MessageGroup¶
The MessageGroup message type is a versatile container used in DepthAI pipelines to group together a map of arbitrary DepthAI messages. It serves as the primary output of the Sync node, effectively synchronizing various input streams, and acts as the input to the MessageDemux node for subsequent disaggregation and processing.
Creating MessageGroup¶
MessageGroup can be created automatically by the Sync node as it aligns and groups messages from different sources based on their timestamps. Alternatively, it can be manually constructed in a host application or within a Script node to create custom groupings of DepthAI messages.
Reference¶
-
class
depthai.
MessageGroup
MessageGroup message. Carries multiple messages in one.
-
getData
(self: object) → numpy.ndarray[numpy.uint8] Get non-owning reference to internal buffer
- Returns
Reference to internal buffer
-
getIntervalNs
(self: depthai.MessageGroup) → int Retrieves interval between the first and the last message in the group.
-
getMessageNames
(self: depthai.MessageGroup) → List[str] Gets the names of messages in the group
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getNumMessages
(self: depthai.MessageGroup) → int
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getRaw
(self: depthai.ADatatype) → depthai.RawBuffer
-
getSequenceNum
(self: depthai.MessageGroup) → int Retrieves sequence number
-
getTimestamp
(self: depthai.MessageGroup) → datetime.timedelta Retrieves timestamp related to dai::Clock::now()
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getTimestampDevice
(self: depthai.MessageGroup) → datetime.timedelta Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging
-
isSynced
(self: depthai.MessageGroup, arg0: int) → bool True if all messages in the group are in the interval
- Parameter
thresholdNs
: Maximal interval between messages
- Parameter
-
setData
(*args, **kwargs) Overloaded function.
setData(self: depthai.Buffer, arg0: List[int]) -> None
- Parameter
data
: Copies data to internal buffer
setData(self: depthai.Buffer, arg0: numpy.ndarray[numpy.uint8]) -> None
- Parameter
data
: Copies data to internal buffer
-
setSequenceNum
(self: depthai.MessageGroup, arg0: int) → depthai.MessageGroup Retrieves image sequence number
-
setTimestamp
(self: depthai.MessageGroup, arg0: datetime.timedelta) → depthai.MessageGroup Sets image timestamp related to dai::Clock::now()
-
setTimestampDevice
(self: depthai.MessageGroup, arg0: datetime.timedelta) → depthai.MessageGroup Sets image timestamp related to dai::Clock::now()
-
-
class
dai
::
MessageGroup
: public dai::Buffer¶ MessageGroup message. Carries multiple messages in one.
Public Functions
-
MessageGroup
()¶ Construct MessageGroup message.
-
~MessageGroup
() = default¶
-
bool
isSynced
(int64_t thresholdNs) const¶ True if all messages in the group are in the interval
- Parameters
thresholdNs
: Maximal interval between messages
-
int64_t
getIntervalNs
() const¶ Retrieves interval between the first and the last message in the group.
-
int64_t
getNumMessages
() const¶
-
std::vector<std::string>
getMessageNames
() const¶ Gets the names of messages in the group
-
MessageGroup &
setTimestamp
(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp)¶ Sets image timestamp related to dai::Clock::now()
-
MessageGroup &
setTimestampDevice
(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp)¶ Sets image timestamp related to dai::Clock::now()
-
MessageGroup &
setSequenceNum
(int64_t sequenceNum)¶ Retrieves image sequence number
Private Members
-
RawMessageGroup &
rawGrp
¶
-