Greyscale images returned from an RGB camera/socket

The only difference is I'm not using OpenCV. Instead I get an ImgFrame object and return the byte[], which is then getting saved as a jpg.

using namespace std;

try

{    

    // Create pipeline

    dai::Pipeline pipeline;

    // Define source and output

    auto camRgb = pipeline.create<dai::node::ColorCamera>();

    auto xoutRgb = pipeline.create<dai::node::XLinkOut>();

    xoutRgb->setStreamName("rgb");

    xoutRgb->input.setBlocking(false);

    xoutRgb->input.setQueueSize(1);

    // Properties

    camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);

    camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);

    camRgb->setInterleaved(false);

    camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);

    //camRgb->setPreviewSize(300, 300);

    //camRgb->setVideoSize(4056, 3040);

    camRgb->setVideoSize(1920, 1080);

    // Linking

    //camRgb->preview.link(xoutRgb->input);

    camRgb->video.link(xoutRgb->input);

    // Connect to device and start pipeline

    dai::Device device(pipeline);

    cout << "Connected cameras: " << device.getConnectedCameraFeatures() << endl;

    // Print USB speed

    // device already closed or disconnected exception

    //cout << "Usb speed: " << device.getUsbSpeed() << endl;

    // Bootloader version

    if(device.getBootloaderVersion()) {

        cout << "Bootloader version: " << device.getBootloaderVersion()->toString() << endl;

    }

    // Device name

    cout << "Device name: " << device.getDeviceName() << endl;

    // Output queue will be used to get the rgb frames from the output defined above

    //auto qRgb = device.getOutputQueue("rgb", 4, false);

    auto qRgb = device.getOutputQueue("rgb");

    while(true) 

    {

        auto inRgb = qRgb->get<dai::ImgFrame>();

        auto type = inRgb->getType();

        auto data = inRgb->getData();

        return data;

    }

}

catch(const std::exception &ex)

{

    int stophere = 7;

}

catch(...)

{

    int stophere = 7;

}

return {};

Here you go… this is what I get from the above code. Bright room, lights on. Grayscale and 3 images in one.

Trying to break this down. One issue I'm seeing is dai::ImgFrame::getData() is returning an array of size 3,110,400, which represents 1,036,800 pixels, which is not 1080p. It fits with what we're seeing though. 1080p should be an array of size 6,220,800 (1920x1080x3), and this is half of that. Which is what we see in the above image. The data array represents a 1920x540 image, or, three 640x540 images side by side.

That's an idea, not one I like, but it is an idea. The implication is that the NV12toBGR24 routine I implemented is faulty, which is definitely possible. Are there no helper routines built into the API for situations like this?