Fix: Set Buffer data via rvalue instead of lvalue

[aljazkonec1]

Purpose

Segmentation mask data is stored in std::shared_ptr<Memory> data. When setting the segmask via lvalue, it uses the following function:

    if(data->getMaxSize() >= d.size()) {
        // TODO(themarpe) - has to set offset as well
        memcpy(data->getData().data(), d.data(), d.size());
    } else {
        // allocate new holder
        data = std::make_shared<VectorMemory>(std::move(d));
    }
}

If the new d is smaller than the current VectorMemory size, then data->getSize() will return old memory size.

Setting a segmentation mask should replace the underlying memory or perform copy-on-write, not mutate shared storage in place. So setting via rvalue is needed:

void Buffer::setData(std::vector<std::uint8_t>&& d) {
   // allocate new holder
   data = std::make_shared<VectorMemory>(std::move(d));
   // *mem = std::move(d);
   // data = mem;
}

Specification

None / not applicable

Dependencies & Potential Impact

None / not applicable

Deployment Plan

None / not applicable

Testing & Validation

None / not applicable

AI Usage

Assisted-by: codex:5.4 xhigh

Submitted code was reviewed by a human: YES

The author is taking the responsibility for the contribution: YES

Summary by CodeRabbit

• Refactor
  • Improved internal handling of segmentation masks and image detections to reduce memory copies and improve performance when setting or converting mask data.

[coderabbitai]

No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: Repository UI

Review profile: ASSERTIVE

Plan: Pro

Run ID: 5ac92084-4c18-4b1b-a996-18a8695f712e

📥 Commits

Reviewing files that changed from the base of the PR and between 537548a and 0b094c5.

📒 Files selected for processing (2)

• src/pipeline/datatype/ImgDetectionsT.cpp
• src/pipeline/datatype/SegmentationMask.cpp

📜 Recent review details

🧰 Additional context used

🧠 Learnings (1)

📚 Learning: 2026-03-24T22:39:04.364Z

Learnt from: MaticTonin
Repo: luxonis/depthai-core PR: 1732
File: src/pipeline/Pipeline.cpp:705-705
Timestamp: 2026-03-24T22:39:04.364Z
Learning: Do not flag the `!= ""` part of the auto-calibration condition as redundant when it appears in `PipelineImpl::build()` (or closely related pipeline build logic). If the code uses `utility::getEnvAs<std::string>(..., default)` with a default such as `"ON_START"`, the explicit empty-string guard may still be intentional to treat an explicitly empty env var as “OFF/disabled” (or to avoid special-casing elsewhere). Only consider removing `!= ""` if the codebase has an explicit, enforceable guarantee that `DEPTHAI_AUTOCALIBRATION` can never be set to an empty string (e.g., via validated parsing/CI checks); otherwise, keep the guard.

Applied to files:

• src/pipeline/datatype/ImgDetectionsT.cpp
• src/pipeline/datatype/SegmentationMask.cpp

🔇 Additional comments (2)

src/pipeline/datatype/ImgDetectionsT.cpp (1)

31-32: LGTM!

Also applies to: 44-44, 92-92

src/pipeline/datatype/SegmentationMask.cpp (1)

8-8: LGTM!

Also applies to: 47-48, 245-245

---

📝 Walkthrough

Walkthrough

Replace in-place copies with move semantics for locally-constructed segmentation-mask buffers in ImgDetectionsT and SegmentationMask; <utility> is included where needed. No public APIs changed.

Changes

Move semantics optimization for segmentation mask handling

Layer / File(s)	Summary
ImgDetectionsT segmentation-mask move optimization src/pipeline/datatype/ImgDetectionsT.cpp	Adds <utility> and updates setSegmentationMask(const std::vector<uint8_t>&, ...), setSegmentationMask(dai::ImgFrame&), and setCvSegmentationMask(cv::Mat) to forward locally-constructed vectors into setData via std::move instead of copying.
SegmentationMask move optimization src/pipeline/datatype/SegmentationMask.cpp	Adds <utility> and updates setMask(const std::vector<uint8_t>&, size_t, size_t) and setCvMask(cv::Mat) to move local buffers into setData rather than passing lvalues.

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~20 minutes

Poem

A rabbit nudges vectors light,
Hops them swiftly out of sight,
std::move hugs data tight and snug,
No extra copies, not a shrug. 🐇✨

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 0.00% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title 'Fix: Set Buffer data via rvalue instead of lvalue' clearly and specifically summarizes the main change across both modified files.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

_{✏️ Tip: You can configure your own custom pre-merge checks in the settings.}

✨ Finishing Touches

📝 Generate docstrings

• Create stacked PR
• Commit on current branch

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch fix/setSegmentationMask_memory_handling

---

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[coderabbitai]

Actionable comments posted: 1

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@src/pipeline/datatype/SegmentationMask.cpp`:
- Around line 46-47: The file uses std::move in this translation unit (e.g., in
the code around setData and other call sites like setData(std::move(...)) in
SegmentationMask.cpp) but does not include <utility>, relying on transitive
includes; add `#include` <utility> to SegmentationMask.cpp near the other includes
to make the dependency explicit, and if SegmentationMask.hpp itself uses
std::move or is included by other units, add `#include` <utility> to
SegmentationMask.hpp as well to avoid transitive-include fragility.

🪄 Autofix (Beta)

Fix all unresolved CodeRabbit comments on this PR:

• Push a commit to this branch (recommended)
• Create a new PR with the fixes

---

ℹ️ Review info

⚙️ Run configuration

Configuration used: Repository UI

Review profile: ASSERTIVE

Plan: Pro

Run ID: 793452da-d8eb-4114-b775-2adc9cf0eb75

📥 Commits

Reviewing files that changed from the base of the PR and between 5fe9eaa and 537548a.

📒 Files selected for processing (2)

• src/pipeline/datatype/ImgDetectionsT.cpp
• src/pipeline/datatype/SegmentationMask.cpp

📜 Review details

🧰 Additional context used

🧠 Learnings (1)

📚 Learning: 2026-03-24T22:39:04.364Z

Learnt from: MaticTonin
Repo: luxonis/depthai-core PR: 1732
File: src/pipeline/Pipeline.cpp:705-705
Timestamp: 2026-03-24T22:39:04.364Z
Learning: Do not flag the `!= ""` part of the auto-calibration condition as redundant when it appears in `PipelineImpl::build()` (or closely related pipeline build logic). If the code uses `utility::getEnvAs<std::string>(..., default)` with a default such as `"ON_START"`, the explicit empty-string guard may still be intentional to treat an explicitly empty env var as “OFF/disabled” (or to avoid special-casing elsewhere). Only consider removing `!= ""` if the codebase has an explicit, enforceable guarantee that `DEPTHAI_AUTOCALIBRATION` can never be set to an empty string (e.g., via validated parsing/CI checks); otherwise, keep the guard.

Applied to files:

• src/pipeline/datatype/SegmentationMask.cpp
• src/pipeline/datatype/ImgDetectionsT.cpp

🔇 Additional comments (1)

src/pipeline/datatype/ImgDetectionsT.cpp (1)

7-7: LGTM!

Also applies to: 31-33, 44-46, 92-94