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How to take numpy array as input for object detection?

Hello there, I am trying to apply YOLOv3 code on Carla simulator, so i added two cameras and i want to use object detection on their outputs which are numpy arrays, so for YOLOv3 all the methods i could find only use images, videos or webcam as input using cv2.VideoCapture(). How can i use the numpy arrays as OpenCV input?

Thanks in advance.