Class ImgFrame

Defined in File ImgFrame.hpp

Nested Relationships

Nested Types

Inheritance Relationships

Base Types

public dai::Buffer (Class Buffer)
public dai::ProtoSerializable (Class ProtoSerializable)

Class Documentation

class ImgFrame : public dai::Buffer, public dai::ProtoSerializable 

ImgFrame message. Carries image data and metadata.

Public Types

enum class Type

Values:

enumerator YUV422i

enumerator YUV444p

enumerator YUV420p

enumerator YUV422p

enumerator YUV400p

enumerator RGBA8888

enumerator RGB161616

enumerator RGB888p

enumerator BGR888p

enumerator RGB888i

enumerator BGR888i

enumerator LUT2

enumerator LUT4

enumerator LUT16

enumerator RAW16

enumerator RAW14

enumerator RAW12

enumerator RAW10

enumerator RAW8

enumerator PACK10

enumerator PACK12

enumerator YUV444i

enumerator NV12

enumerator NV21

enumerator BITSTREAM

enumerator HDR

enumerator RGBF16F16F16p

enumerator BGRF16F16F16p

enumerator RGBF16F16F16i

enumerator BGRF16F16F16i

enumerator GRAY8

enumerator GRAYF16

enumerator RAW32

enumerator NONE

Public Functions

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

ImgFrame(long fd)

ImgFrame(size_t size)

ImgFrame(long fd, size_t size)

virtual ~ImgFrame()

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

std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestamp(CameraExposureOffset offset) const: Retrieves image timestamp (at the specified offset of exposure) related to dai::Clock::now()

std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestampDevice(CameraExposureOffset offset) const: Retrieves image timestamp (at the specified offset of exposure) directly captured from device’s monotonic clock, not synchronized to host time. Used when monotonicity is required.

unsigned int getInstanceNum() const: Retrieves instance number

unsigned int getCategory() const: Retrieves image category

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

unsigned int getStride() const: Retrieves image line stride in bytes

unsigned int getPlaneStride(int planeIndex = 0) const

Retrieves image plane stride (offset to next plane) in bytes

Parameters:: current – plane index, 0 or 1

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

unsigned int getPlaneHeight() const: Retrieves image plane height in lines

unsigned int getSourceWidth() const: Retrieves source image width in pixels

unsigned int getSourceHeight() const: Retrieves source image height in pixels

Type getType() const: Retrieves image type

float getBytesPerPixel() const: Retrieves image bytes per pixel

std::chrono::microseconds getExposureTime() const: Retrieves exposure time

int getSensitivity() const: Retrieves sensitivity, as an ISO value

int getColorTemperature() const: Retrieves white-balance color temperature of the light source, in kelvins

int getLensPosition() const: Retrieves lens position, range 0..255. Returns -1 if not available

float getLensPositionRaw() const: Retrieves lens position, range 0.0f..1.0f. Returns -1 if not available

ImgFrame &setInstanceNum(unsigned int instance)

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

Parameters:: instance – Instance number

ImgFrame &setCategory(unsigned int category)

Parameters:: category – Image category

ImgFrame &setWidth(unsigned int width)

Specifies frame width

Parameters:: width – frame width

ImgFrame &setStride(unsigned int stride)

Specifies frame stride

Parameters:: stride – frame stride

ImgFrame &setHeight(unsigned int height)

Specifies frame height

Parameters:: height – frame height

ImgFrame &setSize(unsigned int width, unsigned int height)

Specifies frame size

Parameters:

height – frame height
width – frame width

ImgFrame &setSize(std::tuple<unsigned int, unsigned int> size)

Specifies frame size

Parameters:: size – frame size

ImgFrame &setSourceSize(unsigned int width, unsigned int height)

Specifies source frame size

Parameters:

height – frame height
width – frame width

ImgFrame &setSourceSize(std::tuple<unsigned int, unsigned int> size)

Specifies source frame size

Parameters:: size – frame size

ImgFrame &setType(Type type)

Specifies frame type, RGB, BGR, …

Parameters:: type – Type of image

Point2f remapPointFromSource(const Point2f &point) const

Remap a point from the current frame to the source frame

Parameters:: point – point to remap
Returns:: remapped point

Point2f remapPointToSource(const Point2f &point) const

Remap a point from the source frame to the current frame

Parameters:: point – point to remap
Returns:: remapped point

Rect remapRectFromSource(const Rect &rect) const

Remap a rectangle from the source frame to the current frame

Parameters:: rect – rectangle to remap
Returns:: remapped rectangle

Rect remapRectToSource(const Rect &rect) const

Remap a rectangle from the current frame to the source frame

Parameters:: rect – rectangle to remap
Returns:: remapped rectangle

ImgFrame &setMetadata(const ImgFrame &sourceFrame)

Convenience function to initialize meta data from another frame Copies over timestamps, transformations done on the image, etc.

Parameters:: sourceFrame – source frame from which the metadata is taken from

ImgFrame &setMetadata(const std::shared_ptr<ImgFrame> &sourceFrame)

Convenience function to initialize meta data from another frame Copies over timestamps, transformations done on the image, etc.

Parameters:: sourceFrame – shared pointer to source frame from which the metadata is taken from

ImgFrame &copyDataFrom(const ImgFrame &sourceFrame)

Convenience function to set the data of the ImgFrame

Parameters:: data – data to set

ImgFrame &copyDataFrom(const std::shared_ptr<ImgFrame> &sourceFrame)

Convenience function to set the data of the ImgFrame

Parameters:: data – data to set

std::shared_ptr<ImgFrame> clone() const

Create a clone of the ImgFrame with metadata and data copied

Returns:: cloned ImgFrame

float getSourceDFov() const

Note

Fov API works correctly only on rectilinear frames Get the source diagonal field of view in degrees

Returns:: field of view in degrees

float getSourceHFov() const

Note

Fov API works correctly only on rectilinear frames Get the source horizontal field of view

Parameters:: degrees – field of view in degrees

float getSourceVFov() const

Note

Fov API works correctly only on rectilinear frames Get the source vertical field of view

Parameters:: degrees – field of view in degrees

bool validateTransformations() const

Check that the image transformation match the image size

Returns:: true if the transformations are valid

template<typename ...T> inline ImgFrame &setFrame(T...)

template<typename ...T> inline void getFrame(T...)

template<typename ...T> inline void getCvFrame(T...)

template<typename ...T> inline ImgFrame &setCvFrame(T...)

DEPTHAI_SERIALIZE(ImgFrame, Buffer::ts, Buffer::tsDevice, Buffer::sequenceNum, fb, sourceFb, cam, category, instanceNum, transformation)

std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestamp() const: Retrieves timestamp related to dai::Clock::now()

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

Public Members

Specs fb = {}

Specs sourceFb = {}

CameraSettings cam

uint32_t category = 0

uint32_t instanceNum = 0

dai::FrameEvent event = dai::FrameEvent::NONE 

ImgTransformation transformation

Public Static Functions

static Point2f remapPointBetweenFrames(const Point2f &originPoint, const ImgFrame &originFrame, const ImgFrame &destFrame)

Remap point between two frames

Parameters:

originPoint – point to remap
originFrame – origin frame
destFrame – destination frame

Returns:

remapped point

static Rect remapRectBetweenFrames(const Rect &originRect, const ImgFrame &originFrame, const ImgFrame &destFrame)

Remap rectangle between two frames

Parameters:

originRect – rectangle to remap
originFrame – origin frame
destFrame – destination frame

Returns:

remapped rectangle

static inline constexpr int typeToBpp(Type type)

static inline constexpr bool isInterleaved(Type type)

static inline constexpr Type toPlanar(Type type)

static inline constexpr Type toInterleaved(Type type)

struct CameraSettings

Public Functions

DEPTHAI_SERIALIZE(CameraSettings, exposureTimeUs, sensitivityIso, lensPosition, wbColorTemp, lensPositionRaw)

Public Members

int32_t exposureTimeUs

int32_t sensitivityIso

int32_t lensPosition

int32_t wbColorTemp

float lensPositionRaw

template<typename ...T> struct dependent_false

Public Static Attributes

static constexpr bool value = false

struct Specs

Public Functions

DEPTHAI_SERIALIZE(Specs, type, width, height, stride, bytesPP, p1Offset, p2Offset, p3Offset)

Public Members

Type type = Type::NONE 

unsigned int width

unsigned int height

unsigned int stride

unsigned int bytesPP

unsigned int p1Offset

unsigned int p2Offset

unsigned int p3Offset