GRID Docs | General Robotics

from grid_types import Image

A class to represent an image. img_type describes the semantic content of the image (“rgb”, “depth”, “segmentation”, …). encoding_format describes the wire encoding of data — empty string for a raw ndarray (or a raw pixel-buffer reshaped into one), or one of {“jpeg”, “png”, “webp”} when data is the encoded bytes from a camera firmware / image-transport plugin. The two are orthogonal: a JPEG is still semantically an RGB image after decoding.

Fields

Union[np.ndarray, bytes]

image data (H x W x C ndarray for raw, or the encoded byte blob when encoding_format is set).

dict, optional

the parameters of image capture.

str

semantic image type (“rgb”, “depth”, “segmentation”, …).

str

"" for raw pixel data; “jpeg” / “png” / “webp” when data is encoded bytes. Use Image.decode() to lazily turn encoded bytes into an ndarray.

tuple, optional

Shape for raw bytes data (height, width, channels).

np.dtype, optional

Data type for raw bytes data.

Constructor

Signature

Image(
    data: Union[np.ndarray, bytes],
    shape: Optional[tuple] = None,
    dtype: Optional[np.dtype] = None,
    capture_params: Optional[dict] = None,
    img_type: Optional[str] = None,
    encoding_format: str = '',
)

Methods

`decode()`

Signature

decode() -> np.ndarray

Return an RGB ndarray, decoding from JPEG/PNG/WebP if needed. No-op (returns self.data) when the image is already an ndarray.

`from_dict()`

Signature

from_dict(data: dict) -> Image

Deserialize from dictionary - handles encoded formats and the legacy ndarray + image_data variants.

`to_dict()`

Signature

to_dict() -> dict

Serialize to dictionary for JSON transfer. For encoded formats (JPEG/PNG/WebP) the bytes are kept as-is and flagged with encoding_format; the receiver reconstructs via from_dict without reshaping. For ndarrays we fall back to the legacy raw-bytes-with-shape/dtype path.

Example

# Create from numpy array
image = Image(img_array)
# Create from raw pixel bytes
image = Image(raw_bytes, shape=(480, 640, 3), dtype=np.uint8)
# Create from JPEG bytes (e.g. from a camera that emits
# CompressedImage). No decode happens here.
image = Image(jpeg_bytes, encoding_format="jpeg")

​Fields

​Constructor

​Methods

​decode()

​from_dict()

​to_dict()

​Example

Fields

Constructor

Methods

`decode()`

`from_dict()`

`to_dict()`

Example