Python API Reference¶
Classes:
Abstract message |
|
AprilTag structure. |
|
AprilTagConfig message. |
|
Specify properties for AprilTag |
|
AprilTags message. |
|
Asset is identified with string key and can store arbitrary binary data |
|
AssetManager can store assets and serialize |
|
Base message - buffer of binary data |
|
CalibrationHandler is an interface to read/load/write structured calibration and device data. |
|
Which Camera socket to use. |
|
CameraControl message. |
|
Members: |
|
CameraFeatures structure |
|
Camera sensor image orientation / pixel readout. |
|
CameraInfo structure |
|
Which CameraModel to initialize the calibration with. |
|
Specify properties for ColorCamera such as camera ID, … |
|
Camera sensor type |
|
Chip temperature information. |
|
Specify properties for ColorCamera such as camera ID, … |
|
Camera sensor type |
|
CpuUsage structure |
|
Access to send messages through XLink stream |
|
Access to receive messages coming from XLink stream |
|
Members: |
|
Specify properties for DetectionNetwork |
|
Members: |
|
Specifies how to parse output of detection networks |
|
Specify properties for DetectionParser |
|
Represents the DepthAI device with the methods to interact with it. |
|
The core of depthai device for RAII, connects to device and maintains watchdog, timesync, … |
|
Represents the DepthAI bootloader with the methods to interact with it. |
|
Describes a connected device |
|
EdgeDetectorConfig message. |
|
EdgeDetectorConfigData configuration data structure |
|
Specify properties for EdgeDetector |
|
EepromData structure |
|
Extrinsics structure |
|
FeatureTrackerConfig message. |
|
Specify properties for FeatureTracker |
|
Members: |
|
Specify properties which apply for whole pipeline |
|
IMUData message. |
|
IMU output |
|
Accelerometer |
|
Gyroscope |
|
Magnetic field |
|
Rotation Vector with Accuracy |
|
Available IMU sensors. |
|
ImageManipConfig message. |
|
ImgDetection structure |
|
ImgDetections message. |
|
ImgFrame message. |
|
Members: |
|
Median filter config for disparity post-processing |
|
MemoryInfo structure |
|
Specify properties for MonoCamera such as camera ID, … |
|
NNData message. |
|
Specify properties for NeuralNetwork such as blob path, … |
|
Abstract Node |
|
Specify properties for ObjectTracker |
|
Support for basic OpenVINO related actions like version identification of neural network blobs,… |
|
Point2f structure |
|
Point3f structure |
|
Members: |
|
Base Properties structure |
|
RawAprilTags configuration structure |
|
RawBuffer structure |
|
RawCameraControl structure |
|
RawEdgeDetectorConfig configuration structure |
|
RawFeatureTrackerConfig configuration structure |
|
RawImageManipConfig structure |
|
RawImgDetections structure |
|
RawImgFrame structure |
|
RawNNData structure |
|
RawSpatialImgDetections structure |
|
RawStereoDepthConfig configuration structure |
|
System information of device |
|
RawTrackedFeatures structure |
|
RawTracklets structure |
|
Rect structure |
|
RotatedRect structure |
|
Properties for SPIIn node |
|
Specify properties for SPIOut node |
|
Specify ScriptProperties options such as script uri, script name, … |
|
Members: |
|
Size2f structure |
|
Specify properties for SpatialDetectionNetwork |
|
SpatialImgDetection structure |
|
SpatialImgDetections message. |
|
Members: |
|
SpatialLocationCalculatorConfig message. |
|
SpatialLocation configuration data structure |
|
SpatialLocation configuration thresholds structure |
|
SpatialLocationCalculatorData message. |
|
Specify properties for SpatialLocationCalculator |
|
SpatialLocations structure |
|
StereoDepthConfig message. |
|
Specify properties for StereoDepth |
|
StereoRectification structure |
|
SystemInformation message. |
|
SystemLoggerProperties structure |
|
TensorInfo structure |
|
Timestamp structure |
|
TrackedFeature structure |
|
TrackedFeatures message. |
|
Members: |
|
Members: |
|
Tracklet structure |
|
Tracklets message. |
|
Get USB Speed |
|
Version structure |
|
Specify properties for VideoEncoder such as profile, bitrate, … |
|
Specify properties for Warp |
|
Represents connection between host and device over XLink protocol |
|
Members: |
|
Members: |
|
Specify properties for XLinkIn such as stream name, … |
|
Specify properties for XLinkOut such as stream name, … |
|
Members: |
|
Members: |
Exceptions:
Functions:
|
-
class
depthai.
ADatatype
¶ Bases:
pybind11_builtins.pybind11_object
Abstract message
Methods:
__init__
(*args, **kwargs)Initialize self.
getRaw
(self)-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
getRaw
(self: depthai.ADatatype) → depthai.RawBuffer¶
-
-
class
depthai.
AprilTag
¶ Bases:
pybind11_builtins.pybind11_object
AprilTag structure.
Methods:
__init__
(self)Attributes:
The detected bottom left coordinates.
The detected bottom right coordinates.
A measure of the quality of the binary decoding process; the average difference between the intensity of a data bit versus the decision threshold.
accepting large numbers of corrected errors leads to greatly increased false positive rates.
The decoded ID of the tag
The detected top left coordinates.
The detected top right coordinates.
-
__init__
(self: depthai.AprilTag) → None¶
-
property
bottomLeft
¶ The detected bottom left coordinates.
-
property
bottomRight
¶ The detected bottom right coordinates.
-
property
decisionMargin
¶ A measure of the quality of the binary decoding process; the average difference between the intensity of a data bit versus the decision threshold. Higher numbers roughly indicate better decodes. This is a reasonable measure of detection accuracy only for very small tags– not effective for larger tags (where we could have sampled anywhere within a bit cell and still gotten a good detection.
-
property
hamming
¶ accepting large numbers of corrected errors leads to greatly increased false positive rates. As of this implementation, the detector cannot detect tags with a hamming distance greater than 2.
- Type
How many error bits were corrected? Note
-
property
id
¶ The decoded ID of the tag
-
property
topLeft
¶ The detected top left coordinates.
-
property
topRight
¶ The detected top right coordinates.
-
-
class
depthai.
AprilTagConfig
¶ Bases:
depthai.Buffer
AprilTagConfig message.
Classes:
Supported AprilTag families.
AprilTag quad threshold parameters.
Methods:
__init__
(self)get
(self)Retrieve configuration data for AprilTag.
set
(self, arg0)Set explicit configuration.
setFamily
(self, family)Parameter
family
:-
class
Family
¶ Bases:
pybind11_builtins.pybind11_object
Supported AprilTag families.
Members:
TAG_36H11
TAG_36H10
TAG_25H9
TAG_16H5
TAG_CIR21H7
TAG_STAND41H12
Attributes:
Methods:
__init__
(self, value)-
TAG_16H5
= <Family.TAG_16H5: 3>¶
-
TAG_25H9
= <Family.TAG_25H9: 2>¶
-
TAG_36H10
= <Family.TAG_36H10: 1>¶
-
TAG_36H11
= <Family.TAG_36H11: 0>¶
-
TAG_CIR21H7
= <Family.TAG_CIR21H7: 4>¶
-
TAG_STAND41H12
= <Family.TAG_STAND41H12: 5>¶
-
__init__
(self: depthai.RawAprilTagConfig.Family, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
QuadThresholds
¶ Bases:
pybind11_builtins.pybind11_object
AprilTag quad threshold parameters.
Methods:
__init__
(self)Attributes:
Reject quads where pairs of edges have angles that are close to straight or close to 180 degrees.
Should the thresholded image be deglitched? Only useful for very noisy images
When fitting lines to the contours, what is the maximum mean squared error allowed? This is useful in rejecting contours that are far from being quad shaped; rejecting these quads “early” saves expensive decoding processing.
How many corner candidates to consider when segmenting a group of pixels into a quad.
Reject quads containing too few pixels.
When we build our model of black & white pixels, we add an extra check that the white model must be (overall) brighter than the black model.
-
__init__
(self: depthai.RawAprilTagConfig.QuadThresholds) → None¶
-
property
criticalDegree
¶ Reject quads where pairs of edges have angles that are close to straight or close to 180 degrees. Zero means that no quads are rejected. (In degrees).
-
property
deglitch
¶ Should the thresholded image be deglitched? Only useful for very noisy images
-
property
maxLineFitMse
¶ When fitting lines to the contours, what is the maximum mean squared error allowed? This is useful in rejecting contours that are far from being quad shaped; rejecting these quads “early” saves expensive decoding processing.
-
property
maxNmaxima
¶ How many corner candidates to consider when segmenting a group of pixels into a quad.
-
property
minClusterPixels
¶ Reject quads containing too few pixels.
-
property
minWhiteBlackDiff
¶ When we build our model of black & white pixels, we add an extra check that the white model must be (overall) brighter than the black model. How much brighter? (in pixel values: [0,255]).
-
-
__init__
(self: depthai.AprilTagConfig) → None¶
-
get
(self: depthai.AprilTagConfig) → depthai.RawAprilTagConfig¶ Retrieve configuration data for AprilTag.
- Returns
config for stereo depth algorithm
-
set
(self: depthai.AprilTagConfig, arg0: depthai.RawAprilTagConfig) → depthai.AprilTagConfig¶ Set explicit configuration.
- Parameter
config
: Explicit configuration
- Parameter
-
setFamily
(self: depthai.AprilTagConfig, family: depthai.RawAprilTagConfig.Family) → depthai.AprilTagConfig¶ - Parameter
family
: AprilTag family
- Parameter
-
class
-
class
depthai.
AprilTagProperties
¶ Bases:
pybind11_builtins.pybind11_object
Specify properties for AprilTag
Methods:
__init__
(*args, **kwargs)Initialize self.
Attributes:
Whether to wait for config at ‘inputConfig’ IO
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
property
initialConfig
¶
-
property
inputConfigSync
¶ Whether to wait for config at ‘inputConfig’ IO
-
-
class
depthai.
AprilTags
¶ Bases:
depthai.Buffer
AprilTags message.
Methods:
__init__
(self)getSequenceNum
(self)Retrieves image sequence number
getTimestamp
(self)Retrieves image timestamp related to dai::Clock::now()
getTimestampDevice
(self)Retrieves image timestamp directly captured from device’s monotonic clock, not synchronized to host time.
setSequenceNum
(self, arg0)Retrieves image sequence number
setTimestamp
(self, arg0)Sets image timestamp related to dai::Clock::now()
setTimestampDevice
(self, arg0)Sets image timestamp related to dai::Clock::now()
Attributes:
-
__init__
(self: depthai.AprilTags) → None¶
-
property
aprilTags
¶
-
getSequenceNum
(self: depthai.AprilTags) → int¶ Retrieves image sequence number
-
getTimestamp
(self: depthai.AprilTags) → datetime.timedelta¶ Retrieves image timestamp related to dai::Clock::now()
-
getTimestampDevice
(self: depthai.AprilTags) → datetime.timedelta¶ Retrieves image timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging
-
setSequenceNum
(self: depthai.AprilTags, arg0: int) → depthai.AprilTags¶ Retrieves image sequence number
-
setTimestamp
(self: depthai.AprilTags, arg0: datetime.timedelta) → depthai.AprilTags¶ Sets image timestamp related to dai::Clock::now()
-
setTimestampDevice
(self: depthai.AprilTags, arg0: datetime.timedelta) → depthai.AprilTags¶ Sets image timestamp related to dai::Clock::now()
-
-
class
depthai.
Asset
¶ Bases:
pybind11_builtins.pybind11_object
Asset is identified with string key and can store arbitrary binary data
Methods:
__init__
(*args, **kwargs)Overloaded function.
Attributes:
-
__init__
(*args, **kwargs)¶ Overloaded function.
__init__(self: depthai.Asset) -> None
__init__(self: depthai.Asset, arg0: str) -> None
-
property
alignment
¶
-
property
data
¶
-
property
key
¶
-
-
class
depthai.
AssetManager
¶ Bases:
pybind11_builtins.pybind11_object
AssetManager can store assets and serialize
Methods:
__init__
(self)addExisting
(self, assets)Adds all assets in an array to the AssetManager
get
(*args, **kwargs)Overloaded function.
getAll
(*args, **kwargs)Overloaded function.
remove
(self, key)Removes asset with key
set
(*args, **kwargs)Overloaded function.
size
(self)- returns
Number of asset stored in the AssetManager
-
__init__
(self: depthai.AssetManager) → None¶
-
addExisting
(self: depthai.AssetManager, assets: List[depthai.Asset]) → None¶ Adds all assets in an array to the AssetManager
- Parameter
assets
: Vector of assets to add
- Parameter
-
get
(*args, **kwargs)¶ Overloaded function.
get(self: depthai.AssetManager, key: str) -> depthai.Asset
- Returns
Asset assigned to the specified key or a nullptr otherwise
get(self: depthai.AssetManager, key: str) -> depthai.Asset
- Returns
Asset assigned to the specified key or a nullptr otherwise
-
getAll
(*args, **kwargs)¶ Overloaded function.
getAll(self: depthai.AssetManager) -> List[depthai.Asset]
- Returns
All asset stored in the AssetManager
getAll(self: depthai.AssetManager) -> List[depthai.Asset]
- Returns
All asset stored in the AssetManager
-
remove
(self: depthai.AssetManager, key: str) → None¶ Removes asset with key
- Parameter
key
: Key of asset to remove
- Parameter
-
set
(*args, **kwargs)¶ Overloaded function.
set(self: depthai.AssetManager, asset: depthai.Asset) -> depthai.Asset
Adds or overwrites an asset object to AssetManager.
- Parameter
asset
: Asset to add
- Returns
Shared pointer to asset
set(self: depthai.AssetManager, key: str, asset: depthai.Asset) -> depthai.Asset
Adds or overwrites an asset object to AssetManager with a specified key. Key value will be assigned to an Asset as well
- Parameter
key
: Key under which the asset should be stored
- Parameter
asset
: Asset to store
- Returns
Shared pointer to asset
set(self: depthai.AssetManager, key: str, path: Path, alignment: int = 64) -> depthai.Asset
Loads file into asset manager under specified key.
- Parameter
key
: Key under which the asset should be stored
- Parameter
path
: Path to file which to load as asset
- Parameter
alignment
: [Optional] alignment of asset data in asset storage. Default is 64B
set(self: depthai.AssetManager, key: str, data: List[int], alignment: int = 64) -> depthai.Asset
Loads file into asset manager under specified key.
- Parameter
key
: Key under which the asset should be stored
- Parameter
data
: Asset data
- Parameter
alignment
: [Optional] alignment of asset data in asset storage. Default is 64B
- Returns
Shared pointer to asset
-
size
(self: depthai.AssetManager) → int¶ - Returns
Number of asset stored in the AssetManager
-
class
depthai.
BoardConfig
¶ Bases:
pybind11_builtins.pybind11_object
Classes:
Network configuration
UART instance config
Methods:
__init__
(self)Attributes:
-
class
GPIO
¶ Bases:
pybind11_builtins.pybind11_object
Attributes:
Classes:
Members:
Drive strength in mA (2, 4, 8 and 12mA)
Members:
Members:
Members:
Methods:
__init__
(*args, **kwargs)Overloaded function.
-
ALT_MODE_0
= <Mode.ALT_MODE_0: 0>¶
-
ALT_MODE_1
= <Mode.ALT_MODE_1: 1>¶
-
ALT_MODE_2
= <Mode.ALT_MODE_2: 2>¶
-
ALT_MODE_3
= <Mode.ALT_MODE_3: 3>¶
-
ALT_MODE_4
= <Mode.ALT_MODE_4: 4>¶
-
ALT_MODE_5
= <Mode.ALT_MODE_5: 5>¶
-
ALT_MODE_6
= <Mode.ALT_MODE_6: 6>¶
-
BUS_KEEPER
= <Pull.BUS_KEEPER: 3>¶
-
DIRECT
= <Mode.DIRECT: 7>¶
-
class
Direction
¶ Bases:
pybind11_builtins.pybind11_object
Members:
INPUT :
OUTPUT :
Attributes:
Methods:
__init__
(self, value)-
INPUT
= <Direction.INPUT: 0>¶
-
OUTPUT
= <Direction.OUTPUT: 1>¶
-
__init__
(self: depthai.BoardConfig.GPIO.Direction, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
Drive
¶ Bases:
pybind11_builtins.pybind11_object
Drive strength in mA (2, 4, 8 and 12mA)
Members:
MA_2 :
MA_4 :
MA_8 :
MA_12 :
Attributes:
Methods:
__init__
(self, value)-
MA_12
= <Drive.MA_12: 12>¶
-
MA_2
= <Drive.MA_2: 2>¶
-
MA_4
= <Drive.MA_4: 4>¶
-
MA_8
= <Drive.MA_8: 8>¶
-
__init__
(self: depthai.BoardConfig.GPIO.Drive, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
HIGH
= <Level.HIGH: 1>¶
-
INPUT
= <Direction.INPUT: 0>¶
-
LOW
= <Level.LOW: 0>¶
-
class
Level
¶ Bases:
pybind11_builtins.pybind11_object
Members:
LOW :
HIGH :
Attributes:
Methods:
__init__
(self, value)-
HIGH
= <Level.HIGH: 1>¶
-
LOW
= <Level.LOW: 0>¶
-
__init__
(self: depthai.BoardConfig.GPIO.Level, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
MA_12
= <Drive.MA_12: 12>¶
-
MA_2
= <Drive.MA_2: 2>¶
-
MA_4
= <Drive.MA_4: 4>¶
-
MA_8
= <Drive.MA_8: 8>¶
-
class
Mode
¶ Bases:
pybind11_builtins.pybind11_object
Members:
ALT_MODE_0 :
ALT_MODE_1 :
ALT_MODE_2 :
ALT_MODE_3 :
ALT_MODE_4 :
ALT_MODE_5 :
ALT_MODE_6 :
DIRECT :
Attributes:
Methods:
__init__
(self, value)-
ALT_MODE_0
= <Mode.ALT_MODE_0: 0>¶
-
ALT_MODE_1
= <Mode.ALT_MODE_1: 1>¶
-
ALT_MODE_2
= <Mode.ALT_MODE_2: 2>¶
-
ALT_MODE_3
= <Mode.ALT_MODE_3: 3>¶
-
ALT_MODE_4
= <Mode.ALT_MODE_4: 4>¶
-
ALT_MODE_5
= <Mode.ALT_MODE_5: 5>¶
-
ALT_MODE_6
= <Mode.ALT_MODE_6: 6>¶
-
DIRECT
= <Mode.DIRECT: 7>¶
-
__init__
(self: depthai.BoardConfig.GPIO.Mode, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
NO_PULL
= <Pull.NO_PULL: 0>¶
-
OUTPUT
= <Direction.OUTPUT: 1>¶
-
PULL_DOWN
= <Pull.PULL_DOWN: 2>¶
-
PULL_UP
= <Pull.PULL_UP: 1>¶
-
class
Pull
¶ Bases:
pybind11_builtins.pybind11_object
Members:
NO_PULL :
PULL_UP :
PULL_DOWN :
BUS_KEEPER :
Attributes:
Methods:
__init__
(self, value)-
BUS_KEEPER
= <Pull.BUS_KEEPER: 3>¶
-
NO_PULL
= <Pull.NO_PULL: 0>¶
-
PULL_DOWN
= <Pull.PULL_DOWN: 2>¶
-
PULL_UP
= <Pull.PULL_UP: 1>¶
-
__init__
(self: depthai.BoardConfig.GPIO.Pull, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
__init__
(*args, **kwargs)¶ Overloaded function.
__init__(self: depthai.BoardConfig.GPIO) -> None
__init__(self: depthai.BoardConfig.GPIO, arg0: depthai.BoardConfig.GPIO.Direction) -> None
__init__(self: depthai.BoardConfig.GPIO, arg0: depthai.BoardConfig.GPIO.Direction, arg1: depthai.BoardConfig.GPIO.Level) -> None
__init__(self: depthai.BoardConfig.GPIO, arg0: depthai.BoardConfig.GPIO.Direction, arg1: depthai.BoardConfig.GPIO.Level, arg2: depthai.BoardConfig.GPIO.Pull) -> None
__init__(self: depthai.BoardConfig.GPIO, arg0: depthai.BoardConfig.GPIO.Direction, arg1: depthai.BoardConfig.GPIO.Mode) -> None
__init__(self: depthai.BoardConfig.GPIO, arg0: depthai.BoardConfig.GPIO.Direction, arg1: depthai.BoardConfig.GPIO.Mode, arg2: depthai.BoardConfig.GPIO.Pull) -> None
-
property
direction
¶
-
property
drive
¶
-
property
level
¶
-
property
mode
¶
-
property
pull
¶
-
property
schmitt
¶
-
property
slewFast
¶
-
-
class
GPIOMap
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(self)items
(self)keys
(self)values
(self)-
__init__
(self: depthai.BoardConfig.GPIOMap) → None¶
-
values
(self: depthai.BoardConfig.GPIOMap) → depthai.BoardConfig.ValuesView_GPIOMap¶
-
-
class
ItemsView_GPIOMap
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(*args, **kwargs)Initialize self.
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
-
class
ItemsView_UARTMap
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(*args, **kwargs)Initialize self.
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
-
class
KeysView_GPIOMap
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(*args, **kwargs)Initialize self.
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
-
class
KeysView_UARTMap
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(*args, **kwargs)Initialize self.
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
-
class
Network
¶ Bases:
pybind11_builtins.pybind11_object
Network configuration
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.BoardConfig.Network) → None¶
-
property
mtu
¶
-
property
xlinkTcpNoDelay
¶
-
-
class
UART
¶ Bases:
pybind11_builtins.pybind11_object
UART instance config
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.BoardConfig.UART) → None¶
-
property
tmp
¶
-
-
class
UARTMap
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(self)items
(self)keys
(self)values
(self)-
__init__
(self: depthai.BoardConfig.UARTMap) → None¶
-
values
(self: depthai.BoardConfig.UARTMap) → depthai.BoardConfig.ValuesView_UARTMap¶
-
-
class
USB
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.BoardConfig.USB) → None¶
-
property
flashBootedPid
¶
-
property
flashBootedVid
¶
-
property
maxSpeed
¶
-
property
pid
¶
-
property
vid
¶
-
-
class
ValuesView_GPIOMap
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(*args, **kwargs)Initialize self.
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
-
class
ValuesView_UARTMap
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(*args, **kwargs)Initialize self.
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
-
__init__
(self: depthai.BoardConfig) → None¶
-
property
emmc
¶
-
property
gpio
¶
-
property
logDevicePrints
¶
-
property
logPath
¶
-
property
logSizeMax
¶
-
property
logVerbosity
¶
-
property
mipi4LaneRgb
¶
-
property
network
¶
-
property
pcieInternalClock
¶
-
property
sysctl
¶
-
property
uart
¶
-
property
usb
¶
-
property
usb3PhyInternalClock
¶
-
property
watchdogInitialDelayMs
¶
-
property
watchdogTimeoutMs
¶
-
class
-
class
depthai.
Buffer
¶ Bases:
depthai.ADatatype
Base message - buffer of binary data
Methods:
__init__
(self)Creates Buffer message
getData
(self)Get non-owning reference to internal buffer
setData
(*args, **kwargs)Overloaded function.
-
__init__
(self: depthai.Buffer) → None¶ Creates Buffer message
-
getData
(self: object) → numpy.ndarray[numpy.uint8]¶ Get non-owning reference to internal buffer
- Returns
Reference to internal buffer
-
setData
(*args, **kwargs)¶ Overloaded function.
setData(self: depthai.Buffer, arg0: List[int]) -> None
- Parameter
data
: Copies data to internal buffer
setData(self: depthai.Buffer, arg0: numpy.ndarray[numpy.uint8]) -> None
- Parameter
data
: Copies data to internal buffer
-
-
class
depthai.
CalibrationHandler
¶ Bases:
pybind11_builtins.pybind11_object
CalibrationHandler is an interface to read/load/write structured calibration and device data. The following fields are protected and aren’t allowed to be overridden by default: - boardName - boardRev - boardConf - hardwareConf - batchName - batchTime - boardOptions - productName
Methods:
__init__
(*args, **kwargs)Overloaded function.
eepromToJson
(self)Get JSON representation of calibration data
eepromToJsonFile
(self, destPath)Write raw calibration/board data to json file.
fromJson
(arg0)Construct a new Calibration Handler object from JSON EepromData.
getBaselineDistance
(self, cam1, cam2, …)Get the baseline distance between two specified cameras.
getCameraExtrinsics
(self, srcCamera, …)Get the Camera Extrinsics object between two cameras from the calibration data if there is a linked connection between any two cameras then the relative rotation and translation (in centimeters) is returned by this function.
getCameraIntrinsics
(*args, **kwargs)Overloaded function.
getCameraToImuExtrinsics
(self, cameraId, …)Get the Camera To Imu Extrinsics object From the data loaded if there is a linked connection between IMU and the given camera then there relative rotation and translation from the camera to IMU is returned.
getCameraTranslationVector
(self, srcCamera, …)Get the Camera translation vector between two cameras from the calibration data.
getDefaultIntrinsics
(self, cameraId)Get the Default Intrinsics object
getDistortionCoefficients
(self, cameraId)Get the Distortion Coefficients object
getEepromData
(self)Get the Eeprom Data object
getFov
(self, cameraId, useSpec)Get the Fov of the camera
getImuToCameraExtrinsics
(self, cameraId, …)Get the Imu To Camera Extrinsics object from the data loaded if there is a linked connection between IMU and the given camera then there relative rotation and translation from the IMU to Camera is returned.
getLensPosition
(self, cameraId)Get the lens position of the given camera
getStereoLeftCameraId
(self)Get the camera id of the camera which is used as left camera of the stereo setup
Get the Stereo Left Rectification Rotation object
getStereoRightCameraId
(self)Get the camera id of the camera which is used as right camera of the stereo setup
Get the Stereo Right Rectification Rotation object
setBoardInfo
(*args, **kwargs)Overloaded function.
setCameraExtrinsics
(self, srcCameraId, …)Set the Camera Extrinsics object
setCameraIntrinsics
(*args, **kwargs)Overloaded function.
setCameraType
(self, cameraId, cameraModel)Set the Camera Type object
setDistortionCoefficients
(self, cameraId, …)Sets the distortion Coefficients obtained from camera calibration
setFov
(self, cameraId, hfov)Set the Fov of the Camera
setImuExtrinsics
(self, destCameraId, …)Set the Imu to Camera Extrinsics object
setLensPosition
(self, cameraId, lensPosition)Sets the distortion Coefficients obtained from camera calibration
setProductName
(self, productName)Set the productName which acts as alisas for users to identify the device
setStereoLeft
(self, cameraId, rectifiedRotation)Set the Stereo Left Rectification object
setStereoRight
(self, cameraId, rectifiedRotation)Set the Stereo Right Rectification object
-
__init__
(*args, **kwargs)¶ Overloaded function.
__init__(self: depthai.CalibrationHandler) -> None
__init__(self: depthai.CalibrationHandler, arg0: Path) -> None
Construct a new Calibration Handler object using the eeprom json file created from calibration procedure.
- Parameter
eepromDataPath
: takes the full path to the json file containing the calibration and device info.
__init__(self: depthai.CalibrationHandler, arg0: Path, arg1: Path) -> None
Construct a new Calibration Handler object using the board config json file and .calib binary files created using gen1 calibration.
- Parameter
calibrationDataPath
: Full Path to the .calib binary file from the gen1 calibration. (Supports only Version 5)
- Parameter
boardConfigPath
: Full Path to the board config json file containing device information.
__init__(self: depthai.CalibrationHandler, arg0: depthai.EepromData) -> None
Construct a new Calibration Handler object from EepromData object.
- Parameter
eepromData
: EepromData data structure containing the calibration data.
-
eepromToJson
(self: depthai.CalibrationHandler) → json¶ Get JSON representation of calibration data
- Returns
JSON structure
-
eepromToJsonFile
(self: depthai.CalibrationHandler, destPath: Path) → bool¶ Write raw calibration/board data to json file.
- Parameter
destPath
: Full path to the json file in which raw calibration data will be stored
- Returns
True on success, false otherwise
- Parameter
-
static
fromJson
(arg0: json) → depthai.CalibrationHandler¶ Construct a new Calibration Handler object from JSON EepromData.
- Parameter
eepromDataJson
: EepromData as JSON
- Parameter
-
getBaselineDistance
(self: depthai.CalibrationHandler, cam1: depthai.CameraBoardSocket = <CameraBoardSocket.???: 2>, cam2: depthai.CameraBoardSocket = <CameraBoardSocket.???: 1>, useSpecTranslation: bool = True) → float¶ Get the baseline distance between two specified cameras. By default it will get the baseline between CameraBoardSocket.RIGHT and CameraBoardSocket.LEFT.
- Parameter
cam1
: First camera
- Parameter
cam2
: Second camera
- Parameter
useSpecTranslation
: Enabling this bool uses the translation information from the board design data (not the calibration data)
- Returns
baseline distance in centimeters
- Parameter
-
getCameraExtrinsics
(self: depthai.CalibrationHandler, srcCamera: depthai.CameraBoardSocket, dstCamera: depthai.CameraBoardSocket, useSpecTranslation: bool = False) → List[List[float]]¶ Get the Camera Extrinsics object between two cameras from the calibration data if there is a linked connection between any two cameras then the relative rotation and translation (in centimeters) is returned by this function.
- Parameter
srcCamera
: Camera Id of the camera which will be considered as origin.
- Parameter
dstCamera
: Camera Id of the destination camera to which we are fetching the rotation and translation from the SrcCamera
- Parameter
useSpecTranslation
: Enabling this bool uses the translation information from the board design data
- Returns
a transformationMatrix which is 4x4 in homogeneous coordinate system
Matrix representation of transformation matrix f[ text{Transformation Matrix} = left [ begin{matrix} r_{00} & r_{01} & r_{02} & T_x \ r_{10} & r_{11} & r_{12} & T_y \ r_{20} & r_{21} & r_{22} & T_z \ 0 & 0 & 0 & 1 end{matrix} right ] f]
- Parameter
-
getCameraIntrinsics
(*args, **kwargs)¶ Overloaded function.
getCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, resizeWidth: int = -1, resizeHeight: int = -1, topLeftPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f72e2afb8f0>, bottomRightPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f72e2afc070>, keepAspectRatio: bool = True) -> List[List[float]]
Get the Camera Intrinsics object
- Parameter
cameraId
: Uses the cameraId to identify which camera intrinsics to return
- Parameter
resizewidth
: resized width of the image for which intrinsics is requested. resizewidth = -1 represents width is same as default intrinsics
- Parameter
resizeHeight
: resized height of the image for which intrinsics is requested. resizeHeight = -1 represents height is same as default intrinsics
- Parameter
topLeftPixelId
: (x, y) point represents the top left corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
- Parameter
bottomRightPixelId
: (x, y) point represents the bottom right corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
- Parameter
keepAspectRatio
: Enabling this will scale on width or height depending on which provides the max resolution and crops the remaining part of the other side
- Returns
Represents the 3x3 intrinsics matrix of the respective camera at the requested size and crop dimensions.
Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]
getCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, destShape: depthai.Size2f, topLeftPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f72e2afbef0>, bottomRightPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f72e2afb970>, keepAspectRatio: bool = True) -> List[List[float]]
Get the Camera Intrinsics object
- Parameter
cameraId
: Uses the cameraId to identify which camera intrinsics to return
- Parameter
destShape
: resized width and height of the image for which intrinsics is requested.
- Parameter
topLeftPixelId
: (x, y) point represents the top left corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
- Parameter
bottomRightPixelId
: (x, y) point represents the bottom right corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
- Parameter
keepAspectRatio
: Enabling this will scale on width or height depending on which provides the max resolution and crops the remaining part of the other side
- Returns
Represents the 3x3 intrinsics matrix of the respective camera at the requested size and crop dimensions.
Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]
getCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, destShape: Tuple[int, int], topLeftPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f72e2afbbb0>, bottomRightPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f72e2afbfb0>, keepAspectRatio: bool = True) -> List[List[float]]
Get the Camera Intrinsics object
- Parameter
cameraId
: Uses the cameraId to identify which camera intrinsics to return
- Parameter
destShape
: resized width and height of the image for which intrinsics is requested.
- Parameter
topLeftPixelId
: (x, y) point represents the top left corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
- Parameter
bottomRightPixelId
: (x, y) point represents the bottom right corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
- Parameter
keepAspectRatio
: Enabling this will scale on width or height depending on which provides the max resolution and crops the remaining part of the other side
- Returns
Represents the 3x3 intrinsics matrix of the respective camera at the requested size and crop dimensions.
Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]
-
getCameraToImuExtrinsics
(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, useSpecTranslation: bool = False) → List[List[float]]¶ Get the Camera To Imu Extrinsics object From the data loaded if there is a linked connection between IMU and the given camera then there relative rotation and translation from the camera to IMU is returned.
- Parameter
cameraId
: Camera Id of the camera which will be considered as origin. from which Transformation matrix to the IMU will be found
- Parameter
useSpecTranslation
: Enabling this bool uses the translation information from the board design data
- Returns
Returns a transformationMatrix which is 4x4 in homogeneous coordinate system
Matrix representation of transformation matrix f[ text{Transformation Matrix} = left [ begin{matrix} r_{00} & r_{01} & r_{02} & T_x \ r_{10} & r_{11} & r_{12} & T_y \ r_{20} & r_{21} & r_{22} & T_z \ 0 & 0 & 0 & 1 end{matrix} right ] f]
- Parameter
-
getCameraTranslationVector
(self: depthai.CalibrationHandler, srcCamera: depthai.CameraBoardSocket, dstCamera: depthai.CameraBoardSocket, useSpecTranslation: bool = True) → List[float]¶ Get the Camera translation vector between two cameras from the calibration data.
- Parameter
srcCamera
: Camera Id of the camera which will be considered as origin.
- Parameter
dstCamera
: Camera Id of the destination camera to which we are fetching the translation vector from the SrcCamera
- Parameter
useSpecTranslation
: Disabling this bool uses the translation information from the calibration data (not the board design data)
- Returns
a translation vector like [x, y, z] in centimeters
- Parameter
-
getDefaultIntrinsics
(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket) → Tuple[List[List[float]], int, int]¶ Get the Default Intrinsics object
- Parameter
cameraId
: Uses the cameraId to identify which camera intrinsics to return
- Returns
Represents the 3x3 intrinsics matrix of the respective camera along with width and height at which it was calibrated.
Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]
- Parameter
-
getDistortionCoefficients
(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket) → List[float]¶ Get the Distortion Coefficients object
- Parameter
cameraId
: Uses the cameraId to identify which distortion Coefficients to return.
- Returns
[k1,k2,p1,p2,k3,k4,k5,k6,s1,s2,s3,s4,τx,τy]
- Return type
the distortion coefficients of the requested camera in this order
- Parameter
-
getEepromData
(self: depthai.CalibrationHandler) → depthai.EepromData¶ Get the Eeprom Data object
- Returns
EepromData object which contains the raw calibration data
-
getFov
(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, useSpec: bool = True) → float¶ Get the Fov of the camera
- Parameter
cameraId
: of the camera of which we are fetching fov.
- Parameter
useSpec
: Disabling this bool will calculate the fov based on intrinsics (focal length, image width), instead of getting it from the camera specs
- Returns
field of view of the camera with given cameraId.
- Parameter
-
getImuToCameraExtrinsics
(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, useSpecTranslation: bool = False) → List[List[float]]¶ Get the Imu To Camera Extrinsics object from the data loaded if there is a linked connection between IMU and the given camera then there relative rotation and translation from the IMU to Camera is returned.
- Parameter
cameraId
: Camera Id of the camera which will be considered as destination. To which Transformation matrix from the IMU will be found.
- Parameter
useSpecTranslation
: Enabling this bool uses the translation information from the board design data
- Returns
Returns a transformationMatrix which is 4x4 in homogeneous coordinate system
Matrix representation of transformation matrix f[ text{Transformation Matrix} = left [ begin{matrix} r_{00} & r_{01} & r_{02} & T_x \ r_{10} & r_{11} & r_{12} & T_y \ r_{20} & r_{21} & r_{22} & T_z \ 0 & 0 & 0 & 1 end{matrix} right ] f]
- Parameter
-
getLensPosition
(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket) → int¶ Get the lens position of the given camera
- Parameter
cameraId
: of the camera with lens position is requested.
- Returns
lens position of the camera with given cameraId at which it was calibrated.
- Parameter
-
getStereoLeftCameraId
(self: depthai.CalibrationHandler) → depthai.CameraBoardSocket¶ Get the camera id of the camera which is used as left camera of the stereo setup
- Returns
cameraID of the camera used as left camera
-
getStereoLeftRectificationRotation
(self: depthai.CalibrationHandler) → List[List[float]]¶ Get the Stereo Left Rectification Rotation object
- Returns
returns a 3x3 rectification rotation matrix
-
getStereoRightCameraId
(self: depthai.CalibrationHandler) → depthai.CameraBoardSocket¶ Get the camera id of the camera which is used as right camera of the stereo setup
- Returns
cameraID of the camera used as right camera
-
getStereoRightRectificationRotation
(self: depthai.CalibrationHandler) → List[List[float]]¶ Get the Stereo Right Rectification Rotation object
- Returns
returns a 3x3 rectification rotation matrix
-
setBoardInfo
(*args, **kwargs)¶ Overloaded function.
setBoardInfo(self: depthai.CalibrationHandler, boardName: str, boardRev: str) -> None
Set the Board Info object
- Parameter
version
: Sets the version of the Calibration data(Current version is 6)
- Parameter
boardName
: Sets your board name.
- Parameter
boardRev
: set your board revision id.
setBoardInfo(self: depthai.CalibrationHandler, productName: str, boardName: str, boardRev: str, boardConf: str, hardwareConf: str, batchName: str, batchTime: int, boardOptions: int, boardCustom: str = ‘’) -> None
Set the Board Info object. Creates version 7 EEPROM data
- Parameter
productName
: Sets product name (alias).
- Parameter
boardName
: Sets board name.
- Parameter
boardRev
: Sets board revision id.
- Parameter
boardConf
: Sets board configuration id.
- Parameter
hardwareConf
: Sets hardware configuration id.
- Parameter
batchName
: Sets batch name.
- Parameter
batchTime
: Sets batch time (unix timestamp).
- Parameter
boardCustom
: Sets a custom board (Default empty string).
-
setCameraExtrinsics
(self: depthai.CalibrationHandler, srcCameraId: depthai.CameraBoardSocket, destCameraId: depthai.CameraBoardSocket, rotationMatrix: List[List[float]], translation: List[float], specTranslation: List[float] = [0.0, 0.0, 0.0]) → None¶ Set the Camera Extrinsics object
- Parameter
srcCameraId
: Camera Id of the camera which will be considered as relative origin.
- Parameter
destCameraId
: Camera Id of the camera which will be considered as destination from srcCameraId.
- Parameter
rotationMatrix
: Rotation between srcCameraId and destCameraId origins.
- Parameter
translation
: Translation between srcCameraId and destCameraId origins.
- Parameter
specTranslation
: Translation between srcCameraId and destCameraId origins from the design.
- Parameter
-
setCameraIntrinsics
(*args, **kwargs)¶ Overloaded function.
setCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, intrinsics: List[List[float]], frameSize: depthai.Size2f) -> None
Set the Camera Intrinsics object
- Parameter
cameraId
: CameraId of the camera for which Camera intrinsics are being loaded
- Parameter
intrinsics
: 3x3 intrinsics matrix
- Parameter
frameSize
: Represents the width and height of the image at which intrinsics are calculated.
Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]
setCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, intrinsics: List[List[float]], width: int, height: int) -> None
Set the Camera Intrinsics object
- Parameter
cameraId
: CameraId of the camera for which Camera intrinsics are being loaded
- Parameter
intrinsics
: 3x3 intrinsics matrix
- Parameter
width
: Represents the width of the image at which intrinsics are calculated.
- Parameter
height
: Represents the height of the image at which intrinsics are calculated.
Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]
setCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, intrinsics: List[List[float]], frameSize: Tuple[int, int]) -> None
Set the Camera Intrinsics object
- Parameter
cameraId
: CameraId of the camera for which Camera intrinsics are being loaded
- Parameter
intrinsics
: 3x3 intrinsics matrix
- Parameter
frameSize
: Represents the width and height of the image at which intrinsics are calculated.
Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]
-
setCameraType
(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, cameraModel: depthai.CameraModel) → None¶ Set the Camera Type object
- Parameter
cameraId
: CameraId of the camera for which cameraModel Type is being updated.
- Parameter
cameraModel
: Type of the model the camera represents
- Parameter
-
setDistortionCoefficients
(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, distortionCoefficients: List[float]) → None¶ Sets the distortion Coefficients obtained from camera calibration
- Parameter
cameraId
: Camera Id of the camera for which distortion coefficients are computed
- Parameter
distortionCoefficients
: Distortion Coefficients of the respective Camera.
- Parameter
-
setFov
(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, hfov: float) → None¶ Set the Fov of the Camera
- Parameter
cameraId
: Camera Id of the camera
- Parameter
hfov
: Horizontal fov of the camera from Camera Datasheet
- Parameter
-
setImuExtrinsics
(self: depthai.CalibrationHandler, destCameraId: depthai.CameraBoardSocket, rotationMatrix: List[List[float]], translation: List[float], specTranslation: List[float] = [0.0, 0.0, 0.0]) → None¶ Set the Imu to Camera Extrinsics object
- Parameter
destCameraId
: Camera Id of the camera which will be considered as destination from IMU.
- Parameter
rotationMatrix
: Rotation between srcCameraId and destCameraId origins.
- Parameter
translation
: Translation between IMU and destCameraId origins.
- Parameter
specTranslation
: Translation between IMU and destCameraId origins from the design.
- Parameter
-
setLensPosition
(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, lensPosition: int) → None¶ Sets the distortion Coefficients obtained from camera calibration
- Parameter
cameraId
: Camera Id of the camera
- Parameter
lensPosition
: lens posiotion value of the camera at the time of calibration
- Parameter
-
setProductName
(self: depthai.CalibrationHandler, productName: str) → None¶ Set the productName which acts as alisas for users to identify the device
- Parameter
productName
: Sets product name (alias).
- Parameter
-
setStereoLeft
(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, rectifiedRotation: List[List[float]]) → None¶ Set the Stereo Left Rectification object
- Parameter
cameraId
: CameraId of the camera which will be used as left Camera of stereo Setup
- Parameter
rectifiedRotation
: Rectification rotation of the left camera required for feature matching
Homography of the Left Rectification = Intrinsics_right * rectifiedRotation * inv(Intrinsics_left)
- Parameter
-
setStereoRight
(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, rectifiedRotation: List[List[float]]) → None¶ Set the Stereo Right Rectification object
- Parameter
cameraId
: CameraId of the camera which will be used as left Camera of stereo Setup
- Parameter
rectifiedRotation
: Rectification rotation of the left camera required for feature matching
Homography of the Right Rectification = Intrinsics_right * rectifiedRotation * inv(Intrinsics_right)
- Parameter
-
-
class
depthai.
CameraBoardSocket
¶ Bases:
pybind11_builtins.pybind11_object
Which Camera socket to use.
AUTO denotes that the decision will be made by device
Members:
AUTO
RGB
LEFT
RIGHT
CENTER
CAM_A
CAM_B
CAM_C
CAM_D
CAM_E
CAM_F
CAM_G
CAM_H
Attributes:
Methods:
__init__
(self, value)-
AUTO
= <CameraBoardSocket.AUTO: -1>¶
-
CAM_A
= <CameraBoardSocket.RGB: 0>¶
-
CAM_B
= <CameraBoardSocket.LEFT: 1>¶
-
CAM_C
= <CameraBoardSocket.RIGHT: 2>¶
-
CAM_D
= <CameraBoardSocket.CAM_D: 3>¶
-
CAM_E
= <CameraBoardSocket.CAM_E: 4>¶
-
CAM_F
= <CameraBoardSocket.CAM_F: 5>¶
-
CAM_G
= <CameraBoardSocket.CAM_G: 6>¶
-
CAM_H
= <CameraBoardSocket.CAM_H: 7>¶
-
CENTER
= <CameraBoardSocket.RGB: 0>¶
-
LEFT
= <CameraBoardSocket.LEFT: 1>¶
-
RGB
= <CameraBoardSocket.RGB: 0>¶
-
RIGHT
= <CameraBoardSocket.RIGHT: 2>¶
-
__init__
(self: depthai.CameraBoardSocket, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
depthai.
CameraControl
¶ Bases:
depthai.Buffer
CameraControl message. Specifies various camera control commands like:
Still capture
Auto/manual focus
Auto/manual white balance
Auto/manual exposure
Anti banding
…
By default the camera enables 3A, with auto-focus in CONTINUOUS_VIDEO mode, auto-white-balance in AUTO mode, and auto-exposure with anti-banding for 50Hz mains frequency.
Classes:
Members:
Members:
Members:
Members:
Members:
Members:
Members:
Methods:
__init__
(self)Construct CameraControl message
getCaptureStill
(self)Check whether command to capture a still is set
getExposureTime
(self)Retrieves exposure time
getLensPosition
(self)Retrieves lens position, range 0..255.
getSensitivity
(self)Retrieves sensitivity, as an ISO value
setAntiBandingMode
(self, mode)Set a command to specify anti-banding mode.
setAutoExposureCompensation
(self, compensation)Set a command to specify auto exposure compensation
setAutoExposureEnable
(self)Set a command to enable auto exposure
setAutoExposureLock
(self, lock)Set a command to specify lock auto exposure
setAutoExposureRegion
(self, startX, startY, …)Set a command to specify auto exposure region in pixels.
setAutoFocusLensRange
(self, …)Set autofocus lens range, infinityPosition < macroPosition, valid values 0..255.
setAutoFocusMode
(self, mode)Set a command to specify autofocus mode.
setAutoFocusRegion
(self, startX, startY, …)Set a command to specify focus region in pixels.
setAutoFocusTrigger
(self)Set a command to trigger autofocus
setAutoWhiteBalanceLock
(self, lock)Set a command to specify auto white balance lock
setAutoWhiteBalanceMode
(self, mode)Set a command to specify auto white balance mode
setBrightness
(self, value)Set a command to adjust image brightness
setCaptureStill
(self, capture)Set a command to capture a still image
setChromaDenoise
(self, value)Set a command to adjust chroma denoise amount
setContrast
(self, value)Set a command to adjust image contrast
setEffectMode
(self, mode)Set a command to specify effect mode
setExternalTrigger
(self, numFramesBurst, …)Set a command to enable external trigger snapshot mode
setFrameSyncMode
(self, mode)Set the frame sync mode for continuous streaming operation mode, translating to how the camera pin FSIN/FSYNC is used: input/output/disabled
setLumaDenoise
(self, value)Set a command to adjust luma denoise amount
setManualExposure
(*args, **kwargs)Overloaded function.
setManualFocus
(self, lensPosition)Set a command to specify manual focus position
setManualWhiteBalance
(self, colorTemperatureK)Set a command to manually specify white-balance color correction
setSaturation
(self, value)Set a command to adjust image saturation
setSceneMode
(self, mode)Set a command to specify scene mode
setSharpness
(self, value)Set a command to adjust image sharpness
setStartStreaming
(self)Set a command to start streaming
setStopStreaming
(self)Set a command to stop streaming
setStrobeDisable
(self)Disable STROBE output
setStrobeExternal
(self, gpioNumber, activeLevel)Enable STROBE output driven by a MyriadX GPIO, optionally configuring the polarity This normally requires a FSIN/FSYNC/trigger input for MyriadX (usually GPIO 41), to generate timings
setStrobeSensor
(self, activeLevel)Enable STROBE output on sensor pin, optionally configuring the polarity.
-
class
AntiBandingMode
¶ Bases:
pybind11_builtins.pybind11_object
Members:
OFF
MAINS_50_HZ
MAINS_60_HZ
AUTO
Attributes:
Methods:
__init__
(self, value)-
AUTO
= <AntiBandingMode.AUTO: 3>¶
-
MAINS_50_HZ
= <AntiBandingMode.MAINS_50_HZ: 1>¶
-
MAINS_60_HZ
= <AntiBandingMode.MAINS_60_HZ: 2>¶
-
OFF
= <AntiBandingMode.OFF: 0>¶
-
__init__
(self: depthai.RawCameraControl.AntiBandingMode, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
AutoFocusMode
¶ Bases:
pybind11_builtins.pybind11_object
Members:
OFF
AUTO
MACRO
CONTINUOUS_VIDEO
CONTINUOUS_PICTURE
EDOF
Attributes:
Methods:
__init__
(self, value)-
AUTO
= <AutoFocusMode.AUTO: 1>¶
-
CONTINUOUS_PICTURE
= <AutoFocusMode.CONTINUOUS_PICTURE: 4>¶
-
CONTINUOUS_VIDEO
= <AutoFocusMode.CONTINUOUS_VIDEO: 3>¶
-
EDOF
= <AutoFocusMode.EDOF: 5>¶
-
MACRO
= <AutoFocusMode.MACRO: 2>¶
-
OFF
= <AutoFocusMode.OFF: 0>¶
-
__init__
(self: depthai.RawCameraControl.AutoFocusMode, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
AutoWhiteBalanceMode
¶ Bases:
pybind11_builtins.pybind11_object
Members:
OFF
AUTO
INCANDESCENT
FLUORESCENT
WARM_FLUORESCENT
DAYLIGHT
CLOUDY_DAYLIGHT
TWILIGHT
SHADE
Attributes:
Methods:
__init__
(self, value)-
AUTO
= <AutoWhiteBalanceMode.AUTO: 1>¶
-
CLOUDY_DAYLIGHT
= <AutoWhiteBalanceMode.CLOUDY_DAYLIGHT: 6>¶
-
DAYLIGHT
= <AutoWhiteBalanceMode.DAYLIGHT: 5>¶
-
FLUORESCENT
= <AutoWhiteBalanceMode.FLUORESCENT: 3>¶
-
INCANDESCENT
= <AutoWhiteBalanceMode.INCANDESCENT: 2>¶
-
OFF
= <AutoWhiteBalanceMode.OFF: 0>¶
-
SHADE
= <AutoWhiteBalanceMode.SHADE: 8>¶
-
TWILIGHT
= <AutoWhiteBalanceMode.TWILIGHT: 7>¶
-
WARM_FLUORESCENT
= <AutoWhiteBalanceMode.WARM_FLUORESCENT: 4>¶
-
__init__
(self: depthai.RawCameraControl.AutoWhiteBalanceMode, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
Command
¶ Bases:
pybind11_builtins.pybind11_object
Members:
START_STREAM
STOP_STREAM
STILL_CAPTURE
MOVE_LENS
AF_TRIGGER
AE_MANUAL
AE_AUTO
AWB_MODE
SCENE_MODE
ANTIBANDING_MODE
EXPOSURE_COMPENSATION
AE_LOCK
AE_TARGET_FPS_RANGE
AWB_LOCK
CAPTURE_INTENT
CONTROL_MODE
FRAME_DURATION
SENSITIVITY
EFFECT_MODE
AF_MODE
NOISE_REDUCTION_STRENGTH
SATURATION
BRIGHTNESS
STREAM_FORMAT
RESOLUTION
SHARPNESS
CUSTOM_USECASE
CUSTOM_CAPT_MODE
CUSTOM_EXP_BRACKETS
CUSTOM_CAPTURE
CONTRAST
AE_REGION
AF_REGION
LUMA_DENOISE
CHROMA_DENOISE
WB_COLOR_TEMP
Attributes:
Methods:
__init__
(self, value)-
AE_AUTO
= <Command.AE_AUTO: 7>¶
-
AE_LOCK
= <Command.AE_LOCK: 13>¶
-
AE_MANUAL
= <Command.AE_MANUAL: 6>¶
-
AE_REGION
= <Command.AE_REGION: 45>¶
-
AE_TARGET_FPS_RANGE
= <Command.AE_TARGET_FPS_RANGE: 14>¶
-
AF_MODE
= <Command.AF_MODE: 26>¶
-
AF_REGION
= <Command.AF_REGION: 46>¶
-
AF_TRIGGER
= <Command.AF_TRIGGER: 5>¶
-
ANTIBANDING_MODE
= <Command.ANTIBANDING_MODE: 10>¶
-
AWB_LOCK
= <Command.AWB_LOCK: 16>¶
-
AWB_MODE
= <Command.AWB_MODE: 8>¶
-
BRIGHTNESS
= <Command.BRIGHTNESS: 31>¶
-
CAPTURE_INTENT
= <Command.CAPTURE_INTENT: 17>¶
-
CHROMA_DENOISE
= <Command.CHROMA_DENOISE: 48>¶
-
CONTRAST
= <Command.CONTRAST: 44>¶
-
CONTROL_MODE
= <Command.CONTROL_MODE: 18>¶
-
CUSTOM_CAPTURE
= <Command.CUSTOM_CAPTURE: 43>¶
-
CUSTOM_CAPT_MODE
= <Command.CUSTOM_CAPT_MODE: 41>¶
-
CUSTOM_EXP_BRACKETS
= <Command.CUSTOM_EXP_BRACKETS: 42>¶
-
CUSTOM_USECASE
= <Command.CUSTOM_USECASE: 40>¶
-
EFFECT_MODE
= <Command.EFFECT_MODE: 24>¶
-
EXPOSURE_COMPENSATION
= <Command.EXPOSURE_COMPENSATION: 11>¶
-
FRAME_DURATION
= <Command.FRAME_DURATION: 21>¶
-
LUMA_DENOISE
= <Command.LUMA_DENOISE: 47>¶
-
MOVE_LENS
= <Command.MOVE_LENS: 4>¶
-
NOISE_REDUCTION_STRENGTH
= <Command.NOISE_REDUCTION_STRENGTH: 27>¶
-
RESOLUTION
= <Command.RESOLUTION: 34>¶
-
SATURATION
= <Command.SATURATION: 28>¶
-
SCENE_MODE
= <Command.SCENE_MODE: 9>¶
-
SENSITIVITY
= <Command.SENSITIVITY: 23>¶
-
SHARPNESS
= <Command.SHARPNESS: 35>¶
-
START_STREAM
= <Command.START_STREAM: 1>¶
-
STILL_CAPTURE
= <Command.STILL_CAPTURE: 3>¶
-
STOP_STREAM
= <Command.STOP_STREAM: 2>¶
-
STREAM_FORMAT
= <Command.STREAM_FORMAT: 33>¶
-
WB_COLOR_TEMP
= <Command.WB_COLOR_TEMP: 49>¶
-
__init__
(self: depthai.RawCameraControl.Command, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
EffectMode
¶ Bases:
pybind11_builtins.pybind11_object
Members:
OFF
MONO
NEGATIVE
SOLARIZE
SEPIA
POSTERIZE
WHITEBOARD
BLACKBOARD
AQUA
Attributes:
Methods:
__init__
(self, value)-
AQUA
= <EffectMode.AQUA: 8>¶
-
BLACKBOARD
= <EffectMode.BLACKBOARD: 7>¶
-
MONO
= <EffectMode.MONO: 1>¶
-
NEGATIVE
= <EffectMode.NEGATIVE: 2>¶
-
OFF
= <EffectMode.OFF: 0>¶
-
POSTERIZE
= <EffectMode.POSTERIZE: 5>¶
-
SEPIA
= <EffectMode.SEPIA: 4>¶
-
SOLARIZE
= <EffectMode.SOLARIZE: 3>¶
-
WHITEBOARD
= <EffectMode.WHITEBOARD: 6>¶
-
__init__
(self: depthai.RawCameraControl.EffectMode, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
FrameSyncMode
¶ Bases:
pybind11_builtins.pybind11_object
Members:
OFF
OUTPUT
INPUT
Attributes:
Methods:
__init__
(self, value)-
INPUT
= <FrameSyncMode.INPUT: 2>¶
-
OFF
= <FrameSyncMode.OFF: 0>¶
-
OUTPUT
= <FrameSyncMode.OUTPUT: 1>¶
-
__init__
(self: depthai.RawCameraControl.FrameSyncMode, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
SceneMode
¶ Bases:
pybind11_builtins.pybind11_object
Members:
UNSUPPORTED
FACE_PRIORITY
ACTION
PORTRAIT
LANDSCAPE
NIGHT
NIGHT_PORTRAIT
THEATRE
BEACH
SNOW
SUNSET
STEADYPHOTO
FIREWORKS
SPORTS
PARTY
CANDLELIGHT
BARCODE
Attributes:
Methods:
__init__
(self, value)-
ACTION
= <SceneMode.ACTION: 2>¶
-
BARCODE
= <SceneMode.BARCODE: 16>¶
-
BEACH
= <SceneMode.BEACH: 8>¶
-
CANDLELIGHT
= <SceneMode.CANDLELIGHT: 15>¶
-
FACE_PRIORITY
= <SceneMode.FACE_PRIORITY: 1>¶
-
FIREWORKS
= <SceneMode.FIREWORKS: 12>¶
-
LANDSCAPE
= <SceneMode.LANDSCAPE: 4>¶
-
NIGHT
= <SceneMode.NIGHT: 5>¶
-
NIGHT_PORTRAIT
= <SceneMode.NIGHT_PORTRAIT: 6>¶
-
PARTY
= <SceneMode.PARTY: 14>¶
-
PORTRAIT
= <SceneMode.PORTRAIT: 3>¶
-
SNOW
= <SceneMode.SNOW: 9>¶
-
SPORTS
= <SceneMode.SPORTS: 13>¶
-
STEADYPHOTO
= <SceneMode.STEADYPHOTO: 11>¶
-
SUNSET
= <SceneMode.SUNSET: 10>¶
-
THEATRE
= <SceneMode.THEATRE: 7>¶
-
UNSUPPORTED
= <SceneMode.UNSUPPORTED: 0>¶
-
__init__
(self: depthai.RawCameraControl.SceneMode, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
__init__
(self: depthai.CameraControl) → None¶ Construct CameraControl message
-
getCaptureStill
(self: depthai.CameraControl) → bool¶ Check whether command to capture a still is set
- Returns
True if capture still command is set
-
getExposureTime
(self: depthai.CameraControl) → datetime.timedelta¶ Retrieves exposure time
-
getLensPosition
(self: depthai.CameraControl) → int¶ Retrieves lens position, range 0..255. Returns -1 if not available
-
getSensitivity
(self: depthai.CameraControl) → int¶ Retrieves sensitivity, as an ISO value
-
setAntiBandingMode
(self: depthai.CameraControl, mode: depthai.RawCameraControl.AntiBandingMode) → depthai.CameraControl¶ Set a command to specify anti-banding mode. Anti-banding / anti-flicker works in auto-exposure mode, by controlling the exposure time to be applied in multiples of half the mains period, for example in multiple of 10ms for 50Hz (period 20ms) AC-powered illumination sources.
If the scene would be too bright for the smallest exposure step (10ms in the example, with ISO at a minimum of 100), anti-banding is not effective.
- Parameter
mode
: Anti-banding mode to use. Default: MAINS_50_HZ
- Parameter
-
setAutoExposureCompensation
(self: depthai.CameraControl, compensation: int) → depthai.CameraControl¶ Set a command to specify auto exposure compensation
- Parameter
compensation
: Compensation value between -9..9, default 0
- Parameter
-
setAutoExposureEnable
(self: depthai.CameraControl) → depthai.CameraControl¶ Set a command to enable auto exposure
-
setAutoExposureLock
(self: depthai.CameraControl, lock: bool) → depthai.CameraControl¶ Set a command to specify lock auto exposure
- Parameter
lock
: Auto exposure lock mode enabled or disabled
- Parameter
-
setAutoExposureRegion
(self: depthai.CameraControl, startX: int, startY: int, width: int, height: int) → depthai.CameraControl¶ Set a command to specify auto exposure region in pixels. Note: the region should be mapped to the configured sensor resolution, before ISP scaling
- Parameter
startX
: X coordinate of top left corner of region
- Parameter
startY
: Y coordinate of top left corner of region
- Parameter
width
: Region width
- Parameter
height
: Region height
- Parameter
-
setAutoFocusLensRange
(self: depthai.CameraControl, infinityPosition: int, macroPosition: int) → depthai.CameraControl¶ Set autofocus lens range, infinityPosition < macroPosition, valid values 0..255. May help to improve autofocus in case the lens adjustment is not typical/tuned
-
setAutoFocusMode
(self: depthai.CameraControl, mode: depthai.RawCameraControl.AutoFocusMode) → depthai.CameraControl¶ Set a command to specify autofocus mode. Default CONTINUOUS_VIDEO
-
setAutoFocusRegion
(self: depthai.CameraControl, startX: int, startY: int, width: int, height: int) → depthai.CameraControl¶ Set a command to specify focus region in pixels. Note: the region should be mapped to the configured sensor resolution, before ISP scaling
- Parameter
startX
: X coordinate of top left corner of region
- Parameter
startY
: Y coordinate of top left corner of region
- Parameter
width
: Region width
- Parameter
height
: Region height
- Parameter
-
setAutoFocusTrigger
(self: depthai.CameraControl) → depthai.CameraControl¶ Set a command to trigger autofocus
-
setAutoWhiteBalanceLock
(self: depthai.CameraControl, lock: bool) → depthai.CameraControl¶ Set a command to specify auto white balance lock
- Parameter
lock
: Auto white balance lock mode enabled or disabled
- Parameter
-
setAutoWhiteBalanceMode
(self: depthai.CameraControl, mode: depthai.RawCameraControl.AutoWhiteBalanceMode) → depthai.CameraControl¶ Set a command to specify auto white balance mode
- Parameter
mode
: Auto white balance mode to use. Default AUTO
- Parameter
-
setBrightness
(self: depthai.CameraControl, value: int) → depthai.CameraControl¶ Set a command to adjust image brightness
- Parameter
value
: Brightness, range -10..10, default 0
- Parameter
-
setCaptureStill
(self: depthai.CameraControl, capture: bool) → depthai.CameraControl¶ Set a command to capture a still image
-
setChromaDenoise
(self: depthai.CameraControl, value: int) → depthai.CameraControl¶ Set a command to adjust chroma denoise amount
- Parameter
value
: Chroma denoise amount, range 0..4, default 1
- Parameter
-
setContrast
(self: depthai.CameraControl, value: int) → depthai.CameraControl¶ Set a command to adjust image contrast
- Parameter
value
: Contrast, range -10..10, default 0
- Parameter
-
setEffectMode
(self: depthai.CameraControl, mode: depthai.RawCameraControl.EffectMode) → depthai.CameraControl¶ Set a command to specify effect mode
- Parameter
mode
: Effect mode
- Parameter
-
setExternalTrigger
(self: depthai.CameraControl, numFramesBurst: int, numFramesDiscard: int) → depthai.CameraControl¶ Set a command to enable external trigger snapshot mode
A rising edge on the sensor FSIN pin will make it capture a sequence of numFramesBurst frames. First numFramesDiscard will be skipped as configured (can be set to 0 as well), as they may have degraded quality
-
setFrameSyncMode
(self: depthai.CameraControl, mode: depthai.RawCameraControl.FrameSyncMode) → depthai.CameraControl¶ Set the frame sync mode for continuous streaming operation mode, translating to how the camera pin FSIN/FSYNC is used: input/output/disabled
-
setLumaDenoise
(self: depthai.CameraControl, value: int) → depthai.CameraControl¶ Set a command to adjust luma denoise amount
- Parameter
value
: Luma denoise amount, range 0..4, default 1
- Parameter
-
setManualExposure
(*args, **kwargs)¶ Overloaded function.
setManualExposure(self: depthai.CameraControl, exposureTimeUs: int, sensitivityIso: int) -> depthai.CameraControl
Set a command to manually specify exposure
- Parameter
exposureTimeUs
: Exposure time in microseconds
- Parameter
sensitivityIso
: Sensitivity as ISO value, usual range 100..1600
setManualExposure(self: depthai.CameraControl, exposureTime: datetime.timedelta, sensitivityIso: int) -> None
Set a command to manually specify exposure
- Parameter
exposureTime
: Exposure time
- Parameter
sensitivityIso
: Sensitivity as ISO value, usual range 100..1600
-
setManualFocus
(self: depthai.CameraControl, lensPosition: int) → depthai.CameraControl¶ Set a command to specify manual focus position
- Parameter
lensPosition
: specify lens position 0..255
- Parameter
-
setManualWhiteBalance
(self: depthai.CameraControl, colorTemperatureK: int) → depthai.CameraControl¶ Set a command to manually specify white-balance color correction
- Parameter
colorTemperatureK
: Light source color temperature in kelvins, range 1000..12000
- Parameter
-
setSaturation
(self: depthai.CameraControl, value: int) → depthai.CameraControl¶ Set a command to adjust image saturation
- Parameter
value
: Saturation, range -10..10, default 0
- Parameter
-
setSceneMode
(self: depthai.CameraControl, mode: depthai.RawCameraControl.SceneMode) → depthai.CameraControl¶ Set a command to specify scene mode
- Parameter
mode
: Scene mode
- Parameter
-
setSharpness
(self: depthai.CameraControl, value: int) → depthai.CameraControl¶ Set a command to adjust image sharpness
- Parameter
value
: Sharpness, range 0..4, default 1
- Parameter
-
setStartStreaming
(self: depthai.CameraControl) → depthai.CameraControl¶ Set a command to start streaming
-
setStopStreaming
(self: depthai.CameraControl) → depthai.CameraControl¶ Set a command to stop streaming
-
setStrobeDisable
(self: depthai.CameraControl) → depthai.CameraControl¶ Disable STROBE output
-
setStrobeExternal
(self: depthai.CameraControl, gpioNumber: int, activeLevel: int) → depthai.CameraControl¶ Enable STROBE output driven by a MyriadX GPIO, optionally configuring the polarity This normally requires a FSIN/FSYNC/trigger input for MyriadX (usually GPIO 41), to generate timings
-
setStrobeSensor
(self: depthai.CameraControl, activeLevel: int) → depthai.CameraControl¶ Enable STROBE output on sensor pin, optionally configuring the polarity. Note: for many sensors the polarity is high-active and not configurable
-
class
depthai.
CameraExposureOffset
¶ Bases:
pybind11_builtins.pybind11_object
Members:
START
MIDDLE
END
Attributes:
Methods:
__init__
(self, value)-
END
= <CameraExposureOffset.END: 2>¶
-
MIDDLE
= <CameraExposureOffset.MIDDLE: 1>¶
-
START
= <CameraExposureOffset.START: 0>¶
-
__init__
(self: depthai.CameraExposureOffset, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
depthai.
CameraFeatures
¶ Bases:
pybind11_builtins.pybind11_object
CameraFeatures structure
Characterizes detected cameras on board
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.CameraFeatures) → None¶
-
property
hasAutofocus
¶
-
property
height
¶
-
property
name
¶
-
property
orientation
¶
-
property
sensorName
¶
-
property
socket
¶
-
property
supportedTypes
¶
-
property
width
¶
-
-
class
depthai.
CameraImageOrientation
¶ Bases:
pybind11_builtins.pybind11_object
Camera sensor image orientation / pixel readout. This exposes direct sensor settings. 90 or 270 degrees rotation is not available.
AUTO denotes that the decision will be made by device (e.g. on OAK-1/megaAI: ROTATE_180_DEG).
Members:
AUTO
NORMAL
HORIZONTAL_MIRROR
VERTICAL_FLIP
ROTATE_180_DEG
Attributes:
Methods:
__init__
(self, value)-
AUTO
= <CameraImageOrientation.AUTO: -1>¶
-
HORIZONTAL_MIRROR
= <CameraImageOrientation.HORIZONTAL_MIRROR: 1>¶
-
NORMAL
= <CameraImageOrientation.NORMAL: 0>¶
-
ROTATE_180_DEG
= <CameraImageOrientation.ROTATE_180_DEG: 3>¶
-
VERTICAL_FLIP
= <CameraImageOrientation.VERTICAL_FLIP: 2>¶
-
__init__
(self: depthai.CameraImageOrientation, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
depthai.
CameraInfo
¶ Bases:
pybind11_builtins.pybind11_object
CameraInfo structure
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.CameraInfo) → None¶
-
property
cameraType
¶
-
property
distortionCoeff
¶
-
property
extrinsics
¶
-
property
height
¶
-
property
intrinsicMatrix
¶
-
property
specHfovDeg
¶
-
property
width
¶
-
-
class
depthai.
CameraModel
¶ Bases:
pybind11_builtins.pybind11_object
Which CameraModel to initialize the calibration with.
Members:
Perspective
Fisheye
Equirectangular
RadialDivision
Attributes:
Methods:
__init__
(self, value)-
Equirectangular
= <CameraModel.Equirectangular: 2>¶
-
Fisheye
= <CameraModel.Fisheye: 1>¶
-
Perspective
= <CameraModel.Perspective: 0>¶
-
RadialDivision
= <CameraModel.RadialDivision: 3>¶
-
__init__
(self: depthai.CameraModel, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
depthai.
CameraProperties
¶ Bases:
pybind11_builtins.pybind11_object
Specify properties for ColorCamera such as camera ID, …
Classes:
For 24 bit color these can be either RGB or BGR
Warp mesh source
Methods:
__init__
(*args, **kwargs)Initialize self.
Attributes:
-
class
ColorOrder
¶ Bases:
pybind11_builtins.pybind11_object
For 24 bit color these can be either RGB or BGR
Members:
BGR
RGB
Attributes:
Methods:
__init__
(self, value)-
BGR
= <ColorOrder.BGR: 0>¶
-
RGB
= <ColorOrder.RGB: 1>¶
-
__init__
(self: depthai.CameraProperties.ColorOrder, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
WarpMeshSource
¶ Bases:
pybind11_builtins.pybind11_object
Warp mesh source
Members:
AUTO
NONE
CALIBRATION
URI
Attributes:
Methods:
__init__
(self, value)-
AUTO
= <WarpMeshSource.AUTO: -1>¶
-
CALIBRATION
= <WarpMeshSource.CALIBRATION: 1>¶
-
NONE
= <WarpMeshSource.NONE: 0>¶
-
URI
= <WarpMeshSource.URI: 2>¶
-
__init__
(self: depthai.CameraProperties.WarpMeshSource, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
property
boardSocket
¶
-
property
calibAlpha
¶
-
property
colorOrder
¶
-
property
fp16
¶
-
property
fps
¶
-
property
imageOrientation
¶
-
property
initialControl
¶
-
property
interleaved
¶
-
property
ispScale
¶
-
property
numFramesPoolIsp
¶
-
property
numFramesPoolPreview
¶
-
property
numFramesPoolRaw
¶
-
property
numFramesPoolStill
¶
-
property
numFramesPoolVideo
¶
-
property
previewHeight
¶
-
property
previewKeepAspectRatio
¶
-
property
previewWidth
¶
-
property
sensorCropX
¶
-
property
sensorCropY
¶
-
property
stillHeight
¶
-
property
stillWidth
¶
-
property
videoHeight
¶
-
property
videoWidth
¶
-
property
warpMeshHeight
¶
-
property
warpMeshSource
¶
-
property
warpMeshStepHeight
¶
-
property
warpMeshStepWidth
¶
-
property
warpMeshUri
¶
-
property
warpMeshWidth
¶
-
class
-
class
depthai.
CameraSensorType
¶ Bases:
pybind11_builtins.pybind11_object
Camera sensor type
Members:
COLOR
MONO
TOF
THERMAL
Attributes:
Methods:
__init__
(self, value)-
COLOR
= <CameraSensorType.COLOR: 0>¶
-
MONO
= <CameraSensorType.MONO: 1>¶
-
THERMAL
= <CameraSensorType.THERMAL: 3>¶
-
TOF
= <CameraSensorType.TOF: 2>¶
-
__init__
(self: depthai.CameraSensorType, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
depthai.
ChipTemperature
¶ Bases:
pybind11_builtins.pybind11_object
Chip temperature information.
Multiple temperature measurement points and their average
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.ChipTemperature) → None¶
-
property
average
¶
-
property
css
¶
-
property
dss
¶
-
property
mss
¶
-
property
upa
¶
-
-
class
depthai.
Clock
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(*args, **kwargs)Initialize self.
now
()-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
now
() → datetime.timedelta¶
-
-
class
depthai.
ColorCameraProperties
¶ Bases:
pybind11_builtins.pybind11_object
Specify properties for ColorCamera such as camera ID, …
Classes:
For 24 bit color these can be either RGB or BGR
Select the camera sensor resolution
Methods:
__init__
(*args, **kwargs)Initialize self.
Attributes:
-
class
ColorOrder
¶ Bases:
pybind11_builtins.pybind11_object
For 24 bit color these can be either RGB or BGR
Members:
BGR
RGB
Attributes:
Methods:
__init__
(self, value)-
BGR
= <ColorOrder.BGR: 0>¶
-
RGB
= <ColorOrder.RGB: 1>¶
-
__init__
(self: depthai.ColorCameraProperties.ColorOrder, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
SensorResolution
¶ Bases:
pybind11_builtins.pybind11_object
Select the camera sensor resolution
Members:
THE_1080_P
THE_1200_P
THE_4_K
THE_5_MP
THE_12_MP
THE_4000X3000
THE_13_MP
THE_5312X6000
THE_48_MP
THE_720_P
THE_800_P
THE_1440X1080
Attributes:
Methods:
__init__
(self, value)-
THE_1080_P
= <SensorResolution.THE_1080_P: 0>¶
-
THE_1200_P
= <SensorResolution.THE_1200_P: 6>¶
-
THE_12_MP
= <SensorResolution.THE_12_MP: 2>¶
-
THE_13_MP
= <SensorResolution.THE_13_MP: 3>¶
-
THE_1440X1080
= <SensorResolution.THE_1440X1080: 11>¶
-
THE_4000X3000
= <SensorResolution.THE_4000X3000: 8>¶
-
THE_48_MP
= <SensorResolution.THE_48_MP: 10>¶
-
THE_4_K
= <SensorResolution.THE_4_K: 1>¶
-
THE_5312X6000
= <SensorResolution.THE_5312X6000: 9>¶
-
THE_5_MP
= <SensorResolution.THE_5_MP: 7>¶
-
THE_720_P
= <SensorResolution.THE_720_P: 4>¶
-
THE_800_P
= <SensorResolution.THE_800_P: 5>¶
-
__init__
(self: depthai.ColorCameraProperties.SensorResolution, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
property
boardSocket
¶
-
property
colorOrder
¶
-
property
eventFilter
¶
-
property
fp16
¶
-
property
fps
¶
-
property
imageOrientation
¶
-
property
initialControl
¶
-
property
interleaved
¶
-
property
ispScale
¶
-
property
numFramesPoolIsp
¶
-
property
numFramesPoolPreview
¶
-
property
numFramesPoolRaw
¶
-
property
numFramesPoolStill
¶
-
property
numFramesPoolVideo
¶
-
property
previewHeight
¶
-
property
previewKeepAspectRatio
¶
-
property
previewWidth
¶
-
property
resolution
¶
-
property
sensorCropX
¶
-
property
sensorCropY
¶
-
property
stillHeight
¶
-
property
stillWidth
¶
-
property
videoHeight
¶
-
property
videoWidth
¶
-
class
-
class
depthai.
Colormap
¶ Bases:
pybind11_builtins.pybind11_object
Camera sensor type
Members:
NONE
JET
TURBO
STEREO_JET
STEREO_TURBO
Attributes:
Methods:
__init__
(self, value)-
JET
= <Colormap.JET: 2>¶
-
NONE
= <Colormap.NONE: 0>¶
-
STEREO_JET
= <Colormap.STEREO_JET: 4>¶
-
STEREO_TURBO
= <Colormap.STEREO_TURBO: 3>¶
-
TURBO
= <Colormap.TURBO: 1>¶
-
__init__
(self: depthai.Colormap, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
depthai.
CpuUsage
¶ Bases:
pybind11_builtins.pybind11_object
CpuUsage structure
Average usage in percent and time span of the average (since last query)
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.CpuUsage) → None¶
-
property
average
¶
-
property
msTime
¶
-
-
class
depthai.
DataInputQueue
¶ Bases:
pybind11_builtins.pybind11_object
Access to send messages through XLink stream
Methods:
__init__
(*args, **kwargs)Initialize self.
close
(self)Closes the queue and the underlying thread
getBlocking
(self)Gets current queue behavior when full (maxSize)
getMaxSize
(self)Gets queue maximum size
getName
(self)Gets queues name
isClosed
(self)Check whether queue is closed
send
(*args, **kwargs)Overloaded function.
setBlocking
(self, blocking)Sets queue behavior when full (maxSize)
setMaxSize
(self, maxSize)Sets queue maximum size
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
close
(self: depthai.DataInputQueue) → None¶ Closes the queue and the underlying thread
-
getBlocking
(self: depthai.DataInputQueue) → bool¶ Gets current queue behavior when full (maxSize)
- Returns
True if blocking, false otherwise
-
getMaxSize
(self: depthai.DataInputQueue) → int¶ Gets queue maximum size
- Returns
Maximum queue size
-
getName
(self: depthai.DataInputQueue) → str¶ Gets queues name
- Returns
Queue name
-
isClosed
(self: depthai.DataInputQueue) → bool¶ Check whether queue is closed
-
send
(*args, **kwargs)¶ Overloaded function.
send(self: depthai.DataInputQueue, msg: depthai.ADatatype) -> None
Adds a message to the queue, which will be picked up and sent to the device. Can either block if ‘blocking’ behavior is true or overwrite oldest
- Parameter
msg
: Message to add to the queue
send(self: depthai.DataInputQueue, rawMsg: depthai.RawBuffer) -> None
Adds a raw message to the queue, which will be picked up and sent to the device. Can either block if ‘blocking’ behavior is true or overwrite oldest
- Parameter
rawMsg
: Message to add to the queue
-
setBlocking
(self: depthai.DataInputQueue, blocking: bool) → None¶ Sets queue behavior when full (maxSize)
- Parameter
blocking
: Specifies if block or overwrite the oldest message in the queue
- Parameter
-
setMaxSize
(self: depthai.DataInputQueue, maxSize: int) → None¶ Sets queue maximum size
- Parameter
maxSize
: Specifies maximum number of messages in the queue
- Parameter
-
-
class
depthai.
DataOutputQueue
¶ Bases:
pybind11_builtins.pybind11_object
Access to receive messages coming from XLink stream
Methods:
__init__
(*args, **kwargs)Initialize self.
addCallback
(*args, **kwargs)Overloaded function.
close
(self)Closes the queue and the underlying thread
get
(self)Block until a message is available.
getAll
(self)Block until at least one message in the queue.
getBlocking
(self)Gets current queue behavior when full (maxSize)
getMaxSize
(self)Gets queue maximum size
getName
(self)Gets queues name
has
(self)Check whether front of the queue has a message (isn’t empty)
isClosed
(self)Check whether queue is closed
removeCallback
(self, callbackId)Removes a callback
setBlocking
(self, blocking)Sets queue behavior when full (maxSize)
setMaxSize
(self, maxSize)Sets queue maximum size
tryGet
(self)Try to retrieve message from queue.
tryGetAll
(self)Try to retrieve all messages in the queue.
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
addCallback
(*args, **kwargs)¶ Overloaded function.
addCallback(self: depthai.DataOutputQueue, callback: function) -> int
Adds a callback on message received
- Parameter
callback
: Callback function with queue name and message pointer
- Returns
Callback id
addCallback(self: depthai.DataOutputQueue, callback: function) -> int
Adds a callback on message received
- Parameter
callback
: Callback function with message pointer
- Returns
Callback id
addCallback(self: depthai.DataOutputQueue, callback: function) -> int
Adds a callback on message received
- Parameter
callback
: Callback function without any parameters
- Returns
Callback id
-
close
(self: depthai.DataOutputQueue) → None¶ Closes the queue and the underlying thread
-
get
(self: depthai.DataOutputQueue) → depthai.ADatatype¶ Block until a message is available.
- Returns
Message or nullptr if no message available
-
getAll
(self: depthai.DataOutputQueue) → List[depthai.ADatatype]¶ Block until at least one message in the queue. Then return all messages from the queue.
- Returns
Vector of messages
-
getBlocking
(self: depthai.DataOutputQueue) → bool¶ Gets current queue behavior when full (maxSize)
- Returns
True if blocking, false otherwise
-
getMaxSize
(self: depthai.DataOutputQueue) → int¶ Gets queue maximum size
- Returns
Maximum queue size
-
getName
(self: depthai.DataOutputQueue) → str¶ Gets queues name
- Returns
Queue name
-
has
(self: depthai.DataOutputQueue) → bool¶ Check whether front of the queue has a message (isn’t empty)
- Returns
True if queue isn’t empty, false otherwise
-
isClosed
(self: depthai.DataOutputQueue) → bool¶ Check whether queue is closed
-
removeCallback
(self: depthai.DataOutputQueue, callbackId: int) → bool¶ Removes a callback
- Parameter
callbackId
: Id of callback to be removed
- Returns
True if callback was removed, false otherwise
- Parameter
-
setBlocking
(self: depthai.DataOutputQueue, blocking: bool) → None¶ Sets queue behavior when full (maxSize)
- Parameter
blocking
: Specifies if block or overwrite the oldest message in the queue
- Parameter
-
setMaxSize
(self: depthai.DataOutputQueue, maxSize: int) → None¶ Sets queue maximum size
- Parameter
maxSize
: Specifies maximum number of messages in the queue
- Parameter
-
tryGet
(self: depthai.DataOutputQueue) → depthai.ADatatype¶ Try to retrieve message from queue. If no message available, return immediately with nullptr
- Returns
Message or nullptr if no message available
-
tryGetAll
(self: depthai.DataOutputQueue) → List[depthai.ADatatype]¶ Try to retrieve all messages in the queue.
- Returns
Vector of messages
-
-
class
depthai.
DatatypeEnum
¶ Bases:
pybind11_builtins.pybind11_object
Members:
Buffer
ImgFrame
NNData
ImageManipConfig
CameraControl
ImgDetections
SpatialImgDetections
SystemInformation
SpatialLocationCalculatorConfig
SpatialLocationCalculatorData
EdgeDetectorConfig
AprilTagConfig
AprilTags
Tracklets
IMUData
StereoDepthConfig
FeatureTrackerConfig
TrackedFeatures
Attributes:
Methods:
__init__
(self, value)-
AprilTagConfig
= <DatatypeEnum.AprilTagConfig: 11>¶
-
AprilTags
= <DatatypeEnum.AprilTags: 12>¶
-
Buffer
= <DatatypeEnum.Buffer: 0>¶
-
CameraControl
= <DatatypeEnum.CameraControl: 4>¶
-
EdgeDetectorConfig
= <DatatypeEnum.EdgeDetectorConfig: 10>¶
-
FeatureTrackerConfig
= <DatatypeEnum.FeatureTrackerConfig: 16>¶
-
IMUData
= <DatatypeEnum.IMUData: 14>¶
-
ImageManipConfig
= <DatatypeEnum.ImageManipConfig: 3>¶
-
ImgDetections
= <DatatypeEnum.ImgDetections: 5>¶
-
ImgFrame
= <DatatypeEnum.ImgFrame: 1>¶
-
NNData
= <DatatypeEnum.NNData: 2>¶
-
SpatialImgDetections
= <DatatypeEnum.SpatialImgDetections: 6>¶
-
SpatialLocationCalculatorConfig
= <DatatypeEnum.SpatialLocationCalculatorConfig: 8>¶
-
SpatialLocationCalculatorData
= <DatatypeEnum.SpatialLocationCalculatorData: 9>¶
-
StereoDepthConfig
= <DatatypeEnum.StereoDepthConfig: 15>¶
-
SystemInformation
= <DatatypeEnum.SystemInformation: 7>¶
-
TrackedFeatures
= <DatatypeEnum.TrackedFeatures: 17>¶
-
Tracklets
= <DatatypeEnum.Tracklets: 13>¶
-
__init__
(self: depthai.DatatypeEnum, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
depthai.
DetectionNetworkProperties
¶ Bases:
depthai.NeuralNetworkProperties
Specify properties for DetectionNetwork
Methods:
__init__
(*args, **kwargs)Initialize self.
Attributes:
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
property
parser
¶
-
-
class
depthai.
DetectionNetworkType
¶ Bases:
pybind11_builtins.pybind11_object
Members:
YOLO
MOBILENET
Attributes:
Methods:
__init__
(self, value)-
MOBILENET
= <DetectionNetworkType.MOBILENET: 1>¶
-
YOLO
= <DetectionNetworkType.YOLO: 0>¶
-
__init__
(self: depthai.DetectionNetworkType, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
depthai.
DetectionParserOptions
¶ Bases:
pybind11_builtins.pybind11_object
Specifies how to parse output of detection networks
Methods:
__init__
(*args, **kwargs)Initialize self.
Attributes:
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
property
anchorMasks
¶
-
property
anchors
¶
-
property
classes
¶
-
property
confidenceThreshold
¶
-
property
coordinates
¶
-
property
iouThreshold
¶
-
property
nnFamily
¶
-
-
class
depthai.
DetectionParserProperties
¶ Bases:
pybind11_builtins.pybind11_object
Specify properties for DetectionParser
Methods:
__init__
(*args, **kwargs)Initialize self.
Attributes:
Options for parser
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
property
parser
¶ Options for parser
-
-
class
depthai.
Device
¶ Bases:
depthai.DeviceBase
Represents the DepthAI device with the methods to interact with it. Implements the host-side queues to connect with XLinkIn and XLinkOut nodes
Classes:
Device specific configuration
Methods:
__init__
(*args, **kwargs)Overloaded function.
getInputQueue
(*args, **kwargs)Overloaded function.
getInputQueueNames
(self)Get all available input queue names
getOutputQueue
(*args, **kwargs)Overloaded function.
getOutputQueueNames
(self)Get all available output queue names
getQueueEvent
(*args, **kwargs)Overloaded function.
getQueueEvents
(*args, **kwargs)Overloaded function.
-
class
Config
¶ Bases:
pybind11_builtins.pybind11_object
Device specific configuration
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.Device.Config) → None¶
-
property
board
¶
-
property
nonExclusiveMode
¶
-
property
version
¶
-
-
__init__
(*args, **kwargs)¶ Overloaded function.
__init__(self: depthai.Device, pipeline: depthai.Pipeline) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameter
pipeline
: Pipeline to be executed on the device
__init__(self: depthai.Device, pipeline: depthai.Pipeline, usb2Mode: bool) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameter
pipeline
: Pipeline to be executed on the device
- Parameter
usb2Mode
: Boot device using USB2 mode firmware
__init__(self: depthai.Device, pipeline: depthai.Pipeline, maxUsbSpeed: depthai.UsbSpeed) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameter
pipeline
: Pipeline to be executed on the device
- Parameter
maxUsbSpeed
: Maximum allowed USB speed
__init__(self: depthai.Device, pipeline: depthai.Pipeline, pathToCmd: Path) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameter
pipeline
: Pipeline to be executed on the device
- Parameter
pathToCmd
: Path to custom device firmware
__init__(self: depthai.Device, pipeline: depthai.Pipeline, devInfo: depthai.DeviceInfo, usb2Mode: bool = False) -> None
Connects to device specified by devInfo.
- Parameter
pipeline
: Pipeline to be executed on the device
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
usb2Mode
: Boot device using USB2 mode firmware
__init__(self: depthai.Device, pipeline: depthai.Pipeline, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None
Connects to device specified by devInfo.
- Parameter
pipeline
: Pipeline to be executed on the device
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
maxUsbSpeed
: Maximum allowed USB speed
__init__(self: depthai.Device, pipeline: depthai.Pipeline, devInfo: depthai.DeviceInfo, pathToCmd: Path) -> None
Connects to device specified by devInfo.
- Parameter
pipeline
: Pipeline to be executed on the device
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
pathToCmd
: Path to custom device firmware
__init__(self: depthai.Device, version: depthai.OpenVINO.Version = <Version.???: 7>) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameter
version
: OpenVINO version which the device will be booted with.
__init__(self: depthai.Device, version: depthai.OpenVINO.Version, usb2Mode: bool = False) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameter
version
: OpenVINO version which the device will be booted with
- Parameter
usb2Mode
: Boot device using USB2 mode firmware
__init__(self: depthai.Device, version: depthai.OpenVINO.Version, maxUsbSpeed: depthai.UsbSpeed) -> None
Connects to device specified by devInfo.
- Parameter
version
: OpenVINO version which the device will be booted with
- Parameter
maxUsbSpeed
: Maximum allowed USB speed
__init__(self: depthai.Device, version: depthai.OpenVINO.Version, pathToCmd: Path) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameter
version
: OpenVINO version which the device will be booted with
- Parameter
pathToCmd
: Path to custom device firmware
__init__(self: depthai.Device, version: depthai.OpenVINO.Version, deviceInfo: depthai.DeviceInfo, usb2Mode: bool = False) -> None
Connects to device specified by devInfo.
- Parameter
version
: OpenVINO version which the device will be booted with
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
usb2Mode
: Boot device using USB2 mode firmware
__init__(self: depthai.Device, version: depthai.OpenVINO.Version, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None
Connects to device specified by devInfo.
- Parameter
version
: OpenVINO version which the device will be booted with
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
maxUsbSpeed
: Maximum allowed USB speed
__init__(self: depthai.Device, version: depthai.OpenVINO.Version, deviceDesc: depthai.DeviceInfo, pathToCmd: Path) -> None
Connects to device specified by devInfo.
- Parameter
version
: OpenVINO version which the device will be booted with
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
pathToCmd
: Path to custom device firmware
__init__(self: depthai.Device, config: depthai.Device.Config) -> None
Connects to any available device with custom config.
- Parameter
config
: Device custom configuration to boot with
__init__(self: depthai.Device, config: depthai.Device.Config, deviceInfo: depthai.DeviceInfo) -> None
Connects to device ‘devInfo’ with custom config.
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
config
: Device custom configuration to boot with
__init__(self: depthai.Device, deviceInfo: depthai.DeviceInfo) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
__init__(self: depthai.Device, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
maxUsbSpeed
: Maximum allowed USB speed
__init__(self: depthai.Device, nameOrDeviceId: str) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL
- Parameter
nameOrDeviceId
: Creates DeviceInfo with nameOrDeviceId to connect to
__init__(self: depthai.Device, nameOrDeviceId: str, maxUsbSpeed: depthai.UsbSpeed) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL
- Parameter
nameOrDeviceId
: Creates DeviceInfo with nameOrDeviceId to connect to
- Parameter
maxUsbSpeed
: Maximum allowed USB speed
-
getInputQueue
(*args, **kwargs)¶ Overloaded function.
getInputQueue(self: depthai.Device, name: str) -> depthai.DataInputQueue
Gets an input queue corresponding to stream name. If it doesn’t exist it throws
- Parameter
name
: Queue/stream name, set in XLinkIn node
- Returns
Smart pointer to DataInputQueue
getInputQueue(self: depthai.Device, name: str, maxSize: int, blocking: bool = True) -> depthai.DataInputQueue
Gets an input queue corresponding to stream name. If it doesn’t exist it throws. Also sets queue options
- Parameter
name
: Queue/stream name, set in XLinkOut node
- Parameter
maxSize
: Maximum number of messages in queue
- Parameter
blocking
: Queue behavior once full. True: blocking, false: overwriting of oldest messages. Default: true
- Returns
Smart pointer to DataInputQueue
-
getInputQueueNames
(self: depthai.Device) → List[str]¶ Get all available input queue names
- Returns
Vector of input queue names
-
getOutputQueue
(*args, **kwargs)¶ Overloaded function.
getOutputQueue(self: depthai.Device, name: str) -> depthai.DataOutputQueue
Gets an output queue corresponding to stream name. If it doesn’t exist it throws
- Parameter
name
: Queue/stream name, created by XLinkOut node
- Returns
Smart pointer to DataOutputQueue
getOutputQueue(self: depthai.Device, name: str, maxSize: int, blocking: bool = True) -> depthai.DataOutputQueue
Gets a queue corresponding to stream name, if it exists, otherwise it throws. Also sets queue options
- Parameter
name
: Queue/stream name, set in XLinkOut node
- Parameter
maxSize
: Maximum number of messages in queue
- Parameter
blocking
: Queue behavior once full. True specifies blocking and false overwriting of oldest messages. Default: true
- Returns
Smart pointer to DataOutputQueue
-
getOutputQueueNames
(self: depthai.Device) → List[str]¶ Get all available output queue names
- Returns
Vector of output queue names
-
getQueueEvent
(*args, **kwargs)¶ Overloaded function.
getQueueEvent(self: depthai.Device, queueNames: List[str], timeout: datetime.timedelta = datetime.timedelta(days=-1, seconds=86399, microseconds=999999)) -> str
Gets or waits until any of specified queues has received a message
- Parameter
queueNames
: Names of queues for which to wait for
- Parameter
timeout
: Timeout after which return regardless. If negative then wait is indefinite. Default is -1
- Returns
Queue name which received a message first
getQueueEvent(self: depthai.Device, queueName: str, timeout: datetime.timedelta = datetime.timedelta(days=-1, seconds=86399, microseconds=999999)) -> str
Gets or waits until specified queue has received a message
- Parameter
queueNames
: Name of queues for which to wait for
- Parameter
timeout
: Timeout after which return regardless. If negative then wait is indefinite. Default is -1
- Returns
Queue name which received a message
getQueueEvent(self: depthai.Device, timeout: datetime.timedelta = datetime.timedelta(days=-1, seconds=86399, microseconds=999999)) -> str
Gets or waits until any queue has received a message
- Parameter
timeout
: Timeout after which return regardless. If negative then wait is indefinite. Default is -1
- Returns
Queue name which received a message
-
getQueueEvents
(*args, **kwargs)¶ Overloaded function.
getQueueEvents(self: depthai.Device, queueNames: List[str], maxNumEvents: int = 18446744073709551615, timeout: datetime.timedelta = datetime.timedelta(days=-1, seconds=86399, microseconds=999999)) -> List[str]
Gets or waits until any of specified queues has received a message
- Parameter
queueNames
: Names of queues for which to block
- Parameter
maxNumEvents
: Maximum number of events to remove from queue - Default is unlimited
- Parameter
timeout
: Timeout after which return regardless. If negative then wait is indefinite - Default is -1
- Returns
Names of queues which received messages first
getQueueEvents(self: depthai.Device, queueName: str, maxNumEvents: int = 18446744073709551615, timeout: datetime.timedelta = datetime.timedelta(days=-1, seconds=86399, microseconds=999999)) -> List[str]
Gets or waits until specified queue has received a message
- Parameter
queueName
: Name of queues for which to wait for
- Parameter
maxNumEvents
: Maximum number of events to remove from queue. Default is unlimited
- Parameter
timeout
: Timeout after which return regardless. If negative then wait is indefinite. Default is -1
- Returns
Names of queues which received messages first
getQueueEvents(self: depthai.Device, maxNumEvents: int = 18446744073709551615, timeout: datetime.timedelta = datetime.timedelta(days=-1, seconds=86399, microseconds=999999)) -> List[str]
Gets or waits until any queue has received a message
- Parameter
maxNumEvents
: Maximum number of events to remove from queue. Default is unlimited
- Parameter
timeout
: Timeout after which return regardless. If negative then wait is indefinite. Default is -1
- Returns
Names of queues which received messages first
-
class
-
class
depthai.
DeviceBase
¶ Bases:
pybind11_builtins.pybind11_object
The core of depthai device for RAII, connects to device and maintains watchdog, timesync, …
Methods:
__init__
(*args, **kwargs)Overloaded function.
addLogCallback
(self, callback, None])Add a callback for device logging.
close
(self)Closes the connection to device.
factoryResetCalibration
(self)Factory reset EEPROM data if factory backup is available.
flashCalibration
(self, calibrationDataHandler)Stores the Calibration and Device information to the Device EEPROM
flashCalibration2
(self, arg0)Stores the Calibration and Device information to the Device EEPROM
flashEepromClear
(self)Destructive action, deletes User area EEPROM contents Requires PROTECTED permissions
flashFactoryCalibration
(self, arg0)Stores the Calibration and Device information to the Device EEPROM in Factory area To perform this action, correct env variable must be set
flashFactoryEepromClear
(self)Destructive action, deletes Factory area EEPROM contents Requires FACTORY PROTECTED permissions
Returns all available devices
Returns information of all connected devices.
getAnyAvailableDevice
(*args, **kwargs)Overloaded function.
getBootloaderVersion
(self)Gets Bootloader version if it was booted through Bootloader
getCameraSensorNames
(self)Get sensor names for cameras that are connected to the device
getChipTemperature
(self)Retrieves current chip temperature as measured by device
getCmxMemoryUsage
(self)Retrieves current CMX memory information from device
Get cameras that are connected to the device with their features/properties
getConnectedCameras
(self)Get cameras that are connected to the device
getDdrMemoryUsage
(self)Retrieves current DDR memory information from device
getDeviceByMxId
(mxId)Finds a device by MX ID.
getDeviceInfo
(self)Get the Device Info object o the device which is currently running
getDeviceName
(self)Get device name if available
getEmbeddedDeviceBinary
(*args, **kwargs)Overloaded function.
getFirstAvailableDevice
(skipInvalidDevices)Gets first available device.
getIrDrivers
(self)Retrieves detected IR laser/LED drivers.
getLeonCssCpuUsage
(self)Retrieves average CSS Leon CPU usage
getLeonCssHeapUsage
(self)Retrieves current CSS Leon CPU heap information from device
getLeonMssCpuUsage
(self)Retrieves average MSS Leon CPU usage
getLeonMssHeapUsage
(self)Retrieves current MSS Leon CPU heap information from device
getLogLevel
(self)Gets current logging severity level of the device.
getLogOutputLevel
(self)Gets logging level which decides printing level to standard output.
getMxId
(self)Get MxId of device
Gets current rate of system information logging (“info” severity) in Hz.
getUsbSpeed
(self)Retrieves USB connection speed
getXLinkChunkSize
(self)Gets current XLink chunk size.
isClosed
(self)Is the device already closed (or disconnected)
isEepromAvailable
(self)Check if EEPROM is available
isPipelineRunning
(self)Checks if devices pipeline is already running
readCalibration
(self)Fetches the EEPROM data from the device and loads it into CalibrationHandler object If no calibration is flashed, it returns default
readCalibration2
(self)Fetches the EEPROM data from the device and loads it into CalibrationHandler object
readCalibrationOrDefault
(self)Fetches the EEPROM data from the device and loads it into CalibrationHandler object If no calibration is flashed, it returns default
readCalibrationRaw
(self)Fetches the raw EEPROM data from User area
readFactoryCalibration
(self)Fetches the EEPROM data from Factory area and loads it into CalibrationHandler object
Fetches the EEPROM data from Factory area and loads it into CalibrationHandler object If no calibration is flashed, it returns default
Fetches the raw EEPROM data from Factory area
removeLogCallback
(self, callbackId)Removes a callback
setIrFloodLightBrightness
(self, mA, mask)Sets the brightness of the IR Flood Light.
setIrLaserDotProjectorBrightness
(self, mA, mask)Sets the brightness of the IR Laser Dot Projector.
setLogLevel
(self, level)Sets the devices logging severity level.
setLogOutputLevel
(self, level)Sets logging level which decides printing level to standard output.
setSystemInformationLoggingRate
(self, rateHz)Sets rate of system information logging (“info” severity).
setTimesync
(*args, **kwargs)Overloaded function.
setXLinkChunkSize
(self, sizeBytes)Sets the chunk size for splitting device-sent XLink packets.
startPipeline
(*args, **kwargs)Overloaded function.
-
__init__
(*args, **kwargs)¶ Overloaded function.
__init__(self: depthai.DeviceBase, pipeline: depthai.Pipeline) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameter
pipeline
: Pipeline to be executed on the device
__init__(self: depthai.DeviceBase, pipeline: depthai.Pipeline, usb2Mode: bool) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameter
pipeline
: Pipeline to be executed on the device
- Parameter
usb2Mode
: Boot device using USB2 mode firmware
__init__(self: depthai.DeviceBase, pipeline: depthai.Pipeline, maxUsbSpeed: depthai.UsbSpeed) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameter
pipeline
: Pipeline to be executed on the device
- Parameter
maxUsbSpeed
: Maximum allowed USB speed
__init__(self: depthai.DeviceBase, pipeline: depthai.Pipeline, pathToCmd: Path) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameter
pipeline
: Pipeline to be executed on the device
- Parameter
pathToCmd
: Path to custom device firmware
__init__(self: depthai.DeviceBase, pipeline: depthai.Pipeline, devInfo: depthai.DeviceInfo, usb2Mode: bool = False) -> None
Connects to device specified by devInfo.
- Parameter
pipeline
: Pipeline to be executed on the device
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
usb2Mode
: Boot device using USB2 mode firmware
__init__(self: depthai.DeviceBase, pipeline: depthai.Pipeline, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None
Connects to device specified by devInfo.
- Parameter
pipeline
: Pipeline to be executed on the device
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
maxUsbSpeed
: Maximum allowed USB speed
__init__(self: depthai.DeviceBase, pipeline: depthai.Pipeline, devInfo: depthai.DeviceInfo, pathToCmd: Path) -> None
Connects to device specified by devInfo.
- Parameter
pipeline
: Pipeline to be executed on the device
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
pathToCmd
: Path to custom device firmware
__init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version = <Version.???: 7>) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameter
version
: OpenVINO version which the device will be booted with.
__init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, usb2Mode: bool = False) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameter
version
: OpenVINO version which the device will be booted with
- Parameter
usb2Mode
: Boot device using USB2 mode firmware
__init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, maxUsbSpeed: depthai.UsbSpeed) -> None
Connects to device specified by devInfo.
- Parameter
version
: OpenVINO version which the device will be booted with
- Parameter
maxUsbSpeed
: Maximum allowed USB speed
__init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, pathToCmd: Path) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameter
version
: OpenVINO version which the device will be booted with
- Parameter
pathToCmd
: Path to custom device firmware
__init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, deviceInfo: depthai.DeviceInfo, usb2Mode: bool = False) -> None
Connects to device specified by devInfo.
- Parameter
version
: OpenVINO version which the device will be booted with
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
usb2Mode
: Boot device using USB2 mode firmware
__init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None
Connects to device specified by devInfo.
- Parameter
version
: OpenVINO version which the device will be booted with
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
maxUsbSpeed
: Maximum allowed USB speed
__init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, deviceDesc: depthai.DeviceInfo, pathToCmd: Path) -> None
Connects to device specified by devInfo.
- Parameter
version
: OpenVINO version which the device will be booted with
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
pathToCmd
: Path to custom device firmware
__init__(self: depthai.DeviceBase, config: depthai.Device.Config) -> None
Connects to any available device with custom config.
- Parameter
config
: Device custom configuration to boot with
__init__(self: depthai.DeviceBase, config: depthai.Device.Config, deviceInfo: depthai.DeviceInfo) -> None
Connects to device ‘devInfo’ with custom config.
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
config
: Device custom configuration to boot with
__init__(self: depthai.DeviceBase, deviceInfo: depthai.DeviceInfo) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
__init__(self: depthai.DeviceBase, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL
- Parameter
devInfo
: DeviceInfo which specifies which device to connect to
- Parameter
maxUsbSpeed
: Maximum allowed USB speed
__init__(self: depthai.DeviceBase, nameOrDeviceId: str) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL
- Parameter
nameOrDeviceId
: Creates DeviceInfo with nameOrDeviceId to connect to
__init__(self: depthai.DeviceBase, nameOrDeviceId: str, maxUsbSpeed: depthai.UsbSpeed) -> None
Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL
- Parameter
nameOrDeviceId
: Creates DeviceInfo with nameOrDeviceId to connect to
- Parameter
maxUsbSpeed
: Maximum allowed USB speed
-
addLogCallback
(self: depthai.DeviceBase, callback: Callable[[depthai.LogMessage], None]) → int¶ Add a callback for device logging. The callback will be called from a separate thread with the LogMessage being passed.
- Parameter
callback
: Callback to call whenever a log message arrives
- Returns
Id which can be used to later remove the callback
- Parameter
-
close
(self: depthai.DeviceBase) → None¶ Closes the connection to device. Better alternative is the usage of context manager: with depthai.Device(pipeline) as device:
-
factoryResetCalibration
(self: depthai.DeviceBase) → None¶ Factory reset EEPROM data if factory backup is available.
- Throws:
std::runtime_exception If factory reset was unsuccessful
-
flashCalibration
(self: depthai.DeviceBase, calibrationDataHandler: depthai.CalibrationHandler) → bool¶ Stores the Calibration and Device information to the Device EEPROM
- Parameter
calibrationObj
: CalibrationHandler object which is loaded with calibration information.
- Returns
true on successful flash, false on failure
- Parameter
-
flashCalibration2
(self: depthai.DeviceBase, arg0: depthai.CalibrationHandler) → None¶ Stores the Calibration and Device information to the Device EEPROM
- Throws:
std::runtime_exception if failed to flash the calibration
- Parameter
calibrationObj
: CalibrationHandler object which is loaded with calibration information.
-
flashEepromClear
(self: depthai.DeviceBase) → None¶ Destructive action, deletes User area EEPROM contents Requires PROTECTED permissions
- Throws:
std::runtime_exception if failed to flash the calibration
- Returns
True on successful flash, false on failure
-
flashFactoryCalibration
(self: depthai.DeviceBase, arg0: depthai.CalibrationHandler) → None¶ Stores the Calibration and Device information to the Device EEPROM in Factory area To perform this action, correct env variable must be set
- Throws:
std::runtime_exception if failed to flash the calibration
- Returns
True on successful flash, false on failure
-
flashFactoryEepromClear
(self: depthai.DeviceBase) → None¶ Destructive action, deletes Factory area EEPROM contents Requires FACTORY PROTECTED permissions
- Throws:
std::runtime_exception if failed to flash the calibration
- Returns
True on successful flash, false on failure
-
static
getAllAvailableDevices
() → List[depthai.DeviceInfo]¶ Returns all available devices
- Returns
Vector of available devices
-
static
getAllConnectedDevices
() → List[depthai.DeviceInfo]¶ Returns information of all connected devices. The devices could be both connectable as well as already connected to devices.
- Returns
Vector of connected device information
-
static
getAnyAvailableDevice
(*args, **kwargs)¶ Overloaded function.
getAnyAvailableDevice(timeout: datetime.timedelta) -> Tuple[bool, depthai.DeviceInfo]
Waits for any available device with a timeout
- Parameter
timeout
: duration of time to wait for the any device
- Returns
Tuple of bool and DeviceInfo. Bool specifies if device was found. DeviceInfo specifies the found device
getAnyAvailableDevice() -> Tuple[bool, depthai.DeviceInfo]
Gets any available device
- Returns
Tuple of bool and DeviceInfo. Bool specifies if device was found. DeviceInfo specifies the found device
-
getBootloaderVersion
(self: depthai.DeviceBase) → Optional[depthai.Version]¶ Gets Bootloader version if it was booted through Bootloader
- Returns
DeviceBootloader::Version if booted through Bootloader or none otherwise
-
getCameraSensorNames
(self: depthai.DeviceBase) → Dict[depthai.CameraBoardSocket, str]¶ Get sensor names for cameras that are connected to the device
- Returns
Map/dictionary with camera sensor names, indexed by socket
-
getChipTemperature
(self: depthai.DeviceBase) → depthai.ChipTemperature¶ Retrieves current chip temperature as measured by device
- Returns
Temperature of various onboard sensors
-
getCmxMemoryUsage
(self: depthai.DeviceBase) → depthai.MemoryInfo¶ Retrieves current CMX memory information from device
- Returns
Used, remaining and total cmx memory
-
getConnectedCameraFeatures
(self: depthai.DeviceBase) → List[depthai.CameraFeatures]¶ Get cameras that are connected to the device with their features/properties
- Returns
Vector of connected camera features
-
getConnectedCameras
(self: depthai.DeviceBase) → List[depthai.CameraBoardSocket]¶ Get cameras that are connected to the device
- Returns
Vector of connected cameras
-
getDdrMemoryUsage
(self: depthai.DeviceBase) → depthai.MemoryInfo¶ Retrieves current DDR memory information from device
- Returns
Used, remaining and total ddr memory
-
static
getDeviceByMxId
(mxId: str) → Tuple[bool, depthai.DeviceInfo]¶ Finds a device by MX ID. Example: 14442C10D13EABCE00
- Parameter
mxId
: MyraidX ID which uniquely specifies a device
- Returns
Tuple of bool and DeviceInfo. Bool specifies if device was found. DeviceInfo specifies the found device
- Parameter
-
getDeviceInfo
(self: depthai.DeviceBase) → depthai.DeviceInfo¶ Get the Device Info object o the device which is currently running
- Returns
DeviceInfo of the current device in execution
-
getDeviceName
(self: depthai.DeviceBase) → object¶ Get device name if available
- Returns
device name or empty string if not available
-
static
getEmbeddedDeviceBinary
(*args, **kwargs)¶ Overloaded function.
getEmbeddedDeviceBinary(usb2Mode: bool, version: depthai.OpenVINO.Version = <Version.???: 7>) -> List[int]
Gets device firmware binary for a specific OpenVINO version
- Parameter
usb2Mode
: USB2 mode firmware
- Parameter
version
: Version of OpenVINO which firmware will support
- Returns
Firmware binary
getEmbeddedDeviceBinary(config: depthai.Device.Config) -> List[int]
Gets device firmware binary for a specific configuration
- Parameter
config
: FW with applied configuration
- Returns
Firmware binary
-
static
getFirstAvailableDevice
(skipInvalidDevices: bool = True) → Tuple[bool, depthai.DeviceInfo]¶ Gets first available device. Device can be either in XLINK_UNBOOTED or XLINK_BOOTLOADER state
- Returns
Tuple of bool and DeviceInfo. Bool specifies if device was found. DeviceInfo specifies the found device
-
getIrDrivers
(self: depthai.DeviceBase) → List[Tuple[str, int, int]]¶ Retrieves detected IR laser/LED drivers.
- Returns
driver name, I2C bus, I2C address. For OAK-D- Pro it should be [{“LM3644”, 2, 0x63}]
- Return type
Vector of tuples containing
-
getLeonCssCpuUsage
(self: depthai.DeviceBase) → depthai.CpuUsage¶ Retrieves average CSS Leon CPU usage
- Returns
Average CPU usage and sampling duration
-
getLeonCssHeapUsage
(self: depthai.DeviceBase) → depthai.MemoryInfo¶ Retrieves current CSS Leon CPU heap information from device
- Returns
Used, remaining and total heap memory
-
getLeonMssCpuUsage
(self: depthai.DeviceBase) → depthai.CpuUsage¶ Retrieves average MSS Leon CPU usage
- Returns
Average CPU usage and sampling duration
-
getLeonMssHeapUsage
(self: depthai.DeviceBase) → depthai.MemoryInfo¶ Retrieves current MSS Leon CPU heap information from device
- Returns
Used, remaining and total heap memory
-
getLogLevel
(self: depthai.DeviceBase) → depthai.LogLevel¶ Gets current logging severity level of the device.
- Returns
Logging severity level
-
getLogOutputLevel
(self: depthai.DeviceBase) → depthai.LogLevel¶ Gets logging level which decides printing level to standard output.
- Returns
Standard output printing severity
-
getMxId
(self: depthai.DeviceBase) → str¶ Get MxId of device
- Returns
MxId of connected device
-
getSystemInformationLoggingRate
(self: depthai.DeviceBase) → float¶ Gets current rate of system information logging (“info” severity) in Hz.
- Returns
Logging rate in Hz
-
getUsbSpeed
(self: depthai.DeviceBase) → depthai.UsbSpeed¶ Retrieves USB connection speed
- Returns
USB connection speed of connected device if applicable. Unknown otherwise.
-
getXLinkChunkSize
(self: depthai.DeviceBase) → int¶ Gets current XLink chunk size.
- Returns
XLink chunk size in bytes
-
isClosed
(self: depthai.DeviceBase) → bool¶ Is the device already closed (or disconnected)
-
isEepromAvailable
(self: depthai.DeviceBase) → bool¶ Check if EEPROM is available
- Returns
True if EEPROM is present on board, false otherwise
-
isPipelineRunning
(self: depthai.DeviceBase) → bool¶ Checks if devices pipeline is already running
- Returns
True if running, false otherwise
-
readCalibration
(self: depthai.DeviceBase) → depthai.CalibrationHandler¶ Fetches the EEPROM data from the device and loads it into CalibrationHandler object If no calibration is flashed, it returns default
- Returns
The CalibrationHandler object containing the calibration currently flashed on device EEPROM
-
readCalibration2
(self: depthai.DeviceBase) → depthai.CalibrationHandler¶ Fetches the EEPROM data from the device and loads it into CalibrationHandler object
- Throws:
std::runtime_exception if no calibration is flashed
- Returns
The CalibrationHandler object containing the calibration currently flashed on device EEPROM
-
readCalibrationOrDefault
(self: depthai.DeviceBase) → depthai.CalibrationHandler¶ Fetches the EEPROM data from the device and loads it into CalibrationHandler object If no calibration is flashed, it returns default
- Returns
The CalibrationHandler object containing the calibration currently flashed on device EEPROM
-
readCalibrationRaw
(self: depthai.DeviceBase) → List[int]¶ Fetches the raw EEPROM data from User area
- Throws:
std::runtime_exception if any error occurred
- Returns
Binary dump of User area EEPROM data
-
readFactoryCalibration
(self: depthai.DeviceBase) → depthai.CalibrationHandler¶ Fetches the EEPROM data from Factory area and loads it into CalibrationHandler object
- Throws:
std::runtime_exception if no calibration is flashed
- Returns
The CalibrationHandler object containing the calibration currently flashed on device EEPROM in Factory Area
-
readFactoryCalibrationOrDefault
(self: depthai.DeviceBase) → depthai.CalibrationHandler¶ Fetches the EEPROM data from Factory area and loads it into CalibrationHandler object If no calibration is flashed, it returns default
- Returns
The CalibrationHandler object containing the calibration currently flashed on device EEPROM in Factory Area
-
readFactoryCalibrationRaw
(self: depthai.DeviceBase) → List[int]¶ Fetches the raw EEPROM data from Factory area
- Throws:
std::runtime_exception if any error occurred
- Returns
Binary dump of Factory area EEPROM data
-
removeLogCallback
(self: depthai.DeviceBase, callbackId: int) → bool¶ Removes a callback
- Parameter
callbackId
: Id of callback to be removed
- Returns
True if callback was removed, false otherwise
- Parameter
-
setIrFloodLightBrightness
(self: depthai.DeviceBase, mA: float, mask: int = - 1) → bool¶ Sets the brightness of the IR Flood Light. Limits: up to 1500mA at 30% duty cycle. The duty cycle is controlled by the left camera STROBE, aligned to start of exposure. If the dot projector is also enabled, its lower duty cycle limits take precedence. The emitter is turned off by default
- Parameter
mA
: Current in mA that will determine brightness, 0 or negative to turn off
- Parameter
mask
: Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W- DEV
- Returns
True on success, false if not found or other failure
- Parameter
-
setIrLaserDotProjectorBrightness
(self: depthai.DeviceBase, mA: float, mask: int = - 1) → bool¶ Sets the brightness of the IR Laser Dot Projector. Limits: up to 765mA at 30% duty cycle, up to 1200mA at 6% duty cycle. The duty cycle is controlled by left camera STROBE, aligned to start of exposure. The emitter is turned off by default
- Parameter
mA
: Current in mA that will determine brightness, 0 or negative to turn off
- Parameter
mask
: Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W- DEV
- Returns
True on success, false if not found or other failure
- Parameter
-
setLogLevel
(self: depthai.DeviceBase, level: depthai.LogLevel) → None¶ Sets the devices logging severity level. This level affects which logs are transferred from device to host.
- Parameter
level
: Logging severity
- Parameter
-
setLogOutputLevel
(self: depthai.DeviceBase, level: depthai.LogLevel) → None¶ Sets logging level which decides printing level to standard output. If lower than setLogLevel, no messages will be printed
- Parameter
level
: Standard output printing severity
- Parameter
-
setSystemInformationLoggingRate
(self: depthai.DeviceBase, rateHz: float) → None¶ Sets rate of system information logging (“info” severity). Default 1Hz If parameter is less or equal to zero, then system information logging will be disabled
- Parameter
rateHz
: Logging rate in Hz
- Parameter
-
setTimesync
(*args, **kwargs)¶ Overloaded function.
setTimesync(self: depthai.DeviceBase, arg0: datetime.timedelta, arg1: int, arg2: bool) -> None
Configures Timesync service on device. It keeps host and device clocks in sync First time timesync is started it waits until the initial sync is completed Afterwards the function changes the following parameters
- Parameter
period
: Interval between timesync runs
- Parameter
numSamples
: Number of timesync samples per run which are used to compute a better value. Set to zero to disable timesync
- Parameter
random
: If true partial timesync requests will be performed at random intervals, otherwise at fixed intervals
setTimesync(self: depthai.DeviceBase, enable: bool) -> None
Enables or disables Timesync service on device. It keeps host and device clocks in sync.
- Parameter
enable
: Enables or disables consistent timesyncing
-
setXLinkChunkSize
(self: depthai.DeviceBase, sizeBytes: int) → None¶ Sets the chunk size for splitting device-sent XLink packets. A larger value could increase performance, and 0 disables chunking. A negative value is ignored. Device defaults are configured per protocol, currently 64*1024 for both USB and Ethernet.
- Parameter
sizeBytes
: XLink chunk size in bytes
- Parameter
-
startPipeline
(*args, **kwargs)¶ Overloaded function.
startPipeline(self: depthai.DeviceBase) -> None
Starts the execution of the devices pipeline
- Returns
True if pipeline started, false otherwise
startPipeline(self: depthai.DeviceBase, arg0: depthai.Pipeline) -> bool
Starts the execution of a given pipeline
- Parameter
pipeline
: OpenVINO version of the pipeline must match the one which the device was booted with.
- Returns
True if pipeline started, false otherwise
-
-
class
depthai.
DeviceBootloader
¶ Bases:
pybind11_builtins.pybind11_object
Represents the DepthAI bootloader with the methods to interact with it.
Classes:
Members:
Members:
Members:
Methods:
__init__
(*args, **kwargs)Overloaded function.
bootMemory
(self, fw)Boots a custom FW in memory
bootUsbRomBootloader
(self)Boots into integrated ROM bootloader in USB mode
close
(self)Closes the connection to device.
createDepthaiApplicationPackage
(*args, **kwargs)Overloaded function.
flash
(*args, **kwargs)Overloaded function.
flashBootHeader
(self, memory, frequency, …)Flash optimized boot header
flashBootloader
(*args, **kwargs)Overloaded function.
flashClear
(self, memory)Clears flashed application on the device, by removing SBR boot structure Doesn’t remove fast boot header capability to still boot the application
flashConfig
(self, config, memory, type)Flashes configuration to bootloader
flashConfigClear
(self, memory, type)Clears configuration data
flashConfigData
(self, configData, memory, type)Flashes configuration data to bootloader
flashConfigFile
(self, configData, memory, type)Flashes configuration data to bootloader
flashCustom
(*args, **kwargs)Overloaded function.
flashDepthaiApplicationPackage
(*args, **kwargs)Overloaded function.
flashFastBootHeader
(self, memory, frequency, …)Flash fast boot header.
flashGpioModeBootHeader
(self, memory, mode)Flash boot header which boots same as equivalent GPIO mode would
flashUsbRecoveryBootHeader
(self, memory)Flash USB recovery boot header.
flashUserBootloader
(self, progressCallback, …)Flashes user bootloader to the current board.
Searches for connected devices in either UNBOOTED or BOOTLOADER states.
- returns
Embedded bootloader binary
- returns
Embedded bootloader version
Searches for connected devices in either UNBOOTED or BOOTLOADER states and returns first available.
getMemoryInfo
(self, arg0)Retrieves information about specified memory
getType
(self)- returns
Type of currently connected bootloader
getVersion
(self)- returns
Version of current running bootloader
- returns
True if allowed to flash bootloader
isEmbeddedVersion
(self)- returns
True when bootloader was booted using latest bootloader integrated in the
isUserBootloader
(self)Retrieves whether current bootloader is User Bootloader (B out of A/B configuration)
Checks whether User Bootloader is supported with current bootloader
readApplicationInfo
(self, memory)Reads information about flashed application in specified memory from device
readConfig
(self, memory, type)Reads configuration from bootloader
readConfigData
(self, memory, type)Reads configuration data from bootloader
readCustom
(*args, **kwargs)Overloaded function.
saveDepthaiApplicationPackage
(*args, **kwargs)Overloaded function.
-
class
ApplicationInfo
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.DeviceBootloader.ApplicationInfo) → None¶
-
property
applicationName
¶
-
property
firmwareVersion
¶
-
property
hasApplication
¶
-
-
class
Config
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(self)fromJson
(self)getDnsAltIPv4
(self)getDnsIPv4
(self)getIPv4
(self)getIPv4Gateway
(self)getIPv4Mask
(self)getMacAddress
(self)getNetworkTimeout
(self)getUsbMaxSpeed
(self)getUsbTimeout
(self)isStaticIPV4
(self)setDnsIPv4
(self, arg0, arg1)setDynamicIPv4
(self, arg0, arg1, arg2)setMacAddress
(self, arg0)setNetworkTimeout
(self, arg0)setStaticIPv4
(self, arg0, arg1, arg2)setUsbMaxSpeed
(self, arg0)setUsbTimeout
(self, arg0)toJson
(self)Attributes:
-
__init__
(self: depthai.DeviceBootloader.Config) → None¶
-
property
appMem
¶
-
fromJson
(self: json) → depthai.DeviceBootloader.Config¶
-
getDnsAltIPv4
(self: depthai.DeviceBootloader.Config) → str¶
-
getDnsIPv4
(self: depthai.DeviceBootloader.Config) → str¶
-
getIPv4
(self: depthai.DeviceBootloader.Config) → str¶
-
getIPv4Gateway
(self: depthai.DeviceBootloader.Config) → str¶
-
getIPv4Mask
(self: depthai.DeviceBootloader.Config) → str¶
-
getMacAddress
(self: depthai.DeviceBootloader.Config) → str¶
-
getNetworkTimeout
(self: depthai.DeviceBootloader.Config) → datetime.timedelta¶
-
getUsbMaxSpeed
(self: depthai.DeviceBootloader.Config) → depthai.UsbSpeed¶
-
getUsbTimeout
(self: depthai.DeviceBootloader.Config) → datetime.timedelta¶
-
isStaticIPV4
(self: depthai.DeviceBootloader.Config) → bool¶
-
property
network
¶
-
setDnsIPv4
(self: depthai.DeviceBootloader.Config, arg0: str, arg1: str) → None¶
-
setMacAddress
(self: depthai.DeviceBootloader.Config, arg0: str) → None¶
-
setNetworkTimeout
(self: depthai.DeviceBootloader.Config, arg0: datetime.timedelta) → None¶
-
setUsbMaxSpeed
(self: depthai.DeviceBootloader.Config, arg0: depthai.UsbSpeed) → None¶
-
setUsbTimeout
(self: depthai.DeviceBootloader.Config, arg0: datetime.timedelta) → None¶
-
toJson
(self: depthai.DeviceBootloader.Config) → json¶
-
property
usb
¶
-
-
class
Memory
¶ Bases:
pybind11_builtins.pybind11_object
Members:
AUTO
FLASH
EMMC
Attributes:
Methods:
__init__
(self, value)-
AUTO
= <Memory.AUTO: -1>¶
-
EMMC
= <Memory.EMMC: 1>¶
-
FLASH
= <Memory.FLASH: 0>¶
-
__init__
(self: depthai.DeviceBootloader.Memory, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
MemoryInfo
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.DeviceBootloader.MemoryInfo) → None¶
-
property
available
¶
-
property
info
¶
-
property
size
¶
-
-
class
NetworkConfig
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.DeviceBootloader.NetworkConfig) → None¶
-
property
ipv4
¶
-
property
ipv4Dns
¶
-
property
ipv4DnsAlt
¶
-
property
ipv4Gateway
¶
-
property
ipv4Mask
¶
-
property
ipv6
¶
-
property
ipv6Dns
¶
-
property
ipv6DnsAlt
¶
-
property
ipv6Gateway
¶
-
property
ipv6Prefix
¶
-
property
mac
¶
-
property
staticIpv4
¶
-
property
staticIpv6
¶
-
property
timeoutMs
¶
-
-
class
Section
¶ Bases:
pybind11_builtins.pybind11_object
Members:
AUTO
HEADER
BOOTLOADER
BOOTLOADER_CONFIG
APPLICATION
Attributes:
Methods:
__init__
(self, value)-
APPLICATION
= <Section.APPLICATION: 3>¶
-
AUTO
= <Section.AUTO: -1>¶
-
BOOTLOADER
= <Section.BOOTLOADER: 1>¶
-
BOOTLOADER_CONFIG
= <Section.BOOTLOADER_CONFIG: 2>¶
-
HEADER
= <Section.HEADER: 0>¶
-
__init__
(self: depthai.DeviceBootloader.Section, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
Type
¶ Bases:
pybind11_builtins.pybind11_object
Members:
AUTO
USB
NETWORK
Attributes:
Methods:
__init__
(self, value)-
AUTO
= <Type.AUTO: -1>¶
-
NETWORK
= <Type.NETWORK: 1>¶
-
USB
= <Type.USB: 0>¶
-
__init__
(self: depthai.DeviceBootloader.Type, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
UsbConfig
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.DeviceBootloader.UsbConfig) → None¶
-
property
maxUsbSpeed
¶
-
property
pid
¶
-
property
timeoutMs
¶
-
property
vid
¶
-
-
__init__
(*args, **kwargs)¶ Overloaded function.
__init__(self: depthai.DeviceBootloader, devInfo: depthai.DeviceInfo, allowFlashingBootloader: bool = False) -> None
__init__(self: depthai.DeviceBootloader, devInfo: depthai.DeviceInfo, pathToCmd: Path, allowFlashingBootloader: bool = False) -> None
Connects to or boots device in bootloader mode depending on devInfo state; flashing not allowed
- Parameter
devInfo
: DeviceInfo of which to boot or connect to
-
bootMemory
(self: depthai.DeviceBootloader, fw: List[int]) → None¶ Boots a custom FW in memory
- Parameter
fw
: $Throws:
A runtime exception if there are any communication issues
- Parameter
-
bootUsbRomBootloader
(self: depthai.DeviceBootloader) → None¶ Boots into integrated ROM bootloader in USB mode
- Throws:
A runtime exception if there are any communication issues
-
close
(self: depthai.DeviceBootloader) → None¶ Closes the connection to device. Better alternative is the usage of context manager: with depthai.DeviceBootloader(deviceInfo) as bootloader:
-
static
createDepthaiApplicationPackage
(*args, **kwargs)¶ Overloaded function.
createDepthaiApplicationPackage(pipeline: depthai.Pipeline, pathToCmd: Path = ‘’, compress: bool = False, applicationName: str = ‘’, checkChecksum: bool = False) -> List[int]
Creates application package which can be flashed to depthai device.
- Parameter
pipeline
: Pipeline from which to create the application package
- Parameter
pathToCmd
: Optional path to custom device firmware
- Parameter
compress
: Optional boolean which specifies if contents should be compressed
- Parameter
applicationName
: Optional name the application that is flashed
- Returns
Depthai application package
createDepthaiApplicationPackage(pipeline: depthai.Pipeline, compress: bool, applicationName: str = ‘’, checkChecksum: bool = False) -> List[int]
Creates application package which can be flashed to depthai device.
- Parameter
pipeline
: Pipeline from which to create the application package
- Parameter
compress
: Specifies if contents should be compressed
- Parameter
applicationName
: Name the application that is flashed
- Returns
Depthai application package
-
flash
(*args, **kwargs)¶ Overloaded function.
flash(self: depthai.DeviceBootloader, progressCallback: Callable[[float], None], pipeline: depthai.Pipeline, compress: bool = False, applicationName: str = ‘’, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, checkChecksum: bool = False) -> Tuple[bool, str]
Flashes a given pipeline to the device.
- Parameter
progressCallback
: Callback that sends back a value between 0..1 which signifies current flashing progress
- Parameter
pipeline
: Pipeline to flash to the board
- Parameter
compress
: Compresses application to reduce needed memory size
- Parameter
applicationName
: Name the application that is flashed
flash(self: depthai.DeviceBootloader, pipeline: depthai.Pipeline, compress: bool = False, applicationName: str = ‘’, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, checkChecksum: bool = False) -> Tuple[bool, str]
Flashes a given pipeline to the device.
- Parameter
pipeline
: Pipeline to flash to the board
- Parameter
compress
: Compresses application to reduce needed memory size
- Parameter
applicationName
: Optional name the application that is flashed
-
flashBootHeader
(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, frequency: int = - 1, location: int = - 1, dummyCycles: int = - 1, offset: int = - 1) → Tuple[bool, str]¶ Flash optimized boot header
- Parameter
memory
: Which memory to flasht the header to
- Parameter
frequency
: SPI specific parameter, frequency in MHz
- Parameter
location
: Target location the header should boot to. Default to location of bootloader
- Parameter
dummyCycles
: SPI specific parameter
- Parameter
offset
: Offset in memory to flash the header to. Defaults to offset of boot header
- Returns
status as std::tuple<bool, std::string>
- Parameter
-
flashBootloader
(*args, **kwargs)¶ Overloaded function.
flashBootloader(self: depthai.DeviceBootloader, progressCallback: Callable[[float], None], path: Path = ‘’) -> Tuple[bool, str]
Flashes bootloader to the current board
- Parameter
progressCallback
: Callback that sends back a value between 0..1 which signifies current flashing progress
- Parameter
path
: Optional parameter to custom bootloader to flash
flashBootloader(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, type: depthai.DeviceBootloader.Type, progressCallback: Callable[[float], None], path: Path = ‘’) -> Tuple[bool, str]
Flash selected bootloader to the current board
- Parameter
memory
: Memory to flash
- Parameter
type
: Bootloader type to flash
- Parameter
progressCallback
: Callback that sends back a value between 0..1 which signifies current flashing progress
- Parameter
path
: Optional parameter to custom bootloader to flash
-
flashClear
(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>) → Tuple[bool, str]¶ Clears flashed application on the device, by removing SBR boot structure Doesn’t remove fast boot header capability to still boot the application
-
flashConfig
(self: depthai.DeviceBootloader, config: depthai.DeviceBootloader.Config, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → Tuple[bool, str]¶ Flashes configuration to bootloader
- Parameter
configData
: Configuration structure
- Parameter
memory
: Optional - to which memory flash configuration
- Parameter
type
: Optional - for which type of bootloader to flash configuration
- Parameter
-
flashConfigClear
(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → Tuple[bool, str]¶ Clears configuration data
- Parameter
memory
: Optional - on which memory to clear configuration data
- Parameter
type
: Optional - for which type of bootloader to clear configuration data
- Parameter
-
flashConfigData
(self: depthai.DeviceBootloader, configData: json, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → Tuple[bool, str]¶ Flashes configuration data to bootloader
- Parameter
configData
: Unstructured configuration data
- Parameter
memory
: Optional - to which memory flash configuration
- Parameter
type
: Optional - for which type of bootloader to flash configuration
- Parameter
-
flashConfigFile
(self: depthai.DeviceBootloader, configData: Path, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → Tuple[bool, str]¶ Flashes configuration data to bootloader
- Parameter
configPath
: Unstructured configuration data
- Parameter
memory
: Optional - to which memory flash configuration
- Parameter
type
: Optional - for which type of bootloader to flash configuration
- Parameter
-
flashCustom
(*args, **kwargs)¶ Overloaded function.
flashCustom(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, offset: int, data: List[int], progressCallback: Callable[[float], None] = None) -> Tuple[bool, str]
Flash arbitrary data at custom offset in specified memory
- Parameter
memory
: Memory to flash
- Parameter
offset
: Offset at which to flash the given data in bytes
- Parameter
progressCallback
: Callback that sends back a value between 0..1 which signifies current flashing progress
- Parameter
data
: Data to flash
flashCustom(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, offset: int, filename: str, progressCallback: Callable[[float], None] = None) -> Tuple[bool, str]
Flash arbitrary data at custom offset in specified memory
- Parameter
memory
: Memory to flash
- Parameter
offset
: Offset at which to flash the given data in bytes
- Parameter
progressCallback
: Callback that sends back a value between 0..1 which signifies current flashing progress
- Parameter
data
: Data to flash
-
flashDepthaiApplicationPackage
(*args, **kwargs)¶ Overloaded function.
flashDepthaiApplicationPackage(self: depthai.DeviceBootloader, progressCallback: Callable[[float], None], package: List[int], memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>) -> Tuple[bool, str]
Flashes a specific depthai application package that was generated using createDepthaiApplicationPackage or saveDepthaiApplicationPackage
- Parameter
progressCallback
: Callback that sends back a value between 0..1 which signifies current flashing progress
- Parameter
package
: Depthai application package to flash to the board
flashDepthaiApplicationPackage(self: depthai.DeviceBootloader, package: List[int], memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>) -> Tuple[bool, str]
Flashes a specific depthai application package that was generated using createDepthaiApplicationPackage or saveDepthaiApplicationPackage
- Parameter
package
: Depthai application package to flash to the board
-
flashFastBootHeader
(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, frequency: int = - 1, location: int = - 1, dummyCycles: int = - 1, offset: int = - 1) → Tuple[bool, str]¶ Flash fast boot header. Application must already be present in flash, or location must be specified manually. Note - Can soft brick your device if firmware location changes.
- Parameter
memory
: Which memory to flash the header to
- Parameter
frequency
: SPI specific parameter, frequency in MHz
- Parameter
location
: Target location the header should boot to. Default to location of bootloader
- Parameter
dummyCycles
: SPI specific parameter
- Parameter
offset
: Offset in memory to flash the header to. Defaults to offset of boot header
- Returns
status as std::tuple<bool, std::string>
- Parameter
-
flashGpioModeBootHeader
(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, mode: int) → Tuple[bool, str]¶ Flash boot header which boots same as equivalent GPIO mode would
- Parameter
gpioMode
: GPIO mode equivalent
- Parameter
-
flashUsbRecoveryBootHeader
(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory) → Tuple[bool, str]¶ Flash USB recovery boot header. Switches to USB ROM Bootloader
- Parameter
memory
: Which memory to flash the header to
- Parameter
-
flashUserBootloader
(self: depthai.DeviceBootloader, progressCallback: Callable[[float], None], path: Path = '') → Tuple[bool, str]¶ Flashes user bootloader to the current board. Available for NETWORK bootloader type
- Parameter
progressCallback
: Callback that sends back a value between 0..1 which signifies current flashing progress
- Parameter
path
: Optional parameter to custom bootloader to flash
- Parameter
-
static
getAllAvailableDevices
() → List[depthai.DeviceInfo]¶ Searches for connected devices in either UNBOOTED or BOOTLOADER states.
- Returns
Vector of all found devices
-
static
getEmbeddedBootloaderBinary
(arg0: depthai.DeviceBootloader.Type) → List[int]¶ - Returns
Embedded bootloader binary
-
static
getEmbeddedBootloaderVersion
() → depthai.Version¶ - Returns
Embedded bootloader version
-
static
getFirstAvailableDevice
() → Tuple[bool, depthai.DeviceInfo]¶ Searches for connected devices in either UNBOOTED or BOOTLOADER states and returns first available.
- Returns
Tuple of boolean and DeviceInfo. If found boolean is true and DeviceInfo describes the device. Otherwise false
-
getMemoryInfo
(self: depthai.DeviceBootloader, arg0: depthai.DeviceBootloader.Memory) → depthai.DeviceBootloader.MemoryInfo¶ Retrieves information about specified memory
- Parameter
memory
: Specifies which memory to query
- Parameter
-
getType
(self: depthai.DeviceBootloader) → depthai.DeviceBootloader.Type¶ - Returns
Type of currently connected bootloader
-
getVersion
(self: depthai.DeviceBootloader) → depthai.Version¶ - Returns
Version of current running bootloader
-
isAllowedFlashingBootloader
(self: depthai.DeviceBootloader) → bool¶ - Returns
True if allowed to flash bootloader
-
isEmbeddedVersion
(self: depthai.DeviceBootloader) → bool¶ - Returns
True when bootloader was booted using latest bootloader integrated in the library. False when bootloader is already running on the device and just connected to.
-
isUserBootloader
(self: depthai.DeviceBootloader) → bool¶ Retrieves whether current bootloader is User Bootloader (B out of A/B configuration)
-
isUserBootloaderSupported
(self: depthai.DeviceBootloader) → bool¶ Checks whether User Bootloader is supported with current bootloader
- Returns
true of User Bootloader is supported, false otherwise
-
readApplicationInfo
(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory) → depthai.DeviceBootloader.ApplicationInfo¶ Reads information about flashed application in specified memory from device
- Parameter
memory
: Specifies which memory to query
- Parameter
-
readConfig
(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → depthai.DeviceBootloader.Config¶ Reads configuration from bootloader
- Parameter
memory
: Optional - from which memory to read configuration
- Parameter
type
: Optional - from which type of bootloader to read configuration
- Returns
Configuration structure
- Parameter
-
readConfigData
(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → json¶ Reads configuration data from bootloader
- Returns
Unstructured configuration data
- Parameter
memory
: Optional - from which memory to read configuration data
- Parameter
type
: Optional - from which type of bootloader to read configuration data
-
readCustom
(*args, **kwargs)¶ Overloaded function.
readCustom(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, offset: int, size: int, filename: str, progressCallback: Callable[[float], None] = None) -> Tuple[bool, str]
Reads arbitrary data at custom offset in specified memory
- Parameter
memory
: Memory to read
- Parameter
offset
: Offset at which to read the specified bytes
- Parameter
size
: Number of bytes to read
- Parameter
data
: Data to read to. Must be at least ‘size’ number of bytes big
- Parameter
progressCallback
: Callback that sends back a value between 0..1 which signifies current reading progress
readCustom(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, offset: int, size: int, progressCallback: Callable[[float], None] = None) -> Tuple[bool, str, List[int]]
Reads arbitrary data at custom offset in specified memory
- Parameter
memory
: Memory to read
- Parameter
offset
: Offset at which to read the specified bytes
- Parameter
size
: Number of bytes to read
- Parameter
data
: Data to read to. Must be at least ‘size’ number of bytes big
- Parameter
progressCallback
: Callback that sends back a value between 0..1 which signifies current reading progress
-
static
saveDepthaiApplicationPackage
(*args, **kwargs)¶ Overloaded function.
saveDepthaiApplicationPackage(path: Path, pipeline: depthai.Pipeline, pathToCmd: Path = ‘’, compress: bool = False, applicationName: str = ‘’, checkChecksum: bool = False) -> None
Saves application package to a file which can be flashed to depthai device.
- Parameter
path
: Path where to save the application package
- Parameter
pipeline
: Pipeline from which to create the application package
- Parameter
pathToCmd
: Optional path to custom device firmware
- Parameter
compress
: Optional boolean which specifies if contents should be compressed
- Parameter
applicationName
: Optional name the application that is flashed
saveDepthaiApplicationPackage(path: Path, pipeline: depthai.Pipeline, compress: bool, applicationName: str = ‘’, checkChecksum: bool = False) -> None
Saves application package to a file which can be flashed to depthai device.
- Parameter
path
: Path where to save the application package
- Parameter
pipeline
: Pipeline from which to create the application package
- Parameter
compress
: Specifies if contents should be compressed
- Parameter
applicationName
: Optional name the application that is flashed
-
class
depthai.
DeviceDesc
¶ Bases:
pybind11_builtins.pybind11_object
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.DeviceDesc) → None¶
-
property
mxid
¶
-
property
name
¶
-
property
platform
¶
-
property
protocol
¶
-
property
state
¶
-
property
status
¶
-
-
class
depthai.
DeviceInfo
¶ Bases:
pybind11_builtins.pybind11_object
Describes a connected device
Methods:
__init__
(*args, **kwargs)Overloaded function.
getMxId
(self)getXLinkDeviceDesc
(self)Attributes:
-
__init__
(*args, **kwargs)¶ Overloaded function.
__init__(self: depthai.DeviceInfo) -> None
__init__(self: depthai.DeviceInfo, name: str, mxid: str, state: depthai.XLinkDeviceState, protocol: depthai.XLinkProtocol, platform: depthai.XLinkPlatform, status: depthai.XLinkError_t) -> None
__init__(self: depthai.DeviceInfo, mxidOrName: str) -> None
Creates a DeviceInfo by checking whether supplied parameter is a MXID or IP/USB name
- Parameter
mxidOrName
: Either MXID, IP Address or USB port name
__init__(self: depthai.DeviceInfo, arg0: depthai.DeviceDesc) -> None
-
property
desc
¶
-
getMxId
(self: depthai.DeviceInfo) → str¶
-
getXLinkDeviceDesc
(self: depthai.DeviceInfo) → depthai.DeviceDesc¶
-
property
mxid
¶
-
property
name
¶
-
property
platform
¶
-
property
protocol
¶
-
property
state
¶
-
property
status
¶
-
-
class
depthai.
EdgeDetectorConfig
¶ Bases:
depthai.Buffer
EdgeDetectorConfig message. Carries sobel edge filter config.
Methods:
__init__
(self)getConfigData
(self)Retrieve configuration data for EdgeDetector
setSobelFilterKernels
(self, …)Set sobel filter horizontal and vertical 3x3 kernels
-
__init__
(self: depthai.EdgeDetectorConfig) → None¶
-
getConfigData
(self: depthai.EdgeDetectorConfig) → depthai.EdgeDetectorConfigData¶ Retrieve configuration data for EdgeDetector
- Returns
sobel filter horizontal and vertical 3x3 kernels
- Return type
-
setSobelFilterKernels
(self: depthai.EdgeDetectorConfig, horizontalKernel: List[List[int]], verticalKernel: List[List[int]]) → None¶ Set sobel filter horizontal and vertical 3x3 kernels
- Parameter
horizontalKernel
: Used for horizontal gradient computation in 3x3 Sobel filter
- Parameter
verticalKernel
: Used for vertical gradient computation in 3x3 Sobel filter
- Parameter
-
-
class
depthai.
EdgeDetectorConfigData
¶ Bases:
pybind11_builtins.pybind11_object
EdgeDetectorConfigData configuration data structure
Methods:
__init__
(self)Attributes:
Used for horizontal gradient computation in 3x3 Sobel filter Format - 3x3 matrix, 2nd column must be 0 Default - +1 0 -1; +2 0 -2; +1 0 -1
Used for vertical gradient computation in 3x3 Sobel filter Format - 3x3 matrix, 2nd row must be 0 Default - +1 +2 +1; 0 0 0; -1 -2 -1
-
__init__
(self: depthai.EdgeDetectorConfigData) → None¶
-
property
sobelFilterHorizontalKernel
¶ Used for horizontal gradient computation in 3x3 Sobel filter Format - 3x3 matrix, 2nd column must be 0 Default - +1 0 -1; +2 0 -2; +1 0 -1
-
property
sobelFilterVerticalKernel
¶ Used for vertical gradient computation in 3x3 Sobel filter Format - 3x3 matrix, 2nd row must be 0 Default - +1 +2 +1; 0 0 0; -1 -2 -1
-
-
class
depthai.
EdgeDetectorProperties
¶ Bases:
pybind11_builtins.pybind11_object
Specify properties for EdgeDetector
Methods:
__init__
(*args, **kwargs)Initialize self.
Attributes:
Initial edge detector config
Num frames in output pool
300x300 BGR image -> 300*300*3 bytes)
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
property
initialConfig
¶ Initial edge detector config
-
property
numFramesPool
¶ Num frames in output pool
-
property
outputFrameSize
¶ 300x300 BGR image -> 300*300*3 bytes)
- Type
Maximum output frame size in bytes (eg
-
-
class
depthai.
EepromData
¶ Bases:
pybind11_builtins.pybind11_object
EepromData structure
Contains the Calibration and Board data stored on device
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.EepromData) → None¶
-
property
batchName
¶
-
property
batchTime
¶
-
property
boardConf
¶
-
property
boardCustom
¶
-
property
boardName
¶
-
property
boardOptions
¶
-
property
boardRev
¶
-
property
cameraData
¶
-
property
hardwareConf
¶
-
property
imuExtrinsics
¶
-
property
miscellaneousData
¶
-
property
productName
¶
-
property
stereoRectificationData
¶
-
property
version
¶
-
-
exception
depthai.
EepromError
¶ Bases:
RuntimeError
-
class
depthai.
Extrinsics
¶ Bases:
pybind11_builtins.pybind11_object
Extrinsics structure
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.Extrinsics) → None¶
-
property
rotationMatrix
¶
-
property
specTranslation
¶
-
property
toCameraSocket
¶
-
property
translation
¶
-
-
class
depthai.
FeatureTrackerConfig
¶ Bases:
depthai.Buffer
FeatureTrackerConfig message. Carries config for feature tracking algorithm
Classes:
Corner detector configuration structure.
FeatureMaintainer configuration structure.
Used for feature reidentification between current and previous features.
Methods:
__init__
(*args, **kwargs)Overloaded function.
get
(self)Retrieve configuration data for FeatureTracker.
set
(self, config)Set explicit configuration.
setCornerDetector
(*args, **kwargs)Overloaded function.
setFeatureMaintainer
(*args, **kwargs)Overloaded function.
setHwMotionEstimation
(self)Set hardware accelerated motion estimation using block matching.
setMotionEstimator
(*args, **kwargs)Overloaded function.
setNumTargetFeatures
(self, numTargetFeatures)Set number of target features to detect.
setOpticalFlow
(*args, **kwargs)Overloaded function.
-
class
CornerDetector
¶ Bases:
pybind11_builtins.pybind11_object
Corner detector configuration structure.
Classes:
Threshold settings structure for corner detector.
Members:
Methods:
__init__
(self)Attributes:
Ensures distributed feature detection across the image.
Enable 3x3 Sobel operator to smoothen the image whose gradient is to be computed.
Enable sorting detected features based on their score or not.
Hard limit for the maximum number of features that can be detected.
Target number of features to detect.
Threshold settings.
Corner detector algorithm type.
-
class
Thresholds
¶ Bases:
pybind11_builtins.pybind11_object
Threshold settings structure for corner detector.
Methods:
__init__
(self)Attributes:
When detected number of features exceeds the maximum in a cell threshold is lowered by multiplying its value with this factor.
When detected number of features doesn’t exceed the maximum in a cell, threshold is increased by multiplying its value with this factor.
Minimum strength of a feature which will be detected.
Maximum limit for threshold.
Minimum limit for threshold.
-
__init__
(self: depthai.RawFeatureTrackerConfig.CornerDetector.Thresholds) → None¶
-
property
decreaseFactor
¶ When detected number of features exceeds the maximum in a cell threshold is lowered by multiplying its value with this factor.
-
property
increaseFactor
¶ When detected number of features doesn’t exceed the maximum in a cell, threshold is increased by multiplying its value with this factor.
-
property
initialValue
¶ Minimum strength of a feature which will be detected. 0 means automatic threshold update. Recommended so the tracker can adapt to different scenes/textures. Each cell has its own threshold. Empirical value.
-
property
max
¶ Maximum limit for threshold. Applicable when automatic threshold update is enabled. 0 means auto. Empirical value.
-
property
min
¶ Minimum limit for threshold. Applicable when automatic threshold update is enabled. 0 means auto, 6000000 for HARRIS, 1200 for SHI_THOMASI. Empirical value.
-
-
class
Type
¶ Bases:
pybind11_builtins.pybind11_object
Members:
HARRIS
SHI_THOMASI
Attributes:
Methods:
__init__
(self, value)-
HARRIS
= <Type.HARRIS: 0>¶
-
SHI_THOMASI
= <Type.SHI_THOMASI: 1>¶
-
__init__
(self: depthai.RawFeatureTrackerConfig.CornerDetector.Type, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
__init__
(self: depthai.RawFeatureTrackerConfig.CornerDetector) → None¶
-
property
cellGridDimension
¶ Ensures distributed feature detection across the image. Image is divided into horizontal and vertical cells, each cell has a target feature count = numTargetFeatures / cellGridDimension. Each cell has its own feature threshold. A value of 4 means that the image is divided into 4x4 cells of equal width/height. Maximum 4, minimum 1.
-
property
enableSobel
¶ Enable 3x3 Sobel operator to smoothen the image whose gradient is to be computed. If disabled, a simple 1D row/column differentiator is used for gradient.
-
property
enableSorting
¶ Enable sorting detected features based on their score or not.
-
property
numMaxFeatures
¶ Hard limit for the maximum number of features that can be detected. 0 means auto, will be set to the maximum value based on memory constraints.
-
property
numTargetFeatures
¶ Target number of features to detect. Maximum number of features is determined at runtime based on algorithm type.
-
property
thresholds
¶ Threshold settings. These are advanced settings, suitable for debugging/special cases.
-
property
type
¶ Corner detector algorithm type.
-
class
-
class
FeatureMaintainer
¶ Bases:
pybind11_builtins.pybind11_object
FeatureMaintainer configuration structure.
Methods:
__init__
(self)Attributes:
Enable feature maintaining or not.
Optical flow measures the tracking error for every feature.
Used to filter out detected feature points that are too close.
Once a feature was detected and we started tracking it, we need to update its Harris score on each image.
-
__init__
(self: depthai.RawFeatureTrackerConfig.FeatureMaintainer) → None¶
-
property
enable
¶ Enable feature maintaining or not.
-
property
lostFeatureErrorThreshold
¶ Optical flow measures the tracking error for every feature. If the point can’t be tracked or it’s out of the image it will set this error to a maximum value. This threshold defines the level where the tracking accuracy is considered too bad to keep the point.
-
property
minimumDistanceBetweenFeatures
¶ Used to filter out detected feature points that are too close. Requires sorting enabled in detector. Unit of measurement is squared euclidean distance in pixels.
-
property
trackedFeatureThreshold
¶ Once a feature was detected and we started tracking it, we need to update its Harris score on each image. This is needed because a feature point can disappear, or it can become too weak to be tracked. This threshold defines the point where such a feature must be dropped. As the goal of the algorithm is to provide longer tracks, we try to add strong points and track them until they are absolutely untrackable. This is why, this value is usually smaller than the detection threshold.
-
-
class
MotionEstimator
¶ Bases:
pybind11_builtins.pybind11_object
Used for feature reidentification between current and previous features.
Classes:
Optical flow configuration structure.
Members:
Methods:
__init__
(self)Attributes:
Enable motion estimation or not.
Optical flow configuration.
Motion estimator algorithm type.
-
class
OpticalFlow
¶ Bases:
pybind11_builtins.pybind11_object
Optical flow configuration structure.
Methods:
__init__
(self)Attributes:
Feature tracking termination criteria.
Feature tracking termination criteria.
Number of pyramid levels, only for optical flow.
Image patch height used to track features.
Image patch width used to track features.
-
__init__
(self: depthai.RawFeatureTrackerConfig.MotionEstimator.OpticalFlow) → None¶
-
property
epsilon
¶ Feature tracking termination criteria. Optical flow will refine the feature position on each pyramid level until the displacement between two refinements is smaller than this value. Decreasing this number increases runtime.
-
property
maxIterations
¶ Feature tracking termination criteria. Optical flow will refine the feature position maximum this many times on each pyramid level. If the Epsilon criteria described in the previous chapter is not met after this number of iterations, the algorithm will continue with the current calculated value. Increasing this number increases runtime.
-
property
pyramidLevels
¶ Number of pyramid levels, only for optical flow. AUTO means it’s decided based on input resolution: 3 if image width <= 640, else 4. Valid values are either 3/4 for VGA, 4 for 720p and above.
-
property
searchWindowHeight
¶ Image patch height used to track features. Must be an odd number, maximum 9. N means the algorithm will be able to track motion at most (N-1)/2 pixels in a direction per pyramid level. Increasing this number increases runtime
-
property
searchWindowWidth
¶ Image patch width used to track features. Must be an odd number, maximum 9. N means the algorithm will be able to track motion at most (N-1)/2 pixels in a direction per pyramid level. Increasing this number increases runtime
-
-
class
Type
¶ Bases:
pybind11_builtins.pybind11_object
Members:
LUCAS_KANADE_OPTICAL_FLOW
HW_MOTION_ESTIMATION
Attributes:
Methods:
__init__
(self, value)-
HW_MOTION_ESTIMATION
= <Type.HW_MOTION_ESTIMATION: 1>¶
-
LUCAS_KANADE_OPTICAL_FLOW
= <Type.LUCAS_KANADE_OPTICAL_FLOW: 0>¶
-
__init__
(self: depthai.RawFeatureTrackerConfig.MotionEstimator.Type, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
__init__
(self: depthai.RawFeatureTrackerConfig.MotionEstimator) → None¶
-
property
enable
¶ Enable motion estimation or not.
-
property
opticalFlow
¶ Optical flow configuration. Takes effect only if MotionEstimator algorithm type set to LUCAS_KANADE_OPTICAL_FLOW.
-
property
type
¶ Motion estimator algorithm type.
-
class
-
__init__
(*args, **kwargs)¶ Overloaded function.
__init__(self: depthai.FeatureTrackerConfig) -> None
__init__(self: depthai.FeatureTrackerConfig, arg0: depthai.RawFeatureTrackerConfig) -> None
-
get
(self: depthai.FeatureTrackerConfig) → depthai.RawFeatureTrackerConfig¶ Retrieve configuration data for FeatureTracker.
- Returns
config for feature tracking algorithm
-
set
(self: depthai.FeatureTrackerConfig, config: depthai.RawFeatureTrackerConfig) → depthai.FeatureTrackerConfig¶ Set explicit configuration.
- Parameter
config
: Explicit configuration
- Parameter
-
setCornerDetector
(*args, **kwargs)¶ Overloaded function.
setCornerDetector(self: depthai.FeatureTrackerConfig, cornerDetector: depthai.RawFeatureTrackerConfig.CornerDetector.Type) -> depthai.FeatureTrackerConfig
Set corner detector algorithm type.
- Parameter
cornerDetector
: Corner detector type, HARRIS or SHI_THOMASI
setCornerDetector(self: depthai.FeatureTrackerConfig, config: depthai.RawFeatureTrackerConfig.CornerDetector) -> depthai.FeatureTrackerConfig
Set corner detector full configuration.
- Parameter
config
: Corner detector configuration
-
setFeatureMaintainer
(*args, **kwargs)¶ Overloaded function.
setFeatureMaintainer(self: depthai.FeatureTrackerConfig, enable: bool) -> depthai.FeatureTrackerConfig
Enable or disable feature maintainer.
Parameter
enable
:setFeatureMaintainer(self: depthai.FeatureTrackerConfig, config: depthai.RawFeatureTrackerConfig.FeatureMaintainer) -> depthai.FeatureTrackerConfig
Set feature maintainer full configuration.
- Parameter
config
: feature maintainer configuration
-
setHwMotionEstimation
(self: depthai.FeatureTrackerConfig) → depthai.FeatureTrackerConfig¶ Set hardware accelerated motion estimation using block matching. Faster than optical flow (software implementation) but might not be as accurate.
-
setMotionEstimator
(*args, **kwargs)¶ Overloaded function.
setMotionEstimator(self: depthai.FeatureTrackerConfig, enable: bool) -> depthai.FeatureTrackerConfig
Enable or disable motion estimator.
Parameter
enable
:setMotionEstimator(self: depthai.FeatureTrackerConfig, config: depthai.RawFeatureTrackerConfig.MotionEstimator) -> depthai.FeatureTrackerConfig
Set motion estimator full configuration.
- Parameter
config
: Motion estimator configuration
-
setNumTargetFeatures
(self: depthai.FeatureTrackerConfig, numTargetFeatures: int) → depthai.FeatureTrackerConfig¶ Set number of target features to detect.
- Parameter
numTargetFeatures
: Number of features
- Parameter
-
setOpticalFlow
(*args, **kwargs)¶ Overloaded function.
setOpticalFlow(self: depthai.FeatureTrackerConfig) -> depthai.FeatureTrackerConfig
Set optical flow as motion estimation algorithm type.
setOpticalFlow(self: depthai.FeatureTrackerConfig, config: depthai.RawFeatureTrackerConfig.MotionEstimator.OpticalFlow) -> depthai.FeatureTrackerConfig
Set optical flow full configuration.
- Parameter
config
: Optical flow configuration
-
class
-
class
depthai.
FeatureTrackerProperties
¶ Bases:
pybind11_builtins.pybind11_object
Specify properties for FeatureTracker
Methods:
__init__
(*args, **kwargs)Initialize self.
Attributes:
Initial feature tracker config
Number of memory slices reserved for feature tracking.
Number of shaves reserved for feature tracking.
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
property
initialConfig
¶ Initial feature tracker config
-
property
numMemorySlices
¶ Number of memory slices reserved for feature tracking. Optical flow can use 1 or 2 memory slices, while for corner detection only 1 is enough. Maximum number of features depends on the number of allocated memory slices. Hardware motion estimation doesn’t require memory slices. Maximum 2, minimum 1.
-
property
numShaves
¶ Number of shaves reserved for feature tracking. Optical flow can use 1 or 2 shaves, while for corner detection only 1 is enough. Hardware motion estimation doesn’t require shaves. Maximum 2, minimum 1.
-
-
class
depthai.
FrameEvent
¶ Bases:
pybind11_builtins.pybind11_object
Members:
NONE
READOUT_START
READOUT_END
Attributes:
Methods:
__init__
(self, value)-
NONE
= <FrameEvent.NONE: 0>¶
-
READOUT_END
= <FrameEvent.READOUT_END: 2>¶
-
READOUT_START
= <FrameEvent.READOUT_START: 1>¶
-
__init__
(self: depthai.FrameEvent, value: int) → None¶
-
property
name
¶
-
property
value
¶
-
-
class
depthai.
GlobalProperties
¶ Bases:
pybind11_builtins.pybind11_object
Specify properties which apply for whole pipeline
Methods:
__init__
(*args, **kwargs)Initialize self.
Attributes:
Camera tuning blob size in bytes
Uri which points to camera tuning blob
Chunk size for splitting device-sent XLink packets, in bytes.
-
__init__
(*args, **kwargs)¶ Initialize self. See help(type(self)) for accurate signature.
-
property
cameraTuningBlobSize
¶ Camera tuning blob size in bytes
-
property
cameraTuningBlobUri
¶ Uri which points to camera tuning blob
-
property
leonOsFrequencyHz
¶
-
property
leonRtFrequencyHz
¶
-
property
pipelineName
¶
-
property
pipelineVersion
¶
-
property
xlinkChunkSize
¶ Chunk size for splitting device-sent XLink packets, in bytes. A larger value could increase performance, with 0 disabling chunking. A negative value won’t modify the device defaults - configured per protocol, currently 64*1024 for both USB and Ethernet.
-
-
class
depthai.
IMUData
¶ Bases:
depthai.Buffer
IMUData message. Carries normalized detection results
Methods:
__init__
(self)Attributes:
Detections
-
__init__
(self: depthai.IMUData) → None¶
-
property
packets
¶ Detections
-
-
class
depthai.
IMUPacket
¶ Bases:
pybind11_builtins.pybind11_object
IMU output
Contains combined output for all possible modes. Only the enabled outputs are populated.
Methods:
__init__
(self)Attributes:
-
__init__
(self: depthai.IMUPacket) → None¶
-
property
acceleroMeter
¶
-
property
gyroscope
¶
-
property
magneticField
¶
-
property
rotationVector
¶
-