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add ability to clear out contents of ImgFrame #686

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add ability to clear out contents of ImgFrame #686

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2 changes: 1 addition & 1 deletion include/depthai/pipeline/datatype/ADatatype.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ class ADatatype {
explicit ADatatype(std::shared_ptr<RawBuffer> r) : raw(std::move(r)) {}
virtual ~ADatatype() = default;
virtual std::shared_ptr<dai::RawBuffer> serialize() const = 0;
std::shared_ptr<RawBuffer> getRaw() const {
const std::shared_ptr<RawBuffer>& getRaw() const {
return raw;
}
};
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10 changes: 9 additions & 1 deletion include/depthai/pipeline/datatype/ImgFrame.hpp
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Expand Up @@ -23,7 +23,7 @@ namespace dai {
*/
class ImgFrame : public Buffer {
std::shared_ptr<RawBuffer> serialize() const override;
RawImgFrame& img;
RawImgFrame* img;

public:
// Raw* mirror
Expand All @@ -39,6 +39,14 @@ class ImgFrame : public Buffer {
explicit ImgFrame(std::shared_ptr<RawImgFrame> ptr);
virtual ~ImgFrame() = default;

ImgFrame& operator=(const ImgFrame&) = delete;

// helpers
/**
* Clears the contents of this class.
*/
void clear();

// getters
/**
* Retrieves image timestamp related to dai::Clock::now()
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56 changes: 30 additions & 26 deletions src/pipeline/datatype/ImgFrame.cpp
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Expand Up @@ -8,90 +8,94 @@ std::shared_ptr<RawBuffer> ImgFrame::serialize() const {
return raw;
}

ImgFrame::ImgFrame() : Buffer(std::make_shared<RawImgFrame>()), img(*dynamic_cast<RawImgFrame*>(raw.get())) {
ImgFrame::ImgFrame() : Buffer(std::make_shared<RawImgFrame>()), img(dynamic_cast<RawImgFrame*>(raw.get())) {
// set timestamp to now
setTimestamp(std::chrono::steady_clock::now());
}
ImgFrame::ImgFrame(std::shared_ptr<RawImgFrame> ptr) : Buffer(std::move(ptr)), img(*dynamic_cast<RawImgFrame*>(raw.get())) {}
ImgFrame::ImgFrame(std::shared_ptr<RawImgFrame> ptr) : Buffer(std::move(ptr)), img(dynamic_cast<RawImgFrame*>(raw.get())) {}

// helpers
void ImgFrame::clear() {
raw = std::make_shared<RawImgFrame>();
img = dynamic_cast<RawImgFrame*>(raw.get());
}

// getters
std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> ImgFrame::getTimestamp() const {
using namespace std::chrono;
return time_point<steady_clock, steady_clock::duration>{seconds(img.ts.sec) + nanoseconds(img.ts.nsec)};
return time_point<steady_clock, steady_clock::duration>{seconds(img->ts.sec) + nanoseconds(img->ts.nsec)};
}
std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> ImgFrame::getTimestampDevice() const {
using namespace std::chrono;
return time_point<steady_clock, steady_clock::duration>{seconds(img.tsDevice.sec) + nanoseconds(img.tsDevice.nsec)};
return time_point<steady_clock, steady_clock::duration>{seconds(img->tsDevice.sec) + nanoseconds(img->tsDevice.nsec)};
}
unsigned int ImgFrame::getInstanceNum() const {
return img.instanceNum;
return img->instanceNum;
}
unsigned int ImgFrame::getCategory() const {
return img.category;
return img->category;
}
int64_t ImgFrame::getSequenceNum() const {
return img.sequenceNum;
return img->sequenceNum;
}
unsigned int ImgFrame::getWidth() const {
return img.fb.width;
return img->fb.width;
}
unsigned int ImgFrame::getHeight() const {
return img.fb.height;
return img->fb.height;
}
RawImgFrame::Type ImgFrame::getType() const {
return img.fb.type;
return img->fb.type;
}
std::chrono::microseconds ImgFrame::getExposureTime() const {
return std::chrono::microseconds(img.cam.exposureTimeUs);
return std::chrono::microseconds(img->cam.exposureTimeUs);
}
int ImgFrame::getSensitivity() const {
return img.cam.sensitivityIso;
return img->cam.sensitivityIso;
}
int ImgFrame::getColorTemperature() const {
return img.cam.wbColorTemp;
return img->cam.wbColorTemp;
}
int ImgFrame::getLensPosition() const {
return img.cam.lensPosition;
return img->cam.lensPosition;
}

// setters
ImgFrame& ImgFrame::setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
// Set timestamp from timepoint
using namespace std::chrono;
auto ts = tp.time_since_epoch();
img.ts.sec = duration_cast<seconds>(ts).count();
img.ts.nsec = duration_cast<nanoseconds>(ts).count() % 1000000000;
img->ts.sec = duration_cast<seconds>(ts).count();
img->ts.nsec = duration_cast<nanoseconds>(ts).count() % 1000000000;
return *this;
}
ImgFrame& ImgFrame::setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
// Set timestamp from timepoint
using namespace std::chrono;
auto ts = tp.time_since_epoch();
img.tsDevice.sec = duration_cast<seconds>(ts).count();
img.tsDevice.nsec = duration_cast<nanoseconds>(ts).count() % 1000000000;
img->tsDevice.sec = duration_cast<seconds>(ts).count();
img->tsDevice.nsec = duration_cast<nanoseconds>(ts).count() % 1000000000;
return *this;
}
ImgFrame& ImgFrame::setInstanceNum(unsigned int instanceNum) {
img.instanceNum = instanceNum;
img->instanceNum = instanceNum;
return *this;
}
ImgFrame& ImgFrame::setCategory(unsigned int category) {
img.category = category;
img->category = category;
return *this;
}
ImgFrame& ImgFrame::setSequenceNum(int64_t sequenceNum) {
img.sequenceNum = sequenceNum;
img->sequenceNum = sequenceNum;
return *this;
}
ImgFrame& ImgFrame::setWidth(unsigned int width) {
img.fb.width = width;
img.fb.stride = width;
img->fb.width = width;
img->fb.stride = width;
return *this;
}
ImgFrame& ImgFrame::setHeight(unsigned int height) {
img.fb.height = height;
img->fb.height = height;
return *this;
}
ImgFrame& ImgFrame::setSize(unsigned int width, unsigned int height) {
Expand All @@ -104,8 +108,8 @@ ImgFrame& ImgFrame::setSize(std::tuple<unsigned int, unsigned int> size) {
return *this;
}
ImgFrame& ImgFrame::setType(RawImgFrame::Type type) {
img.fb.type = type;
img.fb.bytesPP = RawImgFrame::typeToBpp(img.fb.type);
img->fb.type = type;
img->fb.bytesPP = RawImgFrame::typeToBpp(img->fb.type);
return *this;
}

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