# ImgFrame These are all the images (regardless of their encoding/format), as well as the depth/disparity "image". [Camera](https://docs.luxonis.com/software-v3/depthai/depthai-components/nodes/camera.md) is the source of the image frame messages. ## Examples of functionality * [Camera Previews](https://docs.luxonis.com/software-v3/depthai/examples/camera/camera_multiple_outputs.md) * [Depth Preview](https://docs.luxonis.com/software-v3/depthai/examples/stereo_depth/stereo_depth.md) ## Reference ### dai::ImgFrame Kind: class ImgFrame message. Carries image data and metadata. #### dai::ImgFrame::CameraSettings Kind: struct ##### int32_t exposureTimeUs Kind: variable ##### int32_t sensitivityIso Kind: variable ##### int32_t lensPosition Kind: variable ##### int32_t wbColorTemp Kind: variable ##### float lensPositionRaw Kind: variable ##### Fsync fsync Kind: variable ##### int32_t sensorMode Kind: variable ##### float fps Kind: variable ##### DEPTHAI_SERIALIZE(CameraSettings, exposureTimeUs, sensitivityIso, lensPosition, wbColorTemp, lensPositionRaw, fsync, sensorMode, fps) Kind: function #### dai::ImgFrame::Specs Kind: struct ##### Type type Kind: variable ##### unsigned int width Kind: variable ##### unsigned int height Kind: variable ##### unsigned int stride Kind: variable ##### unsigned int bytesPP Kind: variable ##### unsigned int p1Offset Kind: variable ##### unsigned int p2Offset Kind: variable ##### unsigned int p3Offset Kind: variable ##### DEPTHAI_SERIALIZE(Specs, type, width, height, stride, bytesPP, p1Offset, p2Offset, p3Offset) Kind: function #### int32_t Fsync Kind: enum ##### NONE Kind: enum_value ##### INPUT Kind: enum_value ##### OUTPUT Kind: enum_value ##### PTP Kind: enum_value #### Type Kind: enum ##### YUV422i Kind: enum_value ##### YUV444p Kind: enum_value ##### YUV420p Kind: enum_value ##### YUV422p Kind: enum_value ##### YUV400p Kind: enum_value ##### RGBA8888 Kind: enum_value ##### RGB161616 Kind: enum_value ##### RGB888p Kind: enum_value ##### BGR888p Kind: enum_value ##### RGB888i Kind: enum_value ##### BGR888i Kind: enum_value ##### LUT2 Kind: enum_value ##### LUT4 Kind: enum_value ##### LUT16 Kind: enum_value ##### RAW16 Kind: enum_value ##### RAW14 Kind: enum_value ##### RAW12 Kind: enum_value ##### RAW10 Kind: enum_value ##### RAW8 Kind: enum_value ##### PACK10 Kind: enum_value ##### PACK12 Kind: enum_value ##### YUV444i Kind: enum_value ##### NV12 Kind: enum_value ##### NV21 Kind: enum_value ##### BITSTREAM Kind: enum_value ##### HDR Kind: enum_value ##### RGBF16F16F16p Kind: enum_value ##### BGRF16F16F16p Kind: enum_value ##### RGBF16F16F16i Kind: enum_value ##### BGRF16F16F16i Kind: enum_value ##### GRAY8 Kind: enum_value ##### GRAYF16 Kind: enum_value ##### RAW32 Kind: enum_value ##### NONE Kind: enum_value #### Specs fb Kind: variable #### Specs sourceFb Kind: variable #### CameraSettings cam Kind: variable #### uint32_t category Kind: variable #### uint32_t instanceNum Kind: variable #### dai::FrameEvent event Kind: variable #### ImgTransformation transformation Kind: variable #### ImgFrame() Kind: function Construct ImgFrame message. Timestamp is set to now #### ImgFrame(long fd) Kind: function #### ImgFrame(size_t size) Kind: function #### ImgFrame(long fd, size_t size) Kind: function #### ~ImgFrame() Kind: function #### void serialize(std::vector< std::uint8_t > & metadata, DatatypeEnum & datatype) Kind: function #### DatatypeEnum getDatatype() Kind: function Get the datatype of this specific message. return: DatatypeEnum #### std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > getTimestamp(CameraExposureOffset offset) Kind: function 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) Kind: function 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() Kind: function Retrieves instance number #### unsigned int getCategory() Kind: function Retrieves image category #### unsigned int getWidth() Kind: function Retrieves image width in pixels #### unsigned int getStride() Kind: function Retrieves image line stride in bytes #### unsigned int getPlaneStride(int planeIndex) Kind: function Retrieves image plane stride (offset to next plane) in bytes parameters: current: plane index, 0 or 1 #### unsigned int getHeight() Kind: function Retrieves image height in pixels #### unsigned int getPlaneHeight() Kind: function Retrieves image plane height in lines #### unsigned int getSourceWidth() Kind: function Retrieves source image width in pixels #### unsigned int getSourceHeight() Kind: function Retrieves source image height in pixels #### Type getType() Kind: function Retrieves image type #### float getBytesPerPixel() Kind: function Retrieves image bytes per pixel #### std::chrono::microseconds getExposureTime() Kind: function Retrieves exposure time #### int getSensitivity() Kind: function Retrieves sensitivity, as an ISO value #### int getColorTemperature() Kind: function Retrieves white-balance color temperature of the light source, in kelvins #### int getLensPosition() Kind: function Retrieves lens position, range 0..255. Returns -1 if not available #### float getLensPositionRaw() Kind: function Retrieves lens position, range 0.0f..1.0f. Returns -1 if not available #### Fsync getFsync() Kind: function Retrieves effective frame sync mode for this frame. #### int getSensorMode() Kind: function Retrieves selected sensor mode index for this frame. #### float getFps() Kind: function Retrieves sensor FPS for this frame. #### ImgTransformation & getTransformation() Kind: function Retrieves image transformation data #### ImgFrame & setInstanceNum(unsigned int instance) Kind: function Instance number relates to the origin of the frame (which camera) parameters: instance: Instance number #### ImgFrame & setCategory(unsigned int category) Kind: function parameters: category: Image category #### ImgFrame & setWidth(unsigned int width) Kind: function Specifies frame width parameters: width: frame width #### ImgFrame & setStride(unsigned int stride) Kind: function Specifies frame stride parameters: stride: frame stride #### ImgFrame & setHeight(unsigned int height) Kind: function Specifies frame height parameters: height: frame height #### ImgFrame & setSize(unsigned int width, unsigned int height) Kind: function Specifies frame size parameters: height: frame height; width: frame width #### ImgFrame & setSize(std::tuple< unsigned int, unsigned int > size) Kind: function Specifies frame size parameters: size: frame size #### ImgFrame & setSourceSize(unsigned int width, unsigned int height) Kind: function Specifies source frame size parameters: height: frame height; width: frame width #### ImgFrame & setSourceSize(std::tuple< unsigned int, unsigned int > size) Kind: function Specifies source frame size parameters: size: frame size #### ImgFrame & setType(Type type) Kind: function Specifies frame type, RGB, BGR, ... parameters: type: Type of image #### ImgFrame & setTransformation(const ImgTransformation & transformation) Kind: function Specifies image transformation data parameters: transformation: transformation data #### Point2f remapPointFromSource(const Point2f & point) Kind: function Remap a point from the current frame to the source frame parameters: point: point to remap return: remapped point #### Point2f remapPointToSource(const Point2f & point) Kind: function Remap a point from the source frame to the current frame parameters: point: point to remap return: remapped point #### Rect remapRectFromSource(const Rect & rect) Kind: function Remap a rectangle from the source frame to the current frame parameters: rect: rectangle to remap return: remapped rectangle #### Rect remapRectToSource(const Rect & rect) Kind: function Remap a rectangle from the current frame to the source frame parameters: rect: rectangle to remap return: remapped rectangle #### ImgFrame & setMetadata(const ImgFrame & sourceFrame) Kind: function 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) Kind: function 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) Kind: function Convenience function to set the data of the ImgFrame parameters: data: data to set #### ImgFrame & copyDataFrom(const std::shared_ptr< ImgFrame > & sourceFrame) Kind: function Convenience function to set the data of the ImgFrame parameters: data: data to set #### std::shared_ptr< ImgFrame > clone() Kind: function Create a clone of the ImgFrame with metadata and data copied return: cloned ImgFrame #### float getSourceDFov() Kind: function note: Fov API works correctly only on rectilinear frames Get the source diagonal field of view in degrees return: field of view in degrees #### float getSourceHFov() Kind: function 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() Kind: function 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() Kind: function Check that the image transformation match the image size return: true if the transformations are valid #### ImgFrame & setFrame(cv::Mat frame) Kind: function note: This API only available if OpenCV support is enabled ImgFrame buffer parameters: frame: Input cv::Mat frame from which to copy the data #### cv::Mat getFrame(bool copy) Kind: function note: This API only available if OpenCV support is enabled parameters: copy: If false only a reference to data is made, otherwise a copy return: cv::Mat with corresponding to ImgFrame parameters #### cv::Mat getCvFrame(cv::MatAllocator * allocator) Kind: function note: This API only available if OpenCV support is enabled ImgFrame is converted to color BGR interleaved or grayscale depending on type. A copy is always made return: cv::Mat for use in opencv functions #### ImgFrame & setCvFrame(cv::Mat frame, Type type) Kind: function note: This API only available if OpenCV support is enabled ImgFrame buffer and converts to a specific type. parameters: frame: Input cv::Mat BGR frame or single channel frame from which to copy the data from.; type: Specifies the target image format for the internal buffer, including color space, layout, and bit depth. #### DEPTHAI_SERIALIZE(ImgFrame, Buffer::ts, Buffer::tsDevice, Buffer::sequenceNum, fb, sourceFb, cam, category, instanceNum, transformation) Kind: function #### std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > getTimestamp() Kind: function Retrieves timestamp related to dai::Clock::now() #### std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > getTimestampDevice() Kind: function Retrieves timestamp directly captured from device's monotonic clock, not synchronized to host time. Used mostly for debugging ### Need assistance? Head over to [Discussion Forum](https://discuss.luxonis.com/) for technical support or any other questions you might have.