RGBDData

RGBDData bundles an aligned color frame and depth frame into a single payload. It is produced by the RGBD node after synchronizing the incoming ImgFrame streams, and can be consumed on the host to render textured point clouds or fuse color and depth for higher-level perception tasks.The message exposes:

rgbFrame — the undistorted color image as an ImgFrame;
depthFrame — the registered depth map (millimeters by default);
Camera calibration and projection helpers for reconstructing 3D coordinates;
Convenience methods to iterate fused pixels or export packed RGB-D arrays.

Usage

On the host, fetch RGBDData from the output queue:

Python

1queue = device.getOutputQueue("rgbd", maxSize=2, blocking=False)
2rgbd = queue.get()  # type: dai.RGBDData
3rgb_frame = rgbd.getRgbFrame()
4depth_frame = rgbd.getDepthFrame()

Reference

class

dai::RGBDData

#include RGBDData.hpp

variable

std::map< std::string, std::shared_ptr< ADatatype > > frames

function

RGBDData()

Construct RGBD message.

function

~RGBDData()

function

void setRGBFrame(const std::shared_ptr< ImgFrame > & frame)

function

void setDepthFrame(const std::shared_ptr< ImgFrame > & frame)

function

std::shared_ptr< ImgFrame > getRGBFrame()

function

std::shared_ptr< ImgFrame > getDepthFrame()

function

void serialize(std::vector< std::uint8_t > & metadata, DatatypeEnum & datatype)

function

DEPTHAI_SERIALIZE(RGBDData, frames, Buffer::ts, Buffer::tsDevice, Buffer::sequenceNum)

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RGBDData

Usage

Reference

dai::RGBDData

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