ImageManipConfig

This message can is used for cropping, warping, rotating, resizing, etc. an image in runtime. It can be sent from host/Script node to either ColorCamera or ImageManip.

Note

This message will reconfigure the whole config of the node, meaning you need to set all settings, not just the setting you want to change.

Examples of functionality

Reference

Python

C++

class depthai.ImageManipConfig
get(self: depthai.ImageManipConfig) → depthai.RawImageManipConfig
getColormap(self: depthai.ImageManipConfig) → depthai.Colormap
getCropConfig(self: depthai.ImageManipConfig) → depthai.RawImageManipConfig.CropConfig
getCropXMax(self: depthai.ImageManipConfig) → float
getCropXMin(self: depthai.ImageManipConfig) → float
getCropYMax(self: depthai.ImageManipConfig) → float
getCropYMin(self: depthai.ImageManipConfig) → float
getData(self: object) → numpy.ndarray[numpy.uint8]
getFormatConfig(self: depthai.ImageManipConfig) → depthai.RawImageManipConfig.FormatConfig
getInterpolation(self: depthai.ImageManipConfig) → depthai.Interpolation
getRaw(self: depthai.ADatatype) → depthai.RawBuffer
getResizeConfig(self: depthai.ImageManipConfig) → depthai.RawImageManipConfig.ResizeConfig
getResizeHeight(self: depthai.ImageManipConfig) → int
getResizeWidth(self: depthai.ImageManipConfig) → int
getSequenceNum(self: depthai.Buffer) → int
getTimestamp(self: depthai.Buffer) → datetime.timedelta
getTimestampDevice(self: depthai.Buffer) → datetime.timedelta
isResizeThumbnail(self: depthai.ImageManipConfig) → bool
set(self: depthai.ImageManipConfig, config: depthai.RawImageManipConfig) → depthai.ImageManipConfig
setCenterCrop(self: depthai.ImageManipConfig, ratio: float, whRatio: float = 1.0) → depthai.ImageManipConfig
setColormap(*args, **kwargs)

Overloaded function.

  1. setColormap(self: depthai.ImageManipConfig, colormap: depthai.Colormap, min: int, max: int) -> depthai.ImageManipConfig

  2. setColormap(self: depthai.ImageManipConfig, colormap: depthai.Colormap, max: int = 255) -> depthai.ImageManipConfig

  3. setColormap(self: depthai.ImageManipConfig, colormap: depthai.Colormap, max: float = 255.0) -> depthai.ImageManipConfig

setCropRect(*args, **kwargs)

Overloaded function.

  1. setCropRect(self: depthai.ImageManipConfig, xmin: float, ymin: float, xmax: float, ymax: float) -> depthai.ImageManipConfig

  2. setCropRect(self: depthai.ImageManipConfig, coordinates: tuple[float, float, float, float]) -> depthai.ImageManipConfig

setCropRotatedRect(self: depthai.ImageManipConfig, rr: depthai.RotatedRect, normalizedCoords: bool = True) → depthai.ImageManipConfig
setData(*args, **kwargs)

Overloaded function.

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

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

setFrameType(self: depthai.ImageManipConfig, type: depthai.RawImgFrame.Type) → depthai.ImageManipConfig
setHorizontalFlip(self: depthai.ImageManipConfig, flip: bool) → depthai.ImageManipConfig
setInterpolation(self: depthai.ImageManipConfig, interpolation: depthai.Interpolation) → depthai.ImageManipConfig
setKeepAspectRatio(self: depthai.ImageManipConfig, keep: bool) → depthai.ImageManipConfig
setResize(*args, **kwargs)

Overloaded function.

  1. setResize(self: depthai.ImageManipConfig, w: int, h: int) -> depthai.ImageManipConfig

  2. setResize(self: depthai.ImageManipConfig, size: tuple[int, int]) -> depthai.ImageManipConfig

setResizeThumbnail(*args, **kwargs)

Overloaded function.

  1. setResizeThumbnail(self: depthai.ImageManipConfig, w: int, h: int, bgRed: int = 0, bgGreen: int = 0, bgBlue: int = 0) -> depthai.ImageManipConfig

  2. setResizeThumbnail(self: depthai.ImageManipConfig, size: tuple[int, int], bgRed: int = 0, bgGreen: int = 0, bgBlue: int = 0) -> depthai.ImageManipConfig

setReusePreviousImage(self: depthai.ImageManipConfig, reuse: bool) → depthai.ImageManipConfig
setRotationDegrees(self: depthai.ImageManipConfig, deg: float) → depthai.ImageManipConfig
setRotationRadians(self: depthai.ImageManipConfig, rad: float) → depthai.ImageManipConfig
setSequenceNum(self: depthai.Buffer, arg0: int) → depthai.Buffer
setSkipCurrentImage(self: depthai.ImageManipConfig, skip: bool) → depthai.ImageManipConfig
setTimestamp(self: depthai.Buffer, arg0: datetime.timedelta) → depthai.Buffer
setTimestampDevice(self: depthai.Buffer, arg0: datetime.timedelta) → depthai.Buffer
setVerticalFlip(self: depthai.ImageManipConfig, flip: bool) → None
setWarpBorderFillColor(self: depthai.ImageManipConfig, red: int, green: int, blue: int) → depthai.ImageManipConfig
setWarpBorderReplicatePixels(self: depthai.ImageManipConfig) → depthai.ImageManipConfig
setWarpTransformFourPoints(self: depthai.ImageManipConfig, pt: list[depthai.Point2f], normalizedCoords: bool) → depthai.ImageManipConfig
setWarpTransformMatrix3x3(self: depthai.ImageManipConfig, mat: list[float]) → depthai.ImageManipConfig
class dai::ImageManipConfig : public dai::Buffer

ImageManipConfig message. Specifies image manipulation options like:

  • Crop

  • Resize

  • Warp

  • …

Public Types

using CropConfig = RawImageManipConfig::CropConfig
using ResizeConfig = RawImageManipConfig::ResizeConfig
using FormatConfig = RawImageManipConfig::FormatConfig

Public Functions

ImageManipConfig()

Construct ImageManipConfig message.

ImageManipConfig(std::shared_ptr<RawImageManipConfig> ptr)
~ImageManipConfig() = default
ImageManipConfig &setCropRect(float xmin, float ymin, float xmax, float ymax)

Specifies crop with rectangle with normalized values (0..1)

Parameters

  • xmin: Top left X coordinate of rectangle

  • ymin: Top left Y coordinate of rectangle

  • xmax: Bottom right X coordinate of rectangle

  • ymax: Bottom right Y coordinate of rectangle

ImageManipConfig &setCropRect(std::tuple<float, float, float, float> coordinates)

Specifies crop with rectangle with normalized values (0..1)

Parameters

  • coordinates: Coordinate of rectangle

ImageManipConfig &setCropRotatedRect(RotatedRect rr, bool normalizedCoords = true)

Specifies crop with rotated rectangle. Optionally as non normalized coordinates

Parameters

  • rr: Rotated rectangle which specifies crop

  • normalizedCoords: If true coordinates are in normalized range (0..1) otherwise absolute

ImageManipConfig &setCenterCrop(float ratio, float whRatio = 1.0f)

Specifies a centered crop.

Parameters

  • ratio: Ratio between input image and crop region (0..1)

  • whRatio: Crop region aspect ratio - 1 equals to square, 1.7 equals to 16:9, …

ImageManipConfig &setWarpTransformFourPoints(std::vector<Point2f> pt, bool normalizedCoords)

Specifies warp by supplying 4 points in either absolute or normalized coordinates

Parameters

  • pt: 4 points specifying warp

  • normalizedCoords: If true pt is interpreted as normalized, absolute otherwise

ImageManipConfig &setWarpTransformMatrix3x3(std::vector<float> mat)

Specifies warp with a 3x3 matrix

Parameters

  • mat: 3x3 matrix

ImageManipConfig &setWarpBorderReplicatePixels()

Specifies that warp replicates border pixels

ImageManipConfig &setWarpBorderFillColor(int red, int green, int blue)

Specifies fill color for border pixels. Example:

  • setWarpBorderFillColor(255,255,255) -> white

  • setWarpBorderFillColor(0,0,255) -> blue

Parameters

  • red: Red component

  • green: Green component

  • blue: Blue component

ImageManipConfig &setRotationDegrees(float deg)

Specifies clockwise rotation in degrees

Parameters

  • deg: Rotation in degrees

ImageManipConfig &setRotationRadians(float rad)

Specifies clockwise rotation in radians

Parameters

  • rad: Rotation in radians

ImageManipConfig &setResize(int w, int h)

Specifies output image size. After crop stage the image will be stretched to fit.

Parameters

  • w: Width in pixels

  • h: Height in pixels

ImageManipConfig &setResize(std::tuple<int, int> size)

Specifies output image size. After crop stage the image will be stretched to fit.

Parameters

  • size: Size in pixels

ImageManipConfig &setResizeThumbnail(int w, int h, int bgRed = 0, int bgGreen = 0, int bgBlue = 0)

Specifies output image size. After crop stage the image will be resized by preserving aspect ration. Optionally background can be specified.

Parameters

  • w: Width in pixels

  • h: Height in pixels

  • bgRed: Red component

  • bgGreen: Green component

  • bgBlue: Blue component

ImageManipConfig &setResizeThumbnail(std::tuple<int, int> size, int bgRed = 0, int bgGreen = 0, int bgBlue = 0)

Specifies output image size. After crop stage the image will be resized by preserving aspect ration. Optionally background can be specified.

Parameters

  • size: Size in pixels

  • bgRed: Red component

  • bgGreen: Green component

  • bgBlue: Blue component

ImageManipConfig &setFrameType(ImgFrame::Type name)

Specify output frame type.

Parameters

  • name: Frame type

ImageManipConfig &setColormap(Colormap colormap, int min, int max)

Specify gray to color conversion map

Parameters

  • colormap: map from Colormap enum or Colormap::NONE to disable

ImageManipConfig &setColormap(Colormap colormap, float maxf)
ImageManipConfig &setColormap(Colormap colormap, int max = 255)
ImageManipConfig &setHorizontalFlip(bool flip)

Specify horizontal flip

Parameters

  • flip: True to enable flip, false otherwise

void setVerticalFlip(bool flip)

Specify vertical flip

Parameters

  • flip: True to enable vertical flip, false otherwise

ImageManipConfig &setReusePreviousImage(bool reuse)

Instruct ImageManip to not remove current image from its queue and use the same for next message.

Parameters

  • reuse: True to enable reuse, false otherwise

ImageManipConfig &setSkipCurrentImage(bool skip)

Instructs ImageManip to skip current image and wait for next in queue.

Parameters

  • skip: True to skip current image, false otherwise

ImageManipConfig &setKeepAspectRatio(bool keep)

Specifies to whether to keep aspect ratio or not

ImageManipConfig &setInterpolation(dai::Interpolation interpolation)

Specify which interpolation method to use

Parameters

  • interpolation: type of interpolation

float getCropXMin() const

Return

Top left X coordinate of crop region

float getCropYMin() const

Return

Top left Y coordinate of crop region

float getCropXMax() const

Return

Bottom right X coordinate of crop region

float getCropYMax() const

Return

Bottom right Y coordinate of crop region

int getResizeWidth() const

Return

Output image width

int getResizeHeight() const

Return

Output image height

CropConfig getCropConfig() const

Return

Crop configuration

ResizeConfig getResizeConfig() const

Return

Resize configuration

FormatConfig getFormatConfig() const

Return

Format configuration

bool isResizeThumbnail() const

Return

True if resize thumbnail mode is set, false otherwise

Colormap getColormap() const

Return

specified colormap

ImageManipConfig &set(dai::RawImageManipConfig config)

Set explicit configuration.

Parameters

  • config: Explicit configuration

dai::RawImageManipConfig get() const

Retrieve configuration data for ImageManip.

Return

config for ImageManip

dai::Interpolation getInterpolation() const

Retrieve which interpolation method to use.

Private Functions

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

Private Members

RawImageManipConfig &cfg

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