ImageManip¶

ImageManip node can be used to crop, rotate rectangle area or perform various image transforms: rotate, mirror, flip, perspective transform.

For downscaling, ImageManip uses the bilinear/bicubic interpolation.

How to place it¶

pipeline = dai.Pipeline()
manip = pipeline.create(dai.node.ImageManip)

dai::Pipeline pipeline;
auto manip = pipeline.create<dai::node::ImageManip>();

Inputs and Outputs¶

               ┌───────────────────┐
inputImage     │                   │
──────────────►│                   │
               │                   │        out
               │    ImageManip     ├───────────►
inputConfig    │                   │
──────────────►│                   │
               │                   │
               └───────────────────┘

Message types

inputImage - ImgFrame
inputConfig - ImageManipConfig
out - ImgFrame

Usage¶

pipeline = dai.Pipeline()
manip = pipeline.create(dai.node.ImageManip)

manip.initialConfig.setResize(300, 300)
manip.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)

dai::Pipeline pipeline;
auto manip = pipeline.create<dai::node::ImageManip>();

manip->initialConfig.setResize(300, 300);
manip->initialConfig.setFrameType(dai::ImgFrame::Type::BGR888p);

Image formats supported¶

ImageManip node supports the following image formats (more info in PR here):

Input formats supported: RGB/BGR, planar/interleaved, YUV/NV12, RAW8 and GRAY8
Convert format to any other format mentioned above
RAW16 (uint16, depth output) supported, but without color conversion capability

Note that planar formats are faster to process, so interleaved images should be avoided (eg. NV12 input).

Limitations¶

Besides limitations mentioned above (unsupported frame formats), there are other limitations:

Due to HW warp constraint, rotating/warping can be done only on frames whose width values are multiples of 16
Maximum output width of a frame is 4056 pixels

Examples of functionality¶

Mono & MobilenetSSD
RGB Encoding & Mono & MobilenetSSD
RGB Camera Control
ImageManip Tiling - Using ImageManip for frame tiling
ImageManip Rotate - Using ImageManip to rotate color/mono frames

Reference¶

class depthai.node.ImageManip

ImageManip node. Capability to crop, resize, warp, … incoming image frames

class Connection: Connection between an Input and Output

class Id: Node identificator. Unique for every node on a single Pipeline

getAssetManager(*args, **kwargs)

Overloaded function.

getAssetManager(self: depthai.Node) -> depthai.AssetManager

Get node AssetManager as a const reference

getAssetManager(self: depthai.Node) -> depthai.AssetManager

Get node AssetManager as a const reference

getInputRefs(*args, **kwargs)

Overloaded function.

getInputRefs(self: depthai.Node) -> List[depthai.Node.Input]

Retrieves reference to node inputs

getInputRefs(self: depthai.Node) -> List[depthai.Node.Input]

Retrieves reference to node inputs

getInputs(self: depthai.Node) → List[depthai.Node.Input]: Retrieves all nodes inputs

getName(self: depthai.Node) → str: Retrieves nodes name

getOutputRefs(*args, **kwargs)

Overloaded function.

getOutputRefs(self: depthai.Node) -> List[depthai.Node.Output]

Retrieves reference to node outputs

getOutputRefs(self: depthai.Node) -> List[depthai.Node.Output]

Retrieves reference to node outputs

getOutputs(self: depthai.Node) → List[depthai.Node.Output]: Retrieves all nodes outputs

getParentPipeline(*args, **kwargs)

Overloaded function.

getParentPipeline(self: depthai.Node) -> depthai.Pipeline
getParentPipeline(self: depthai.Node) -> depthai.Pipeline

getWaitForConfigInput(self: depthai.node.ImageManip) → bool

See also

setWaitForConfigInput

Returns: True if wait for inputConfig message, false otherwise

property id: Id of node

property initialConfig: Initial config to use when manipulating frames

property inputConfig: Input ImageManipConfig message with ability to modify parameters in runtime Default queue is blocking with size 8

property inputImage: Input image to be modified Default queue is blocking with size 8

property out: Outputs ImgFrame message that carries modified image.

setCenterCrop(self: depthai.node.ImageManip, arg0: float, arg1: float) → None

setCropRect(self: depthai.node.ImageManip, arg0: float, arg1: float, arg2: float, arg3: float) → None

setFrameType(self: depthai.node.ImageManip, arg0: depthai.RawImgFrame.Type) → None

setHorizontalFlip(self: depthai.node.ImageManip, arg0: bool) → None

setKeepAspectRatio(self: depthai.node.ImageManip, arg0: bool) → None

setMaxOutputFrameSize(self: depthai.node.ImageManip, arg0: int) → None

Specify maximum size of output image.

Parameter maxFrameSize:: Maximum frame size in bytes

setNumFramesPool(self: depthai.node.ImageManip, arg0: int) → None

Specify number of frames in pool.

Parameter numFramesPool:: How many frames should the pool have

setResize(self: depthai.node.ImageManip, arg0: int, arg1: int) → None

setResizeThumbnail(self: depthai.node.ImageManip, arg0: int, arg1: int, arg2: int, arg3: int, arg4: int) → None

setWaitForConfigInput(self: depthai.node.ImageManip, wait: bool) → None

Specify whether or not wait until configuration message arrives to inputConfig Input.

Parameter wait:: True to wait for configuration message, false otherwise.

setWarpMesh(*args, **kwargs)

Overloaded function.

setWarpMesh(self: depthai.node.ImageManip, arg0: List[depthai.Point2f], arg1: int, arg2: int) -> None
setWarpMesh(self: depthai.node.ImageManip, arg0: List[Tuple[float, float]], arg1: int, arg2: int) -> None

class dai::node::ImageManip : public dai::NodeCRTP<Node, ImageManip, ImageManipProperties>¶

ImageManip node. Capability to crop, resize, warp, … incoming image frames.

Public Functions

ImageManip(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId)¶

ImageManip(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId, std::unique_ptr<Properties> props)¶

void setCropRect(float xmin, float ymin, float xmax, float ymax)¶

void setCenterCrop(float ratio, float whRatio = 1.0f)¶

void setResize(int w, int h)¶

void setResizeThumbnail(int w, int h, int bgRed = 0, int bgGreen = 0, int bgBlue = 0)¶

void setFrameType(ImgFrame::Type name)¶

void setHorizontalFlip(bool flip)¶

void setKeepAspectRatio(bool keep)¶

void setWaitForConfigInput(bool wait)¶

Specify whether or not wait until configuration message arrives to inputConfig Input.

Parameters

wait: True to wait for configuration message, false otherwise.

bool getWaitForConfigInput() const¶

See: setWaitForConfigInput
Return: True if wait for inputConfig message, false otherwise

void setNumFramesPool(int numFramesPool)¶

Specify number of frames in pool.

Parameters

numFramesPool: How many frames should the pool have

void setMaxOutputFrameSize(int maxFrameSize)¶

Specify maximum size of output image.

Parameters

maxFrameSize: Maximum frame size in bytes

void setWarpMesh(const std::vector<Point2f> &meshData, int width, int height)¶

Set a custom warp mesh

Parameters

meshData: 2D plane of mesh points, starting from top left to bottom right
width: Width of mesh
height: Height of mesh

void setWarpMesh(const std::vector<std::pair<float, float>> &meshData, int width, int height)¶

Public Members

ImageManipConfig initialConfig¶: Initial config to use when manipulating frames

Input inputConfig = {*this, "inputConfig", Input::Type::SReceiver, true, 8, {{DatatypeEnum::ImageManipConfig, true}}}¶: Input ImageManipConfig message with ability to modify parameters in runtime Default queue is blocking with size 8

Input inputImage = {*this, "inputImage", Input::Type::SReceiver, true, 8, true, {{DatatypeEnum::ImgFrame, true}}}¶: Input image to be modified Default queue is blocking with size 8

Output out = {*this, "out", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}}¶: Outputs ImgFrame message that carries modified image.

Public Static Attributes

static constexpr const char *NAME = "ImageManip"¶

Private Functions

void setWarpMesh(const float *meshData, int numMeshPoints, int width, int height)¶

Private Members

std::shared_ptr<RawImageManipConfig> rawConfig¶

Got questions?

We’re always happy to help with code or other questions you might have.

ImageManip¶

How to place it¶

Inputs and Outputs¶

Usage¶

Image formats supported¶

Limitations¶

Examples of functionality¶

Reference¶

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