public Functions

RGBDData() = default

Construct RGBD message.

~RGBDData() override

void setRGBFrame(const FrameVariant &frame)

void setDepthFrame(const FrameVariant &frame)

std::optional<FrameVariant> getRGBFrame() const

std::optional<FrameVariant> getDepthFrame() const

virtual void serialize(std::vector<std::uint8_t> &metadata, DatatypeEnum &datatype) const override

inline virtual DatatypeEnum getDatatype() const override

Get the datatype of this specific message.

Returns:

DatatypeEnum

DEPTHAI_SERIALIZE(RGBDData, colorFrame, depthFrame, Buffer::ts, Buffer::tsDevice, Buffer::sequenceNum)