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Image

Inherits from: object A class to represent an image Attributes: data (Union[np.ndarray, bytes]): image data (H x W x C) or raw bytes capture_params (dict, optional): the parameters of image capture img_type (str): type of the image (‘rgb’, ‘depth’, ‘segmentation’) shape (tuple, optional): Shape for bytes data (height, width, channels) dtype (np.dtype, optional): Data type for bytes data

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init

Image.__init__(data: np.ndarray, capture_params: Optional[dict] = None, img_type: Optional[str] = None) -> None
Initialize an Image from a numpy array. This is the most common way to create an Image object when you already have image data as a numpy array. The array should be in HWC format (Height, Width, Channels).
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Arguments
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data (np.ndarray)
np.ndarray
required
Image data as a numpy array with shape (H, W, C) where: - H: Height in pixels - W: Width in pixels - C: Number of channels (e.g., 3 for RGB, 1 for grayscale) The array should have dtype uint8 for standard images, but other dtypes are supported (float32, uint16, etc.)
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capture_params (Optional[dict])
Optional[dict]
Dictionary containing metadata about how the image was captured. Can include camera parameters, timestamps, exposure settings, etc. Defaults to None.
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img_type (Optional[str])
Optional[str]
Type/format of the image. Common values include: - ‘rgb’: Standard RGB color image - ‘depth’: Depth map image - ‘segmentation’: Semantic segmentation mask - ‘grayscale’: Single channel grayscale image Defaults to None.
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Returns
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returns
None

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init

Image.__init__(data: bytes, shape: tuple, dtype: np.dtype, capture_params: Optional[dict] = None, img_type: Optional[str] = None) -> None
Initialize an Image from raw bytes data. This method is optimized for performance when receiving image data as raw bytes from cameras, network streams, or file I/O. The bytes are efficiently converted to a numpy array using the provided shape and dtype information.
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Arguments
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data (bytes)
bytes
required
Raw image data in bytes format. This should be the flattened pixel data without any headers or metadata. The total number of bytes should match: height × width × channels × bytes_per_pixel
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shape (tuple)
tuple
required
Shape of the image as (height, width, channels). For example: - (480, 640, 3): 480x640 RGB image - (720, 1280, 1): 720x1280 grayscale image - (1080, 1920, 4): 1080x1920 RGBA image
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dtype (np.dtype)
np.dtype
required
Data type of the pixel values. Common types include: - np.uint8: Standard 8-bit images (0-255 range) - np.uint16: 16-bit images (0-65535 range, common for depth) - np.float32: Floating point images (often normalized 0.0-1.0) - np.int16: Signed 16-bit (sometimes used for depth with negative values)
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capture_params (Optional[dict])
Optional[dict]
Dictionary containing metadata about how the image was captured. Defaults to None.
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img_type (Optional[str])
Optional[str]
Type/format of the image (‘rgb’, ‘depth’, ‘segmentation’, etc.). Defaults to None.
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Returns
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returns
None
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Raises
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ValueError
If the provided bytes data is too small for the specified shape and dtype combination.
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Note
This method is optimized for speed and memory efficiency. It uses np.frombuffer() for fast conversion and only processes the last expected_size bytes if the data is larger than needed. This allows handling of data with headers or padding.

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init

Image.__init__(data: Union[np.ndarray, bytes], shape: Optional[tuple] = None, dtype: Optional[np.dtype] = None, capture_params: Optional[dict] = None, img_type: Optional[str] = None)
No docstring provided.
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Arguments
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data (Union[np.ndarray, bytes])
Union[np.ndarray, bytes]
required
No description provided.
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shape (Optional[tuple])
Optional[tuple]
No description provided.
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dtype (Optional[np.dtype])
Optional[np.dtype]
No description provided.
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capture_params (Optional[dict])
Optional[dict]
No description provided.
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img_type (Optional[str])
Optional[str]
No description provided.

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to_dict

Image.to_dict() -> dict
Serialize to dictionary for JSON transfer
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Returns
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returns
dict

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from_dict

Image.from_dict(data: dict) -> 'Image'
Deserialize from dictionary - handles both old and new encoded formats
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Arguments
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data (dict)
dict
required
No description provided.
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Returns
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returns
'Image'