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ON THIS PAGE

  • ImageManip
  • How to place it
  • Inputs and Outputs
  • Usage
  • Image formats supported
  • Limitations
  • Examples of functionality
  • Reference

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

Python
C++
Python
1pipeline = dai.Pipeline()
2manip = pipeline.create(dai.node.ImageManip)

Inputs and Outputs

Command Line
1/
2                 ┌───────────────────┐
3  inputImage     │                   │
4  ──────────────►│                   │
5                 │                   │        out
6                 │    ImageManip     ├───────────►
7  inputConfig    │                   │
8  ──────────────►│                   │
9                 │                   │
10                 └───────────────────┘
Message types

Usage

TODO Add example of how to perform various transformations with the manip and what needs to be kept in mind with regards to grabbing from different streams with their different data formats (color cam, depth)
Python
C++
Python
1pipeline = dai.Pipeline()
2manip = pipeline.create(dai.node.ImageManip)
3
4manip.initialConfig.setResize(300, 300)
5manip.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

Reference

class

depthai.node.ImageManip(depthai.Node)

method
getWaitForConfigInput(self) -> bool: bool
See also:
    setWaitForConfigInput

Returns:
    True if wait for inputConfig message, false otherwise
method
method
method
method
method
method
setMaxOutputFrameSize(self, arg0: int)
Specify maximum size of output image.

Parameter ``maxFrameSize``:
    Maximum frame size in bytes
method
setNumFramesPool(self, arg0: int)
Specify number of frames in pool.

Parameter ``numFramesPool``:
    How many frames should the pool have
method
method
method
setWaitForConfigInput(self, wait: bool)
Specify whether or not wait until configuration message arrives to inputConfig
Input.

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

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