# ImageAlign

ImageAlign node is used for aligning sensor frames to any other sensor frame on the device, including ToF sensors. It can also
align two sensors with a static depth, making it useful for thermal-RGB alignment.

## How to place it

#### Python

```python
pipeline = dai.Pipeline()
align = pipeline.create(dai.node.ImageAlign)
```

#### C++

```cpp
dai::Pipeline pipeline;
auto align = pipeline.create<dai::node::ImageAlign>();
```

## Inputs and Outputs

## How it works

The ImageAlign node takes two inputs: inputAlignTo and input. The inputAlignTo is the frame to which the input frame will be
aligned. The input frame will be aligned to the inputAlignTo frame and the aligned frame will be sent to the outputAligned output.
The inputAlignTo is only read once to extract the frame metadata, then the input frame is reprojected and aligned to it based on
the extrinsic calibration between the two sensors.

## Usage

#### Python

```python
pipeline = dai.Pipeline()

rgb_cam = pipeline.create(dai.node.ColorCamera)
# Assume the RGB camera sensor is on port CAM_A
rgb_cam.setBoardSocket(dai.CameraBoardSocket.CAM_A)

tof = pipeline.create(dai.node.ToF)
# Assume the ToF camera sensor is on port CAM_B
tof_cam.setBoardSocket(dai.CameraBoardSocket.CAM_B)

image_align = pipeline.create(dai.node.ImageAlign)
# Align depth from ToF to RGB
tof.depth.link(image_align.input)
rgb_cam.video.link(image_align.inputAlignTo)

# Send aligned output to the host
image_align.outputAligned.link(xout.input)
```

#### C++

```cpp
dai::Pipeline pipeline;

auto rgbCam = pipeline.create<dai::node::ColorCamera>();
// Assume the RGB camera sensor is on port CAM_A
rgbCam->setBoardSocket(dai::CameraBoardSocket::CAM_A);

auto tof = pipeline.create<dai::node::ToF>();
// Assume the ToF camera sensor is on port CAM_B
tofCam->setBoardSocket(dai::CameraBoardSocket::CAM_B);

auto imageAlign = pipeline.create<dai::node::ImageAlign>();
// Align depth from ToF to RGB
tof->depth.link(imageAlign->input);
rgbCam->video.link(imageAlign->inputAlignTo);

auto xout = pipeline.create<dai::node::XLinkOut>();
xout->setStreamName("aligned");
// Send aligned output to the host
imageAlign->outputAligned.link(xout->input);
```

## Examples of functionality

 * [Aligning mono and color cameras](https://docs.luxonis.com/software/depthai/examples/image_align.md)
 * [Thermal-RGB alignment](https://docs.luxonis.com/software/depthai/examples/thermal_align.md)
 * [ToF-RGB alignment](https://docs.luxonis.com/software/depthai/examples/tof_align.md)

## Reference

### depthai.node.ImageAlign(depthai.Node)

Kind: Class

ImageAlign node. Calculates spatial location data on a set of ROIs on depth map.

#### setInterpolation(self, arg0: depthai.Interpolation) -> ImageAlign: ImageAlign

Kind: Method

Specify interpolation method to use when resizing

#### setNumFramesPool(self, arg0: typing.SupportsInt) -> ImageAlign: ImageAlign

Kind: Method

Specify number of frames in the pool

#### setNumShaves(self, arg0: typing.SupportsInt) -> ImageAlign: ImageAlign

Kind: Method

Specify number of shaves to use for this node

#### setOutKeepAspectRatio(self, arg0: bool) -> ImageAlign: ImageAlign

Kind: Method

Specify whether to keep aspect ratio when resizing

#### setOutputSize(self, arg0: typing.SupportsInt, arg1: typing.SupportsInt) -> ImageAlign: ImageAlign

Kind: Method

Specify the output size of the aligned image

#### initialConfig

Kind: Property

Initial config to use when calculating spatial location data.

#### input

Kind: Property

Input message. Default queue is non-blocking with size 4.

#### inputAlignTo

Kind: Property

Input align to message. Default queue is non-blocking with size 1.

#### inputConfig

Kind: Property

Input message with ability to modify parameters in runtime. Default queue is
non-blocking with size 4.

#### outputAligned

Kind: Property

Outputs ImgFrame message that is aligned to inputAlignTo.

#### passthroughInput

Kind: Property

Passthrough message on which the calculation was performed. Suitable for when
input queue is set to non-blocking behavior.

### Need assistance?

Head over to [Discussion Forum](https://discuss.luxonis.com/) for technical support or any other questions you might have.