C++ API Reference¶
-
namespace
dai
¶ Typedefs
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using
Clock
= std::chrono::steady_clock¶
Enums
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enum
CameraBoardSocket
¶ Which Camera socket to use.
AUTO denotes that the decision will be made by device
Values:
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enumerator
AUTO
¶
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enumerator
RGB
¶
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enumerator
LEFT
¶
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enumerator
RIGHT
¶
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enumerator
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enum
CameraImageOrientation
¶ 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).
Values:
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enumerator
AUTO
¶
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enumerator
NORMAL
¶
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enumerator
HORIZONTAL_MIRROR
¶
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enumerator
VERTICAL_FLIP
¶
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enumerator
ROTATE_180_DEG
¶
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enumerator
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enum
CameraModel
¶ Which CameraModel to initialize the calibration with.
Values:
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enumerator
Perspective
¶
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enumerator
Fisheye
¶
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enumerator
Equirectangular
¶
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enumerator
RadialDivision
¶
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enumerator
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enum
ProcessorType
¶ On which processor the node will be placed
Enum specifying processor
Values:
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enumerator
LEON_CSS
¶
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enumerator
LEON_MSS
¶
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enumerator
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enum
UsbSpeed
¶ Get USB Speed
Values:
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enumerator
UNKNOWN
¶
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enumerator
LOW
¶
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enumerator
FULL
¶
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enumerator
HIGH
¶
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enumerator
SUPER
¶
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enumerator
SUPER_PLUS
¶
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enumerator
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enum
DatatypeEnum
¶ Values:
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enumerator
Buffer
¶
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enumerator
ImgFrame
¶
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enumerator
NNData
¶
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enumerator
ImageManipConfig
¶
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enumerator
CameraControl
¶
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enumerator
ImgDetections
¶
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enumerator
SpatialImgDetections
¶
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enumerator
SystemInformation
¶
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enumerator
SpatialLocationCalculatorConfig
¶
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enumerator
SpatialLocationCalculatorData
¶
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enumerator
EdgeDetectorConfig
¶
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enumerator
AprilTagConfig
¶
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enumerator
AprilTags
¶
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enumerator
Tracklets
¶
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enumerator
IMUData
¶
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enumerator
StereoDepthConfig
¶
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enumerator
FeatureTrackerConfig
¶
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enumerator
TrackedFeatures
¶
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enumerator
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enum
SpatialLocationCalculatorAlgorithm
¶ Values:
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enumerator
AVERAGE
¶
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enumerator
MIN
¶
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enumerator
MAX
¶
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enumerator
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enum
MedianFilter
Median filter config for disparity post-processing
Values:
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enumerator
MEDIAN_OFF
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enumerator
KERNEL_3x3
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enumerator
KERNEL_5x5
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enumerator
KERNEL_7x7
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enumerator
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enum
LogLevel
¶ Values:
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enumerator
TRACE
¶
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enumerator
DEBUG
¶
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enumerator
INFO
¶
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enumerator
WARN
¶
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enumerator
ERR
¶
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enumerator
CRITICAL
¶
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enumerator
OFF
¶
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enumerator
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enum
IMUSensor
¶ Available IMU sensors. More details about each sensor can be found in the datasheet:
https://www.ceva-dsp.com/wp-content/uploads/2019/10/BNO080_085-Datasheet.pdf
Values:
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enumerator
ACCELEROMETER_RAW
¶ Section 2.1.1
Acceleration of the device without any postprocessing, straight from the sensor. Units are [m/s^2]
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enumerator
ACCELEROMETER
¶ Section 2.1.1
Acceleration of the device including gravity. Units are [m/s^2]
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enumerator
LINEAR_ACCELERATION
¶ Section 2.1.1
Acceleration of the device with gravity removed. Units are [m/s^2]
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enumerator
GRAVITY
¶ Section 2.1.1
Gravity. Units are [m/s^2]
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enumerator
GYROSCOPE_RAW
¶ Section 2.1.2
The angular velocity of the device without any postprocessing, straight from the sensor. Units are [rad/s]
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enumerator
GYROSCOPE_CALIBRATED
¶ Section 2.1.2
The angular velocity of the device. Units are [rad/s]
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enumerator
GYROSCOPE_UNCALIBRATED
¶ Section 2.1.2
Angular velocity without bias compensation. Units are [rad/s]
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enumerator
MAGNETOMETER_RAW
¶ Section 2.1.3
Magnetic field measurement without any postprocessing, straight from the sensor. Units are [uTesla]
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enumerator
MAGNETOMETER_CALIBRATED
¶ Section 2.1.3
The fully calibrated magnetic field measurement. Units are [uTesla]
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enumerator
MAGNETOMETER_UNCALIBRATED
¶ Section 2.1.3
The magnetic field measurement without hard-iron offset applied. Units are [uTesla]
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enumerator
ROTATION_VECTOR
¶ Section 2.2
The rotation vector provides an orientation output that is expressed as a quaternion referenced to magnetic north and gravity. It is produced by fusing the outputs of the accelerometer, gyroscope and magnetometer. The rotation vector is the most accurate orientation estimate available. The magnetometer provides correction in yaw to reduce drift and the gyroscope enables the most responsive performance.
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enumerator
GAME_ROTATION_VECTOR
¶ Section 2.2
The game rotation vector is an orientation output that is expressed as a quaternion with no specific reference for heading, while roll and pitch are referenced against gravity. It is produced by fusing the outputs of the accelerometer and the gyroscope (i.e. no magnetometer). The game rotation vector does not use the magnetometer to correct the gyroscopes drift in yaw. This is a deliberate omission (as specified by Google) to allow gaming applications to use a smoother representation of the orientation without the jumps that an instantaneous correction provided by a magnetic field update could provide. Long term the output will likely drift in yaw due to the characteristics of gyroscopes, but this is seen as preferable for this output versus a corrected output.
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enumerator
GEOMAGNETIC_ROTATION_VECTOR
¶ Section 2.2
The geomagnetic rotation vector is an orientation output that is expressed as a quaternion referenced to magnetic north and gravity. It is produced by fusing the outputs of the accelerometer and magnetometer. The gyroscope is specifically excluded in order to produce a rotation vector output using less power than is required to produce the rotation vector of section 2.2.4. The consequences of removing the gyroscope are: Less responsive output since the highly dynamic outputs of the gyroscope are not used More errors in the presence of varying magnetic fields.
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enumerator
ARVR_STABILIZED_ROTATION_VECTOR
¶ Section 2.2
Estimates of the magnetic field and the roll/pitch of the device can create a potential correction in the rotation vector produced. For applications (typically augmented or virtual reality applications) where a sudden jump can be disturbing, the output is adjusted to prevent these jumps in a manner that takes account of the velocity of the sensor system.
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enumerator
ARVR_STABILIZED_GAME_ROTATION_VECTOR
¶ Section 2.2
While the magnetometer is removed from the calculation of the game rotation vector, the accelerometer itself can create a potential correction in the rotation vector produced (i.e. the estimate of gravity changes). For applications (typically augmented or virtual reality applications) where a sudden jump can be disturbing, the output is adjusted to prevent these jumps in a manner that takes account of the velocity of the sensor system. This process is called AR/VR stabilization.
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enumerator
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enum
TrackerType
¶ Values:
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enumerator
SHORT_TERM_KCF
¶ Kernelized Correlation Filter tracking.
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enumerator
SHORT_TERM_IMAGELESS
¶ Short term tracking without using image data.
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enumerator
ZERO_TERM_IMAGELESS
¶ Ability to track the objects without accessing image data.
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enumerator
ZERO_TERM_COLOR_HISTOGRAM
¶ Tracking using image data too.
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enumerator
Functions
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bool
initialize
()¶
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bool
initialize
(std::string additionalInfo, bool installSignalHandler = true, void *javavm = nullptr)¶
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bool
initialize
(const char *additionalInfo, bool installSignalHandler = true, void *javavm = nullptr)¶
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bool
initialize
(void *javavm)¶
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DEPTHAI_SERIALIZE_EXT
(ChipTemperature, css, mss, upa, dss, average)¶
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DEPTHAI_SERIALIZE_EXT
(DetectionParserOptions, nnFamily, confidenceThreshold, classes, coordinates, anchors, anchorMasks, iouThreshold)¶
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DEPTHAI_SERIALIZE_OPTIONAL_EXT
(EepromData, version, boardCustom, boardName, boardRev, boardConf, hardwareConf, productName, batchName, batchTime, boardOptions, cameraData, stereoRectificationData, imuExtrinsics, miscellaneousData)¶
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DEPTHAI_SERIALIZE_EXT
(MemoryInfo, remaining, used, total)¶
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DEPTHAI_SERIALIZE_EXT
(RotatedRect, center, size, angle)¶
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DEPTHAI_SERIALIZE_EXT
(StereoRectification, rectifiedRotationLeft, rectifiedRotationRight, leftCameraSocket, rightCameraSocket)¶
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DEPTHAI_SERIALIZE_EXT
(TensorInfo, order, dataType, numDimensions, dims, strides, name, offset)¶
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bool
isDatatypeSubclassOf
(DatatypeEnum parent, DatatypeEnum children)¶
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DEPTHAI_SERIALIZE_EXT
(AprilTag, id, hamming, decisionMargin, topLeft, topRight, bottomRight, bottomLeft)¶
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DEPTHAI_SERIALIZE_EXT
(EdgeDetectorConfigData, sobelFilterHorizontalKernel, sobelFilterVerticalKernel)¶
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DEPTHAI_SERIALIZE_EXT
(IMUReportAccelerometer, x, y, z, sequence, accuracy, timestamp, tsDevice)¶
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DEPTHAI_SERIALIZE_EXT
(IMUReportGyroscope, x, y, z, sequence, accuracy, timestamp, tsDevice)¶
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DEPTHAI_SERIALIZE_EXT
(IMUReportMagneticField, x, y, z, sequence, accuracy, timestamp, tsDevice)¶
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DEPTHAI_SERIALIZE_EXT
(IMUReportRotationVectorWAcc, i, j, k, real, rotationVectorAccuracy, sequence, accuracy, timestamp, tsDevice)¶
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DEPTHAI_SERIALIZE_EXT
(ImgDetection, label, confidence, xmin, ymin, xmax, ymax)¶
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DEPTHAI_SERIALIZE_EXT
(SpatialImgDetection, label, confidence, xmin, ymin, xmax, ymax, spatialCoordinates)¶
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DEPTHAI_SERIALIZE_EXT
(SpatialLocationCalculatorConfigThresholds, lowerThreshold, upperThreshold)¶
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DEPTHAI_SERIALIZE_EXT
(SpatialLocationCalculatorConfigData, roi, depthThresholds, calculationAlgorithm)¶
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DEPTHAI_SERIALIZE_EXT
(SpatialLocations, config, depthAverage, depthMin, depthMax, depthAveragePixelCount, spatialCoordinates)¶
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DEPTHAI_SERIALIZE_EXT
(TrackedFeature, position, id, age, harrisScore, trackingError)¶
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DEPTHAI_SERIALIZE_EXT
(BoardConfig::USB, vid, pid, flashBootedVid, flashBootedPid, maxSpeed)¶
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DEPTHAI_SERIALIZE_EXT
(BoardConfig::Network, mtu, xlinkTcpNoDelay)¶
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DEPTHAI_SERIALIZE_EXT
(BoardConfig::GPIO, mode, direction, level, pull, drive, schmitt, slewFast)¶
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DEPTHAI_SERIALIZE_EXT
(BoardConfig::UART, tmp)¶
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DEPTHAI_SERIALIZE_EXT
(BoardConfig, usb, network, sysctl, watchdogTimeoutMs, watchdogInitialDelayMs, gpio, uart, pcieInternalClock, usb3PhyInternalClock)¶
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DEPTHAI_SERIALIZE_EXT
(LogMessage, nodeIdName, level, time, colorRangeStart, colorRangeEnd, payload)¶
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DEPTHAI_SERIALIZE_EXT
(NodeConnectionSchema, node1Id, node1OutputGroup, node1Output, node2Id, node2InputGroup, node2Input)¶
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DEPTHAI_SERIALIZE_EXT
(NodeIoInfo, group, name, type, blocking, queueSize, waitForMessage)¶
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DEPTHAI_SERIALIZE_EXT
(NodeObjInfo, id, name, properties, ioInfo)¶
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DEPTHAI_SERIALIZE_EXT
(PipelineSchema, connections, globalProperties, nodes)¶
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DEPTHAI_SERIALIZE_EXT
(AprilTagProperties, initialConfig, inputConfigSync)¶
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DEPTHAI_SERIALIZE_EXT
(ColorCameraProperties, initialControl, boardSocket, imageOrientation, colorOrder, interleaved, fp16, previewHeight, previewWidth, videoWidth, videoHeight, stillWidth, stillHeight, resolution, fps, sensorCropX, sensorCropY, previewKeepAspectRatio, ispScale)¶
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DEPTHAI_SERIALIZE_EXT
(DetectionNetworkProperties, blobSize, blobUri, numFrames, numThreads, numNCEPerThread, parser)¶
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DEPTHAI_SERIALIZE_EXT
(DetectionParserProperties, numFramesPool, networkInputs, parser)¶
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DEPTHAI_SERIALIZE_EXT
(EdgeDetectorProperties, initialConfig, outputFrameSize, numFramesPool)¶
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DEPTHAI_SERIALIZE_EXT
(FeatureTrackerProperties, initialConfig, numShaves, numMemorySlices)¶
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DEPTHAI_SERIALIZE_EXT
(GlobalProperties, leonCssFrequencyHz, leonMssFrequencyHz, pipelineName, pipelineVersion, cameraTuningBlobSize, cameraTuningBlobUri, calibData, xlinkChunkSize)¶
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DEPTHAI_SERIALIZE_EXT
(IMUSensorConfig, sensitivityEnabled, sensitivityRelative, changeSensitivity, reportRate, sensorId)¶
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DEPTHAI_SERIALIZE_EXT
(IMUProperties, imuSensors, batchReportThreshold, maxBatchReports, enableFirmwareUpdate)¶
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DEPTHAI_SERIALIZE_EXT
(ImageManipProperties, initialConfig, outputFrameSize, numFramesPool)¶
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DEPTHAI_SERIALIZE_EXT
(MonoCameraProperties, initialControl, boardSocket, imageOrientation, resolution, fps)¶
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DEPTHAI_SERIALIZE_EXT
(NeuralNetworkProperties, blobSize, blobUri, numFrames, numThreads, numNCEPerThread)¶
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DEPTHAI_SERIALIZE_EXT
(ObjectTrackerProperties, trackerThreshold, maxObjectsToTrack, detectionLabelsToTrack, trackerType, trackerIdAssignmentPolicy)¶
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DEPTHAI_SERIALIZE_EXT
(SPIInProperties, streamName, busId, maxDataSize, numFrames)¶
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DEPTHAI_SERIALIZE_EXT
(SPIOutProperties, streamName, busId)¶
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DEPTHAI_SERIALIZE_EXT
(ScriptProperties, scriptUri, scriptName, processor)¶
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DEPTHAI_SERIALIZE_EXT
(SpatialDetectionNetworkProperties, blobSize, blobUri, numFrames, numThreads, numNCEPerThread, parser, detectedBBScaleFactor, depthThresholds, calculationAlgorithm)¶
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DEPTHAI_SERIALIZE_EXT
(SpatialLocationCalculatorProperties, roiConfig)¶
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DEPTHAI_SERIALIZE_EXT
(StereoDepthProperties, initialConfig, depthAlignCamera, enableRectification, rectifyEdgeFillColor, width, height, outWidth, outHeight, outKeepAspectRatio, mesh, enableRuntimeStereoModeSwitch, numFramesPool, numPostProcessingShaves, numPostProcessingMemorySlices, focalLengthFromCalibration, useHomographyRectification)¶
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DEPTHAI_SERIALIZE_EXT
(SystemLoggerProperties, rateHz)¶
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DEPTHAI_SERIALIZE_EXT
(VideoEncoderProperties, bitrate, keyframeFrequency, maxBitrate, numBFrames, numFramesPool, outputFrameSize, profile, quality, lossless, rateCtrlMode, frameRate)¶
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DEPTHAI_SERIALIZE_EXT
(XLinkInProperties, streamName, maxDataSize, numFrames)¶
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DEPTHAI_SERIALIZE_EXT
(XLinkOutProperties, maxFpsLimit, streamName, metadataOnly)¶
Variables
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constexpr uint32_t
BOARD_CONFIG_MAGIC1
= 0x78010000U¶
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constexpr uint32_t
BOARD_CONFIG_MAGIC2
= 0x21ea17e6U¶
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constexpr const char *
LOG_DEFAULT_PATTERN
= "[%E.%e] [%n] [%^%l%$] %v"¶
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static constexpr auto
DEFAULT_SERIALIZATION_TYPE
= SerializationType::LIBNOP¶
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class
ADatatype
¶ - #include <ADatatype.hpp>
Abstract message.
Subclassed by dai::Buffer
-
struct
AprilTag
¶ - #include <RawAprilTags.hpp>
AprilTag structure.
Public Members
-
int
id
= 0¶ The decoded ID of the tag
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int
hamming
= 0¶ How many error bits were corrected? Note: 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.
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float
decisionMargin
= 0.f¶ 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.
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int
-
class
AprilTagConfig
: public dai::Buffer - #include <AprilTagConfig.hpp>
AprilTagConfig message.
Public Functions
-
AprilTagConfig
()¶ Construct AprilTagConfig message.
-
AprilTagConfig &
setFamily
(Family family)¶ - Parameters
family
: AprilTag family
-
AprilTagConfig &
set
(dai::RawAprilTagConfig config)¶ Set explicit configuration.
- Parameters
config
: Explicit configuration
-
dai::RawAprilTagConfig
get
() const¶ Retrieve configuration data for AprilTag.
- Return
config for stereo depth algorithm
-
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struct
AprilTagProperties
: public dai::PropertiesSerializable<Properties, AprilTagProperties>¶ - #include <AprilTagProperties.hpp>
Specify properties for AprilTag
Public Members
-
bool
inputConfigSync
= false¶ Whether to wait for config at ‘inputConfig’ IO.
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bool
-
struct
Asset
¶ - #include <AssetManager.hpp>
Asset is identified with string key and can store arbitrary binary data.
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class
AssetManager
¶ - #include <AssetManager.hpp>
AssetManager can store assets and serialize.
Public Functions
Adds all assets in an array to the AssetManager
- Parameters
assets
: Vector of assets to add
-
std::shared_ptr<dai::Asset>
set
(Asset asset)¶ Adds or overwrites an asset object to AssetManager.
- Return
Shared pointer to asset
- Parameters
asset
: Asset to add
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std::shared_ptr<dai::Asset>
set
(const std::string &key, Asset asset)¶ Adds or overwrites an asset object to AssetManager with a specified key. Key value will be assigned to an Asset as well
- Return
Shared pointer to asset
- Parameters
key
: Key under which the asset should be storedasset
: Asset to store
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std::shared_ptr<dai::Asset>
set
(const std::string &key, const dai::Path &path, int alignment = 64)¶ Loads file into asset manager under specified key.
- Parameters
key
: Key under which the asset should be storedpath
: Path to file which to load as assetalignment
: [Optional] alignment of asset data in asset storage. Default is 64B
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std::shared_ptr<dai::Asset>
set
(const std::string &key, const std::vector<std::uint8_t> &data, int alignment = 64)¶ Loads file into asset manager under specified key.
- Return
Shared pointer to asset
- Parameters
key
: Key under which the asset should be storeddata
: Asset dataalignment
: [Optional] alignment of asset data in asset storage. Default is 64B
-
std::shared_ptr<const Asset>
get
(const std::string &key) const¶ - Return
Asset assigned to the specified key or a nullptr otherwise
-
std::shared_ptr<Asset>
get
(const std::string &key)¶ - Return
Asset assigned to the specified key or a nullptr otherwise
-
std::vector<std::shared_ptr<const Asset>>
getAll
() const¶ - Return
All asset stored in the AssetManager
-
std::vector<std::shared_ptr<Asset>>
getAll
()¶ - Return
All asset stored in the AssetManager
-
std::size_t
size
() const¶ - Return
Number of asset stored in the AssetManager
-
void
remove
(const std::string &key)¶ Removes asset with key
- Parameters
key
: Key of asset to remove
-
void
serialize
(AssetsMutable &assets, std::vector<std::uint8_t> &assetStorage, std::string prefix = "") const¶ Serializes.
-
class
Assets
¶ Subclassed by dai::AssetsMutable
-
struct
AssetView
¶
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struct
BoardConfig
¶ Public Members
-
std::vector<std::string>
sysctl
¶ Optional list of FreeBSD sysctl parameters to be set (system, network, etc.). For example: “net.inet.tcp.delayed_ack=0” (this one is also set by default)
-
struct
GPIO
¶
-
struct
Network
¶ - #include <BoardConfig.hpp>
Network configuration.
Public Members
-
uint16_t
mtu
= 0¶ Network MTU, 0 is auto (usually 1500 for Ethernet) or forwarded from bootloader (not yet implemented there). Note: not advised to increase past 1500 for now
-
bool
xlinkTcpNoDelay
= true¶ Sets the
TCP_NODELAY
option for XLink TCP sockets (disable Nagle’s algorithm), reducing latency at the expense of a small hit for max throughput. Default istrue
-
uint16_t
-
struct
USB
¶
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std::vector<std::string>
-
class
Buffer
: public dai::ADatatype - #include <Buffer.hpp>
Base message - buffer of binary data.
Subclassed by dai::AprilTagConfig, dai::AprilTags, dai::CameraControl, dai::EdgeDetectorConfig, dai::FeatureTrackerConfig, dai::ImageManipConfig, dai::ImgDetections, dai::ImgFrame, dai::IMUData, dai::NNData, dai::SpatialImgDetections, dai::SpatialLocationCalculatorConfig, dai::SpatialLocationCalculatorData, dai::StereoDepthConfig, dai::SystemInformation, dai::TrackedFeatures, dai::Tracklets
Public Functions
-
Buffer
() Creates Buffer message.
-
std::vector<std::uint8_t> &
getData
() const Get non-owning reference to internal buffer.
- Return
Reference to internal buffer
-
void
setData
(const std::vector<std::uint8_t> &data) - Parameters
data
: Copies data to internal buffer
-
void
setData
(std::vector<std::uint8_t> &&data) - Parameters
data
: Moves data to internal buffer
-
-
class
CalibrationHandler
¶ - #include <CalibrationHandler.hpp>
CalibrationHandler is an interface to read/load/write structured calibration and device data. The following fields are protected and aren’t allowed to be overriden by default:
boardName
boardRev
boardConf
hardwareConf
batchName
batchTime
boardOptions
Public Functions
-
CalibrationHandler
(dai::Path eepromDataPath)¶ Construct a new Calibration Handler object using the eeprom json file created from calibration procedure.
- Parameters
eepromDataPath
: takes the full path to the json file containing the calibration and device info.
-
CalibrationHandler
(dai::Path calibrationDataPath, dai::Path boardConfigPath)¶ Construct a new Calibration Handler object using the board config json file and .calib binary files created using gen1 calibration.
-
CalibrationHandler
(EepromData eepromData)¶ Construct a new Calibration Handler object from EepromData object.
- Parameters
eepromData
: EepromData data structure containing the calibration data.
-
dai::EepromData
getEepromData
() const¶ Get the Eeprom Data object
- Return
EepromData object which contains the raw calibration data
-
std::vector<std::vector<float>>
getCameraIntrinsics
(CameraBoardSocket cameraId, int resizeWidth = -1, int resizeHeight = -1, Point2f topLeftPixelId = Point2f(), Point2f bottomRightPixelId = Point2f())¶ Get the Camera Intrinsics object
Matrix representation of intrinsic matrix
\[\begin{split} \text{Intrinsic Matrix} = \left [ \begin{matrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{matrix} \right ] \end{split}\]- Return
Represents the 3x3 intrinsics matrix of the respective camera at the requested size and crop dimensions.
- Parameters
cameraId
: Uses the cameraId to identify which camera intrinsics to returnresizewidth
: resized width of the image for which intrinsics is requested. resizewidth = -1 represents width is same as default intrinsicsresizeHeight
: resized height of the image for which intrinsics is requested. resizeHeight = -1 represents height is same as default intrinsicstopLeftPixelId
: (x, y) point represents the top left corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped imagebottomRightPixelId
: (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
-
std::vector<std::vector<float>>
getCameraIntrinsics
(CameraBoardSocket cameraId, Size2f destShape, Point2f topLeftPixelId = Point2f(), Point2f bottomRightPixelId = Point2f())¶ Get the Camera Intrinsics object
Matrix representation of intrinsic matrix
\[\begin{split} \text{Intrinsic Matrix} = \left [ \begin{matrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{matrix} \right ] \end{split}\]- Return
Represents the 3x3 intrinsics matrix of the respective camera at the requested size and crop dimensions.
- Parameters
cameraId
: Uses the cameraId to identify which camera intrinsics to returndestShape
: resized width and height of the image for which intrinsics is requested.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 imagebottomRightPixelId
: (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
-
std::vector<std::vector<float>>
getCameraIntrinsics
(CameraBoardSocket cameraId, std::tuple<int, int> destShape, Point2f topLeftPixelId = Point2f(), Point2f bottomRightPixelId = Point2f())¶ Get the Camera Intrinsics object
Matrix representation of intrinsic matrix
\[\begin{split} \text{Intrinsic Matrix} = \left [ \begin{matrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{matrix} \right ] \end{split}\]- Return
Represents the 3x3 intrinsics matrix of the respective camera at the requested size and crop dimensions.
- Parameters
cameraId
: Uses the cameraId to identify which camera intrinsics to returndestShape
: resized width and height of the image for which intrinsics is requested.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 imagebottomRightPixelId
: (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
-
std::tuple<std::vector<std::vector<float>>, int, int>
getDefaultIntrinsics
(CameraBoardSocket cameraId)¶ Get the Default Intrinsics object
Matrix representation of intrinsic matrix
\[\begin{split} \text{Intrinsic Matrix} = \left [ \begin{matrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{matrix} \right ] \end{split}\]- Return
Represents the 3x3 intrinsics matrix of the respective camera along with width and height at which it was calibrated.
- Parameters
cameraId
: Uses the cameraId to identify which camera intrinsics to return
-
std::vector<float>
getDistortionCoefficients
(CameraBoardSocket cameraId)¶ Get the Distortion Coefficients object
- Return
the distortion coefficients of the requested camera in this order: [k1,k2,p1,p2,k3,k4,k5,k6,s1,s2,s3,s4,τx,τy]
- Parameters
cameraId
: Uses the cameraId to identify which distortion Coefficients to return.
-
float
getFov
(CameraBoardSocket cameraId, bool useSpec = true)¶ Get the Fov of the camera
- Return
field of view of the camera with given cameraId.
- Parameters
cameraId
: of the camera of which we are fetching fov.useSpec
: Disabling this bool will calculate the fov based on intrinsics (focal length, image width), instead of getting it from the camera specs
-
uint8_t
getLensPosition
(CameraBoardSocket cameraId)¶ Get the lens position of the given camera
- Return
lens position of the camera with given cameraId at which it was calibrated.
- Parameters
cameraId
: of the camera with lens position is requested.
-
CameraModel
getDistortionModel
(CameraBoardSocket cameraId)¶ Get the distortion model of the given camera
- Return
lens position of the camera with given cameraId at which it was calibrated.
- Parameters
cameraId
: of the camera with lens position is requested.
-
std::vector<std::vector<float>>
getCameraExtrinsics
(CameraBoardSocket srcCamera, CameraBoardSocket dstCamera, bool useSpecTranslation = false)¶ 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.
Matrix representation of transformation matrix
\[\begin{split} \text{Transformation Matrix} = \left [ \begin{matrix} r_{00} & r_{01} & r_{02} & T_x \\ r_{10} & r_{11} & r_{12} & T_y \\ r_{20} & r_{21} & r_{22} & T_z \\ 0 & 0 & 0 & 1 \end{matrix} \right ] \end{split}\]- Return
a transformationMatrix which is 4x4 in homogeneous coordinate system
- Parameters
srcCamera
: Camera Id of the camera which will be considered as origin.dstCamera
: Camera Id of the destination camera to which we are fetching the rotation and translation from the SrcCamerauseSpecTranslation
: Enabling this bool uses the translation information from the board design data
-
std::vector<float>
getCameraTranslationVector
(CameraBoardSocket srcCamera, CameraBoardSocket dstCamera, bool useSpecTranslation = true)¶ Get the Camera translation vector between two cameras from the calibration data.
- Return
a translation vector like [x, y, z] in centimeters
- Parameters
srcCamera
: Camera Id of the camera which will be considered as origin.dstCamera
: Camera Id of the destination camera to which we are fetching the translation vector from the SrcCamerauseSpecTranslation
: Disabling this bool uses the translation information from the calibration data (not the board design data)
-
float
getBaselineDistance
(CameraBoardSocket cam1 = CameraBoardSocket::RIGHT, CameraBoardSocket cam2 = CameraBoardSocket::LEFT, bool useSpecTranslation = true)¶ Get the baseline distance between two specified cameras. By default it will get the baseline between CameraBoardSocket.RIGHT and CameraBoardSocket.LEFT.
- Return
baseline distance in centimeters
- Parameters
cam1
: First cameracam2
: Second camerauseSpecTranslation
: Enabling this bool uses the translation information from the board design data (not the calibration data)
-
std::vector<std::vector<float>>
getCameraToImuExtrinsics
(CameraBoardSocket cameraId, bool useSpecTranslation = false)¶ 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.
Matrix representation of transformation matrix
\[\begin{split} \text{Transformation Matrix} = \left [ \begin{matrix} r_{00} & r_{01} & r_{02} & T_x \\ r_{10} & r_{11} & r_{12} & T_y \\ r_{20} & r_{21} & r_{22} & T_z \\ 0 & 0 & 0 & 1 \end{matrix} \right ] \end{split}\]- Return
Returns a transformationMatrix which is 4x4 in homogeneous coordinate system
- Parameters
cameraId
: Camera Id of the camera which will be considered as origin. from which Transformation matrix to the IMU will be founduseSpecTranslation
: Enabling this bool uses the translation information from the board design data
-
std::vector<std::vector<float>>
getImuToCameraExtrinsics
(CameraBoardSocket cameraId, bool useSpecTranslation = false)¶ 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.
Matrix representation of transformation matrix
\[\begin{split} \text{Transformation Matrix} = \left [ \begin{matrix} r_{00} & r_{01} & r_{02} & T_x \\ r_{10} & r_{11} & r_{12} & T_y \\ r_{20} & r_{21} & r_{22} & T_z \\ 0 & 0 & 0 & 1 \end{matrix} \right ] \end{split}\]- Return
Returns a transformationMatrix which is 4x4 in homogeneous coordinate system
- Parameters
cameraId
: Camera Id of the camera which will be considered as destination. To which Transformation matrix from the IMU will be found.useSpecTranslation
: Enabling this bool uses the translation information from the board design data
-
std::vector<std::vector<float>>
getStereoRightRectificationRotation
()¶ Get the Stereo Right Rectification Rotation object
- Return
returns a 3x3 rectification rotation matrix
-
std::vector<std::vector<float>>
getStereoLeftRectificationRotation
()¶ Get the Stereo Left Rectification Rotation object
- Return
returns a 3x3 rectification rotation matrix
-
dai::CameraBoardSocket
getStereoLeftCameraId
()¶ Get the camera id of the camera which is used as left camera of the stereo setup
- Return
cameraID of the camera used as left camera
-
dai::CameraBoardSocket
getStereoRightCameraId
()¶ Get the camera id of the camera which is used as right camera of the stereo setup
- Return
cameraID of the camera used as right camera
-
bool
eepromToJsonFile
(dai::Path destPath) const¶ Write raw calibration/board data to json file.
- Return
True on success, false otherwise
- Parameters
destPath
: Full path to the json file in which raw calibration data will be stored
-
nlohmann::json
eepromToJson
() const¶ Get JSON representation of calibration data
- Return
JSON structure
-
void
setBoardInfo
(std::string boardName, std::string boardRev)¶ Set the Board Info object
- Parameters
version
: Sets the version of the Calibration data(Current version is 6)boardName
: Sets your board name.boardRev
: set your board revision id.
-
void
setBoardInfo
(std::string productName, std::string boardName, std::string boardRev, std::string boardConf, std::string hardwareConf, std::string batchName, uint64_t batchTime, uint32_t boardOptions, std::string boardCustom = "")¶ Set the Board Info object. Creates version 7 EEPROM data
- Parameters
productName
: Sets product name (alias).boardName
: Sets board name.boardRev
: Sets board revision id.boardConf
: Sets board configuration id.hardwareConf
: Sets hardware configuration id.batchName
: Sets batch name.batchTime
: Sets batch time (unix timestamp).boardCustom
: Sets a custom board (Default empty string).
-
void
setCameraIntrinsics
(CameraBoardSocket cameraId, std::vector<std::vector<float>> intrinsics, Size2f frameSize)¶ Set the Camera Intrinsics object
Matrix representation of intrinsic matrix
\[\begin{split} \text{Intrinsic Matrix} = \left [ \begin{matrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{matrix} \right ] \end{split}\]- Parameters
cameraId
: CameraId of the camera for which Camera intrinsics are being loadedintrinsics
: 3x3 intrinsics matrixframeSize
: Represents the width and height of the image at which intrinsics are calculated.
-
void
setCameraIntrinsics
(CameraBoardSocket cameraId, std::vector<std::vector<float>> intrinsics, int width, int height)¶ Set the Camera Intrinsics object
Matrix representation of intrinsic matrix
\[\begin{split} \text{Intrinsic Matrix} = \left [ \begin{matrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{matrix} \right ] \end{split}\]- Parameters
cameraId
: CameraId of the camera for which Camera intrinsics are being loadedintrinsics
: 3x3 intrinsics matrixwidth
: Represents the width of the image at which intrinsics are calculated.height
: Represents the height of the image at which intrinsics are calculated.
-
void
setCameraIntrinsics
(CameraBoardSocket cameraId, std::vector<std::vector<float>> intrinsics, std::tuple<int, int> frameSize)¶ Set the Camera Intrinsics object
Matrix representation of intrinsic matrix
\[\begin{split} \text{Intrinsic Matrix} = \left [ \begin{matrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{matrix} \right ] \end{split}\]- Parameters
cameraId
: CameraId of the camera for which Camera intrinsics are being loadedintrinsics
: 3x3 intrinsics matrixframeSize
: Represents the width and height of the image at which intrinsics are calculated.
-
void
setDistortionCoefficients
(CameraBoardSocket cameraId, std::vector<float> distortionCoefficients)¶ Sets the distortion Coefficients obtained from camera calibration
- Parameters
cameraId
: Camera Id of the camera for which distortion coefficients are computeddistortionCoefficients
: Distortion Coefficients of the respective Camera.
-
void
setFov
(CameraBoardSocket cameraId, float hfov)¶ Set the Fov of the Camera
- Parameters
cameraId
: Camera Id of the camerahfov
: Horizontal fov of the camera from Camera Datasheet
-
void
setLensPosition
(CameraBoardSocket cameraId, uint8_t lensPosition)¶ Sets the distortion Coefficients obtained from camera calibration
- Parameters
cameraId
: Camera Id of the cameralensPosition
: lens posiotion value of the camera at the time of calibration
-
void
setCameraType
(CameraBoardSocket cameraId, CameraModel cameraModel)¶ Set the Camera Type object
- Parameters
cameraId
: CameraId of the camera for which cameraModel Type is being updated.cameraModel
: Type of the model the camera represents
-
void
setCameraExtrinsics
(CameraBoardSocket srcCameraId, CameraBoardSocket destCameraId, std::vector<std::vector<float>> rotationMatrix, std::vector<float> translation, std::vector<float> specTranslation = {0, 0, 0})¶ Set the Camera Extrinsics object
- Parameters
srcCameraId
: Camera Id of the camera which will be considered as relative origin.destCameraId
: Camera Id of the camera which will be considered as destination from srcCameraId.rotationMatrix
: Rotation between srcCameraId and destCameraId origins.translation
: Translation between srcCameraId and destCameraId origins.specTranslation
: Translation between srcCameraId and destCameraId origins from the design.
-
void
setImuExtrinsics
(CameraBoardSocket destCameraId, std::vector<std::vector<float>> rotationMatrix, std::vector<float> translation, std::vector<float> specTranslation = {0, 0, 0})¶ Set the Imu to Camera Extrinsics object
- Parameters
destCameraId
: Camera Id of the camera which will be considered as destination from IMU.rotationMatrix
: Rotation between srcCameraId and destCameraId origins.translation
: Translation between IMU and destCameraId origins.specTranslation
: Translation between IMU and destCameraId origins from the design.
-
void
setStereoLeft
(CameraBoardSocket cameraId, std::vector<std::vector<float>> rectifiedRotation)¶ Set the Stereo Left Rectification object
Homography of the Left Rectification = Intrinsics_right * rectifiedRotation * inv(Intrinsics_left)
- Parameters
cameraId
: CameraId of the camera which will be used as left Camera of stereo SetuprectifiedRotation
: Rectification rotation of the left camera required for feature matching
-
void
setStereoRight
(CameraBoardSocket cameraId, std::vector<std::vector<float>> rectifiedRotation)¶ Set the Stereo Right Rectification object
Homography of the Right Rectification = Intrinsics_right * rectifiedRotation * inv(Intrinsics_right)
- Parameters
cameraId
: CameraId of the camera which will be used as left Camera of stereo SetuprectifiedRotation
: Rectification rotation of the left camera required for feature matching
-
bool
validateCameraArray
()¶ Using left camera as the head it iterates over the camera extrinsics connection to check if all the camera extrinsics are connected and no loop exists.
- Return
true on proper connection with no loops.
Public Static Functions
-
CalibrationHandler
fromJson
(nlohmann::json eepromDataJson)¶ Construct a new Calibration Handler object from JSON EepromData.
- Parameters
eepromDataJson
: EepromData as JSON
-
class
CallbackHandler
¶
-
class
CameraControl
: public dai::Buffer - #include <CameraControl.hpp>
CameraControl message. Specifies various camera control commands like:
Still capture
Auto focus
Anti banding
Auto white balance
Scene
Effect
…
Public Functions
-
CameraControl
() Construct CameraControl message.
-
CameraControl &
setCaptureStill
(bool capture) Set a command to capture a still image
-
CameraControl &
setStartStreaming
() Set a command to start streaming
-
CameraControl &
setStopStreaming
() Set a command to stop streaming
-
CameraControl &
setAutoFocusMode
(AutoFocusMode mode) Set a command to specify autofocus mode
-
CameraControl &
setAutoFocusTrigger
() Set a command to trigger autofocus
-
CameraControl &
setAutoFocusRegion
(uint16_t startX, uint16_t startY, uint16_t width, uint16_t height) Set a command to specify focus region in pixels
- Parameters
startX
: X coordinate of top left corner of regionstartY
: Y coordinate of top left corner of regionwidth
: Region widthheight
: Region height
-
CameraControl &
setManualFocus
(uint8_t lensPosition) Set a command to specify manual focus position
- Parameters
lensPosition
: specify lens position 0..255
-
CameraControl &
setAutoExposureEnable
() Set a command to enable auto exposure
-
CameraControl &
setAutoExposureLock
(bool lock) Set a command to specify lock auto exposure
- Parameters
lock
: Auto exposure lock mode enabled or disabled
-
CameraControl &
setAutoExposureRegion
(uint16_t startX, uint16_t startY, uint16_t width, uint16_t height) Set a command to specify auto exposure region in pixels
- Parameters
startX
: X coordinate of top left corner of regionstartY
: Y coordinate of top left corner of regionwidth
: Region widthheight
: Region height
-
CameraControl &
setAutoExposureCompensation
(int compensation) Set a command to specify auto exposure compensation
- Parameters
compensation
: Compensation value between -9..9
-
CameraControl &
setAntiBandingMode
(AntiBandingMode mode) Set a command to specify auto banding mode
- Parameters
mode
: Auto banding mode to use
-
CameraControl &
setManualExposure
(uint32_t exposureTimeUs, uint32_t sensitivityIso) Set a command to manually specify exposure
- Parameters
exposureTimeUs
: Exposure time in microsecondssensitivityIso
: Sensitivity as ISO value, usual range 100..1600
-
CameraControl &
setAutoWhiteBalanceMode
(AutoWhiteBalanceMode mode) Set a command to specify auto white balance mode
- Parameters
mode
: Auto white balance mode to use
-
CameraControl &
setAutoWhiteBalanceLock
(bool lock) Set a command to specify auto white balance lock
- Parameters
lock
: Auto white balance lock mode enabled or disabled
-
CameraControl &
setManualWhiteBalance
(int colorTemperatureK) Set a command to manually specify white-balance color correction
- Parameters
colorTemperatureK
: Light source color temperature in kelvins, range 1000..12000
-
CameraControl &
setBrightness
(int value) Set a command to adjust image brightness
- Parameters
value
: Brightness, range -10..10
-
CameraControl &
setContrast
(int value) Set a command to adjust image contrast
- Parameters
value
: Contrast, range -10..10
-
CameraControl &
setSaturation
(int value) Set a command to adjust image saturation
- Parameters
value
: Saturation, range -10..10
-
CameraControl &
setSharpness
(int value) Set a command to adjust image sharpness
- Parameters
value
: Sharpness, range 0..4
-
CameraControl &
setLumaDenoise
(int value) Set a command to adjust luma denoise amount
- Parameters
value
: Luma denoise amount, range 0..4
-
CameraControl &
setChromaDenoise
(int value) Set a command to adjust chroma denoise amount
- Parameters
value
: Chroma denoise amount, range 0..4
-
CameraControl &
setSceneMode
(SceneMode mode) Set a command to specify scene mode
- Parameters
mode
: Scene mode
-
CameraControl &
setEffectMode
(EffectMode mode) Set a command to specify effect mode
- Parameters
mode
: Effect mode
-
bool
getCaptureStill
() const Check whether command to capture a still is set
- Return
True if capture still command is set
-
struct
CameraInfo
¶ - #include <CameraInfo.hpp>
CameraInfo structure.
-
struct
ChipTemperature
¶ - #include <ChipTemperature.hpp>
Chip temperature information.
Multiple temperature measurement points and their average
-
struct
ColorCameraProperties
: public dai::PropertiesSerializable<Properties, ColorCameraProperties>¶ - #include <ColorCameraProperties.hpp>
Specify properties for ColorCamera such as camera ID, …
Public Types
Public Members
-
CameraBoardSocket
boardSocket
= CameraBoardSocket::AUTO¶ Which socket will color camera use
-
CameraImageOrientation
imageOrientation
= CameraImageOrientation::AUTO¶ Camera sensor image orientation / pixel readout
-
ColorOrder
colorOrder
= ColorOrder::BGR¶ For 24 bit color these can be either RGB or BGR
-
bool
interleaved
= true¶ Are colors interleaved (R1G1B1, R2G2B2, …) or planar (R1R2…, G1G2…, B1B2)
-
bool
fp16
= false¶ Are values FP16 type (0.0 - 255.0)
-
uint32_t
previewHeight
= 300¶ Preview frame output height
-
uint32_t
previewWidth
= 300¶ Preview frame output width
-
SensorResolution
resolution
= SensorResolution::THE_1080_P¶ Select the camera sensor resolution
-
float
fps
= 30.0¶ Camera sensor FPS
-
bool
previewKeepAspectRatio
= true¶ Whether to keep aspect ratio of input (video size) or not
-
struct
IspScale
¶
-
CameraBoardSocket
-
template<typename
T
>
classcopyable_unique_ptr
: public std::unique_ptr<T>¶ - #include <copyable_unique_ptr.hpp>
A smart pointer with deep copy semantics.
This is similar to
std::unique_ptr
in that it does not permit shared ownership of the contained object. However, unlikestd::unique_ptr
, copyable_unique_ptr supports copy and assignment operations, by insisting that the contained object be “copyable”. To be copyable, the class must have either an accessible copy constructor, or it must have an accessible clone method with signaturewhere Foo is the type of the managed object. By “accessible” we mean either that the copy constructor or clone method is public, orstd::unique_ptr<Foo> Clone() const;
friend copyable_unique_ptr<Foo>;
appears in Foo’s class declaration.Generally, the API is modeled as closely as possible on the C++ standard
std::unique_ptr
API and copyable_unique_ptr<T> is interoperable withunique_ptr<T>
wherever that makes sense. However, there are some differences:It always uses a default deleter.
There is no array version.
To allow for future copy-on-write optimizations, there is a distinction between writable and const access, the get() method is modified to return only a const pointer, with get_mutable() added to return a writable pointer. Furthermore, derefencing (operator*()) a mutable pointer will give a mutable reference (in so far as T is not declared const), and dereferencing a const pointer will give a const reference.
This class is entirely inline and has no computational or space overhead except when copying is required; it contains just a single pointer and does no reference counting.
Usage
In the simplest use case, the instantiation type will match the type of object it references, e.g.:
In this case, as longcopyable_unique_ptr<Foo> ptr = make_unique<Foo>(...);
Foo
is deemed compatible, the behavior will be as expected, i.e., whenptr
copies, it will contain a reference to a new instance ofFoo
.copyable_unique_ptr can also be used with polymorphic classes a copyable_unique_ptr, instantiated on a base class, references an instance of a derived class. When copying the object, we would want the copy to likewise contain an instance of the derived class. For example:
copyable_unique_ptr<Base> cu_ptr = make_unique<Derived>(); copyable_unique_ptr<Base> other_cu_ptr = cu_ptr; // Triggers a copy. is_dynamic_castable<Derived>(other_cu_ptr.get()); // Should be true.
This works for well-designed polymorphic classes.
The
Base
class’s Clone() implementation does not invoke theDerived
class’s implementation of a suitable virtual method.
- Warning
Ill-formed polymorphic classes can lead to fatal type slicing of the referenced object, such that the new copy contains an instance of
Base
instead ofDerived
. Some mistakes that would lead to this degenerate behavior:
- Template Parameters
T
: The type of the contained object, which must be copyable as defined above. May be an abstract or concrete type.
Constructors
-
copyable_unique_ptr
() noexcept¶ Default constructor stores a
nullptr
. No heap allocation is performed. The empty() method will return true when called on a default-constructed copyable_unique_ptr.
-
copyable_unique_ptr
(T *raw) noexcept¶ Given a raw pointer to a writable heap-allocated object, take over ownership of that object. No copying occurs.
-
copyable_unique_ptr
(const T &value)¶ Constructs a unique instance of T as a copy of the provided model value.
-
copyable_unique_ptr
(const copyable_unique_ptr &cu_ptr)¶ Copy constructor is deep; the new copyable_unique_ptr object contains a new copy of the object in the source, created via the source object’s copy constructor or
Clone()
method. If the source container is empty this one will be empty also.
-
template<typename
U
>copyable_unique_ptr
(const std::unique_ptr<U> &u_ptr)¶ Copy constructor from a standard
unique_ptr
of compatible type. The copy is deep; the new copyable_unique_ptr object contains a new copy of the object in the source, created via the source object’s copy constructor orClone()
method. If the source container is empty this one will be empty also.
-
copyable_unique_ptr
(copyable_unique_ptr &&cu_ptr) noexcept¶ Move constructor is very fast and leaves the source empty. Ownership is transferred from the source to the new copyable_unique_ptr. If the source was empty this one will be empty also. No heap activity occurs.
-
copyable_unique_ptr
(std::unique_ptr<T> &&u_ptr) noexcept¶ Move constructor from a standard
unique_ptr
. The move is very fast and leaves the source empty. Ownership is transferred from the source to the new copyable_unique_ptr. If the source was empty this one will be empty also. No heap activity occurs.
-
template<typename
U
>copyable_unique_ptr
(std::unique_ptr<U> &&u_ptr) noexcept¶ Move construction from a compatible standard
unique_ptr
. TypeU*
must be implicitly convertible to typeT*
. Ownership is transferred from the source to the new copyable_unique_ptr. If the source was empty this one will be empty also. No heap activity occurs.
Assignment
-
copyable_unique_ptr &
operator=
(T *raw) noexcept¶ This form of assignment replaces the currently-held object by the given source object and takes over ownership of the source object. The currently-held object (if any) is deleted.
-
copyable_unique_ptr &
operator=
(const T &ref)¶ This form of assignment replaces the currently-held object by a heap-allocated copy of the source object, created using its copy constructor or
Clone()
method. The currently-held object (if any) is deleted.
-
copyable_unique_ptr &
operator=
(const copyable_unique_ptr &cu_ptr)¶ Copy assignment from copyable_unique_ptr replaces the currently-held object by a copy of the object held in the source container, created using the source object’s copy constructor or
Clone()
method. The currently-held object (if any) is deleted. If the source container is empty this one will be empty also after the assignment. Nothing happens if the source and destination are the same container.
-
template<typename
U
>
copyable_unique_ptr &operator=
(const copyable_unique_ptr<U> &cu_ptr)¶ Copy assignment from a compatible copyable_unique_ptr replaces the currently-held object by a copy of the object held in the source container, created using the source object’s copy constructor or
Clone()
method. The currently-held object (if any) is deleted. If the source container is empty this one will be empty also after the assignment. Nothing happens if the source and destination are the same container.
-
copyable_unique_ptr &
operator=
(const std::unique_ptr<T> &src)¶ Copy assignment from a standard
unique_ptr
replaces the currently-held object by a copy of the object held in the source container, created using the source object’s copy constructor orClone()
method. The currently-held object (if any) is deleted. If the source container is empty this one will be empty also after the assignment. Nothing happens if the source and destination are the same container.
-
template<typename
U
>
copyable_unique_ptr &operator=
(const std::unique_ptr<U> &u_ptr)¶ Copy assignment from a compatible standard
unique_ptr
replaces the currently-held object by a copy of the object held in the source container, created using the source object’s copy constructor orClone()
method. The currently-held object (if any) is deleted. If the source container is empty this one will be empty also after the assignment. Nothing happens if the source and destination are the same container.
-
copyable_unique_ptr &
operator=
(copyable_unique_ptr &&cu_ptr) noexcept¶ Move assignment replaces the currently-held object by the source object, leaving the source empty. The currently-held object (if any) is deleted. The instance is not copied. Nothing happens if the source and destination are the same containers.
-
template<typename
U
>
copyable_unique_ptr &operator=
(copyable_unique_ptr<U> &&cu_ptr) noexcept¶ Move assignment replaces the currently-held object by the compatible source object, leaving the source empty. The currently-held object (if any) is deleted. The instance is not copied. Nothing happens if the source and destination are the same containers.
-
copyable_unique_ptr &
operator=
(std::unique_ptr<T> &&u_ptr) noexcept¶ Move assignment replaces the currently-held object by the source object, leaving the source empty. The currently-held object (if any) is deleted. The instance is not copied. Nothing happens if the source and destination are the same containers.
-
template<typename
U
>
copyable_unique_ptr &operator=
(std::unique_ptr<U> &&u_ptr) noexcept¶ Move assignment replaces the currently-held object by the compatible source object, leaving the source empty. The currently-held object (if any) is deleted. The instance is not copied. Nothing happens if the source and destination are the same containers.
Observers
-
bool
empty
() const noexcept¶ Return true if this container is empty, which is the state the container is in immediately after default construction and various other operations.
-
const T *
get
() const noexcept¶ Return a const pointer to the contained object if any, or
nullptr
. Note that this is different thanget()
for the standard smart pointers likestd::unique_ptr
which return a writable pointer. Use get_mutable() here for that purpose.
-
T *
get_mutable
() noexcept¶ Return a writable pointer to the contained object if any, or
nullptr
. Note that you need write access to this container in order to get write access to the object it contains.- Warning
If copyable_unique_ptr is instantiated on a const template parameter (e.g.,
copyable_unique_ptr<const Foo>
), then get_mutable() returns a const pointer.
-
const T &
operator*
() const¶ Return a const reference to the contained object. Note that this is different from
std::unique_ptr::operator*()
which would return a non-const reference (ifT
is non-const), even if the container itself is const. For a const copyable_unique_ptr will always return a const reference to its contained value.- Warning
Currently copyable_unique_ptr is a std::unique_ptr. As such, a const copyable_unique_ptr<Foo> can be upcast to a const unique_ptr<Foo> and the parent’s behavior will provide a mutable reference. This is strongly discouraged and will break as the implementation of this class changes to shore up this gap in the const correctness protection.
- Pre
this != nullptr
reportstrue
.
-
T &
operator*
()¶ Return a writable reference to the contained object (if T is itself not const). Note that you need write access to this container in order to get write access to the object it contains.
We strongly recommend, that, if dereferencing a copyable_unique_ptr without the intention of mutating the underlying value, prefer to dereference a const copyable_unique_ptr (or use *my_ptr.get()) and not a mutable copyable_unique_ptr. As “copy-on-write” behavior is introduced in the future, this recommended practice will prevent unwanted copies of the underlying value.
If copyable_unique_ptr is instantiated on a const template parameter (e.g.,
copyable_unique_ptr<const Foo>
), then operator*() must return a const reference.- Pre
this != nullptr
reportstrue
.
Related
-
template<class
charT
, classtraits
, classT
>
std::basic_ostream<charT, traits> &operator<<
(std::basic_ostream<charT, traits> &os, const copyable_unique_ptr<T> &cu_ptr)¶ Output the system-dependent representation of the pointer contained in a copyable_unique_ptr object. This is equivalent to
os << p.get();
.
-
struct
CpuUsage
¶ - #include <CpuUsage.hpp>
CpuUsage structure
Average usage in percent and time span of the average (since last query)
-
class
DataInputQueue
¶ - #include <DataQueue.hpp>
Access to send messages through XLink stream
Public Functions
-
bool
isClosed
() const¶ Check whether queue is closed
-
void
close
()¶ Closes the queue and the underlying thread
-
void
setMaxDataSize
(std::size_t maxSize)¶ Sets maximum message size. If message is larger than specified, then an exception is issued.
- Parameters
maxSize
: Maximum message size to add to queue
-
std::size_t
getMaxDataSize
()¶ Gets maximum queue size.
- Return
Maximum message size
-
void
setBlocking
(bool blocking)¶ Sets queue behavior when full (maxSize)
- Parameters
blocking
: Specifies if block or overwrite the oldest message in the queue
-
bool
getBlocking
() const¶ Gets current queue behavior when full (maxSize)
- Return
True if blocking, false otherwise
-
void
setMaxSize
(unsigned int maxSize)¶ Sets queue maximum size
- Parameters
maxSize
: Specifies maximum number of messages in the queue
-
unsigned int
getMaxSize
() const¶ Gets queue maximum size
- Return
Maximum queue size
-
std::string
getName
() const¶ Gets queues name
- Return
Queue name
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
- Parameters
rawMsg
: Message to add to the queue
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
- Parameters
msg
: Message to add to the queue
-
void
send
(const ADatatype &msg)¶ 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
- Parameters
msg
: Message to add to the queue
Adds message to the queue, which will be picked up and sent to the device. Can either block until timeout if ‘blocking’ behavior is true or overwrite oldest
- Parameters
rawMsg
: Message to add to the queuetimeout
: Maximum duration to block in milliseconds
Adds message to the queue, which will be picked up and sent to the device. Can either block until timeout if ‘blocking’ behavior is true or overwrite oldest
- Parameters
msg
: Message to add to the queuetimeout
: Maximum duration to block in milliseconds
-
bool
send
(const ADatatype &msg, std::chrono::milliseconds timeout)¶ Adds message to the queue, which will be picked up and sent to the device. Can either block until timeout if ‘blocking’ behavior is true or overwrite oldest
- Parameters
msg
: Message to add to the queuetimeout
: Maximum duration to block in milliseconds
-
bool
-
class
DataOutputQueue
¶ - #include <DataQueue.hpp>
Access to receive messages coming from XLink stream
Public Types
-
using
CallbackId
= int¶ Alias for callback id.
Public Functions
-
bool
isClosed
() const¶ Check whether queue is closed
-
void
close
()¶ Closes the queue and the underlying thread
-
void
setBlocking
(bool blocking)¶ Sets queue behavior when full (maxSize)
- Parameters
blocking
: Specifies if block or overwrite the oldest message in the queue
-
bool
getBlocking
() const¶ Gets current queue behavior when full (maxSize)
- Return
True if blocking, false otherwise
-
void
setMaxSize
(unsigned int maxSize)¶ Sets queue maximum size
- Parameters
maxSize
: Specifies maximum number of messages in the queue
-
unsigned int
getMaxSize
() const¶ Gets queue maximum size
- Return
Maximum queue size
-
std::string
getName
() const¶ Gets queues name
- Return
Queue name
Adds a callback on message received
- Return
Callback id
- Parameters
callback
: Callback function with queue name and message pointer
Adds a callback on message received
- Return
Callback id
- Parameters
callback
: Callback function with message pointer
-
CallbackId
addCallback
(std::function<void()> callback)¶ Adds a callback on message received
- Return
Callback id
- Parameters
callback
: Callback function without any parameters
-
bool
removeCallback
(CallbackId callbackId)¶ Removes a callback
- Return
True if callback was removed, false otherwise
- Parameters
callbackId
: Id of callback to be removed
-
template<class
T
>
boolhas
()¶ Check whether front of the queue has message of type T
- Return
True if queue isn’t empty and the first element is of type T, false otherwise
-
bool
has
()¶ Check whether front of the queue has a message (isn’t empty)
- Return
True if queue isn’t empty, false otherwise
Try to retrieve message T from queue. If message isn’t of type T it returns nullptr
- Return
Message of type T or nullptr if no message available
-
std::shared_ptr<ADatatype>
tryGet
()¶ Try to retrieve message from queue. If no message available, return immediately with nullptr
- Return
Message or nullptr if no message available
Block until a message is available.
- Return
Message of type T or nullptr if no message available
-
std::shared_ptr<ADatatype>
get
()¶ Block until a message is available.
- Return
Message or nullptr if no message available
Gets first message in the queue.
- Return
Message of type T or nullptr if no message available
-
std::shared_ptr<ADatatype>
front
()¶ Gets first message in the queue.
- Return
Message or nullptr if no message available
Block until a message is available with a timeout.
- Return
Message of type T otherwise nullptr if message isn’t type T or timeout occurred
- Parameters
timeout
: Duration for which the function should block[out] hasTimedout
: Outputs true if timeout occurred, false otherwise
Block until a message is available with a timeout.
- Return
Message of type T otherwise nullptr if message isn’t type T or timeout occurred
- Parameters
timeout
: Duration for which the function should block[out] hasTimedout
: Outputs true if timeout occurred, false otherwise
Try to retrieve all messages in the queue.
- Return
Vector of messages which can either be of type T or nullptr
-
std::vector<std::shared_ptr<ADatatype>>
tryGetAll
()¶ Try to retrieve all messages in the queue.
- Return
Vector of messages
Block until at least one message in the queue. Then return all messages from the queue.
- Return
Vector of messages which can either be of type T or nullptr
-
std::vector<std::shared_ptr<ADatatype>>
getAll
()¶ Block until at least one message in the queue. Then return all messages from the queue.
- Return
Vector of messages
Block for maximum timeout duration. Then return all messages from the queue.
- Return
Vector of messages which can either be of type T or nullptr
- Parameters
timeout
: Maximum duration to block[out] hasTimedout
: Outputs true if timeout occurred, false otherwise
Block for maximum timeout duration. Then return all messages from the queue.
- Return
Vector of messages
- Parameters
timeout
: Maximum duration to block[out] hasTimedout
: Outputs true if timeout occurred, false otherwise
-
using
-
struct
DetectionNetworkProperties
: public dai::PropertiesSerializable<NeuralNetworkProperties, DetectionNetworkProperties>¶ - #include <DetectionNetworkProperties.hpp>
Specify properties for DetectionNetwork
Subclassed by dai::PropertiesSerializable< DetectionNetworkProperties, SpatialDetectionNetworkProperties >
-
struct
DetectionParserOptions
¶ - #include <DetectionParserOptions.hpp>
Specifies how to parse output of detection networks
-
struct
DetectionParserProperties
: public dai::PropertiesSerializable<Properties, DetectionParserProperties>¶ - #include <DetectionParserProperties.hpp>
Specify properties for DetectionParser
Public Members
-
int
numFramesPool
= 8¶ Num frames in output pool.
-
std::unordered_map<std::string, TensorInfo>
networkInputs
¶ Network inputs.
-
DetectionParserOptions
parser
¶ Options for parser.
-
int
-
class
Device
: public dai::DeviceBase - #include <Device.hpp>
Represents the DepthAI device with the methods to interact with it. Implements the host-side queues to connect with XLinkIn and XLinkOut nodes
Public Functions
-
Device
(const Pipeline &pipeline) Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameters
pipeline
: Pipeline to be executed on the device
-
template<typename
T
, std::enable_if_t<std::is_same<T, bool>::value, bool> = true>Device
(const Pipeline &pipeline, T usb2Mode) Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameters
pipeline
: Pipeline to be executed on the deviceusb2Mode
: (bool) Boot device using USB2 mode firmware
-
Device
(const Pipeline &pipeline, UsbSpeed maxUsbSpeed) Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameters
pipeline
: Pipeline to be executed on the devicemaxUsbSpeed
: Maximum allowed USB speed
-
Device
(const Pipeline &pipeline, const dai::Path &pathToCmd) Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
-
Device
(const Pipeline &pipeline, const DeviceInfo &devInfo) Connects to device specified by devInfo.
- Parameters
pipeline
: Pipeline to be executed on the devicedevInfo
: DeviceInfo which specifies which device to connect to
-
template<typename
T
, std::enable_if_t<std::is_same<T, bool>::value, bool> = true>Device
(const Pipeline &pipeline, const DeviceInfo &devInfo, T usb2Mode) Connects to device specified by devInfo.
- Parameters
pipeline
: Pipeline to be executed on the devicedevInfo
: DeviceInfo which specifies which device to connect tousb2Mode
: (bool) Boot device using USB2 mode firmware
-
Device
(const Pipeline &pipeline, const DeviceInfo &devInfo, UsbSpeed maxUsbSpeed) Connects to device specified by devInfo.
- Parameters
pipeline
: Pipeline to be executed on the devicedevInfo
: DeviceInfo which specifies which device to connect tomaxUsbSpeed
: Maximum allowed USB speed
-
Device
(const Pipeline &pipeline, const DeviceInfo &devInfo, const dai::Path &pathToCmd) Connects to device specified by devInfo.
- Parameters
pipeline
: Pipeline to be executed on the devicedevInfo
: DeviceInfo which specifies which device to connect topathToCmd
: Path to custom device firmware
-
Device
() Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version Pipeline::DEFAULT_OPENVINO_VERSION
-
~Device
() override dtor to close the device
-
std::shared_ptr<DataOutputQueue>
getOutputQueue
(const std::string &name) Gets an output queue corresponding to stream name. If it doesn’t exist it throws
- Return
Smart pointer to DataOutputQueue
- Parameters
name
: Queue/stream name, created by XLinkOut node
-
std::shared_ptr<DataOutputQueue>
getOutputQueue
(const std::string &name, unsigned int maxSize, bool blocking = true) Gets a queue corresponding to stream name, if it exists, otherwise it throws. Also sets queue options
- Return
Smart pointer to DataOutputQueue
- Parameters
name
: Queue/stream name, set in XLinkOut nodemaxSize
: Maximum number of messages in queueblocking
: Queue behavior once full. True specifies blocking and false overwriting of oldest messages. Default: true
-
std::vector<std::string>
getOutputQueueNames
() const Get all available output queue names
- Return
Vector of output queue names
-
std::shared_ptr<DataInputQueue>
getInputQueue
(const std::string &name) Gets an input queue corresponding to stream name. If it doesn’t exist it throws
- Return
Smart pointer to DataInputQueue
- Parameters
name
: Queue/stream name, set in XLinkIn node
-
std::shared_ptr<DataInputQueue>
getInputQueue
(const std::string &name, unsigned int maxSize, bool blocking = true) Gets an input queue corresponding to stream name. If it doesn’t exist it throws. Also sets queue options
- Return
Smart pointer to DataInputQueue
- Parameters
name
: Queue/stream name, set in XLinkOut nodemaxSize
: Maximum number of messages in queueblocking
: Queue behavior once full. True: blocking, false: overwriting of oldest messages. Default: true
-
std::vector<std::string>
getInputQueueNames
() const Get all available input queue names
- Return
Vector of input queue names
-
std::vector<std::string>
getQueueEvents
(const std::vector<std::string> &queueNames, std::size_t maxNumEvents = std::numeric_limits<std::size_t>::max(), std::chrono::microseconds timeout = std::chrono::microseconds(-1)) Gets or waits until any of specified queues has received a message
- Return
Names of queues which received messages first
- Parameters
queueNames
: Names of queues for which to blockmaxNumEvents
: Maximum number of events to remove from queue - Default is unlimitedtimeout
: Timeout after which return regardless. If negative then wait is indefinite - Default is -1
-
std::vector<std::string>
getQueueEvents
(std::string queueName, std::size_t maxNumEvents = std::numeric_limits<std::size_t>::max(), std::chrono::microseconds timeout = std::chrono::microseconds(-1)) Gets or waits until specified queue has received a message
- Return
Names of queues which received messages first
- Parameters
queueName
: Name of queues for which to wait formaxNumEvents
: Maximum number of events to remove from queue. Default is unlimitedtimeout
: Timeout after which return regardless. If negative then wait is indefinite. Default is -1
-
std::vector<std::string>
getQueueEvents
(std::size_t maxNumEvents = std::numeric_limits<std::size_t>::max(), std::chrono::microseconds timeout = std::chrono::microseconds(-1)) Gets or waits until any queue has received a message
- Return
Names of queues which received messages first
- Parameters
maxNumEvents
: Maximum number of events to remove from queue. Default is unlimitedtimeout
: Timeout after which return regardless. If negative then wait is indefinite. Default is -1
-
std::string
getQueueEvent
(const std::vector<std::string> &queueNames, std::chrono::microseconds timeout = std::chrono::microseconds(-1)) Gets or waits until any of specified queues has received a message
- Return
Queue name which received a message first
- Parameters
queueNames
: Names of queues for which to wait fortimeout
: Timeout after which return regardless. If negative then wait is indefinite. Default is -1
-
std::string
getQueueEvent
(std::string queueName, std::chrono::microseconds timeout = std::chrono::microseconds(-1)) Gets or waits until specified queue has received a message
- Return
Queue name which received a message
- Parameters
queueNames
: Name of queues for which to wait fortimeout
: Timeout after which return regardless. If negative then wait is indefinite. Default is -1
-
std::string
getQueueEvent
(std::chrono::microseconds timeout = std::chrono::microseconds(-1)) Gets or waits until any queue has received a message
- Return
Queue name which received a message
- Parameters
timeout
: Timeout after which return regardless. If negative then wait is indefinite. Default is -1
Public Static Attributes
-
constexpr std::size_t
EVENT_QUEUE_MAXIMUM_SIZE
= {2048} Maximum number of elements in event queue.
-
-
class
DeviceBase
¶ - #include <DeviceBase.hpp>
The core of depthai device for RAII, connects to device and maintains watchdog, timesync, …
Subclassed by dai::Device
Public Functions
-
DeviceBase
(const Pipeline &pipeline)¶ Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameters
pipeline
: Pipeline to be executed on the device
-
template<typename
T
, std::enable_if_t<std::is_same<T, bool>::value, bool> = true>DeviceBase
(const Pipeline &pipeline, T usb2Mode)¶ Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameters
pipeline
: Pipeline to be executed on the deviceusb2Mode
: Boot device using USB2 mode firmware
-
DeviceBase
(const Pipeline &pipeline, UsbSpeed maxUsbSpeed)¶ Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameters
pipeline
: Pipeline to be executed on the devicemaxUsbSpeed
: Maximum allowed USB speed
-
DeviceBase
(const Pipeline &pipeline, const dai::Path &pathToCmd)¶ Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
-
DeviceBase
(const Pipeline &pipeline, const DeviceInfo &devInfo)¶ Connects to device specified by devInfo.
- Parameters
pipeline
: Pipeline to be executed on the devicedevInfo
: DeviceInfo which specifies which device to connect to
-
template<typename
T
, std::enable_if_t<std::is_same<T, bool>::value, bool> = true>DeviceBase
(const Pipeline &pipeline, const DeviceInfo &devInfo, T usb2Mode)¶ Connects to device specified by devInfo.
- Parameters
pipeline
: Pipeline to be executed on the devicedevInfo
: DeviceInfo which specifies which device to connect tousb2Mode
: Boot device using USB2 mode firmware
-
DeviceBase
(const Pipeline &pipeline, const DeviceInfo &devInfo, UsbSpeed maxUsbSpeed)¶ Connects to device specified by devInfo.
- Parameters
pipeline
: Pipeline to be executed on the devicedevInfo
: DeviceInfo which specifies which device to connect tomaxUsbSpeed
: Maximum allowed USB speed
-
DeviceBase
(const Pipeline &pipeline, const DeviceInfo &devInfo, const dai::Path &pathToCmd)¶ Connects to device specified by devInfo.
- Parameters
pipeline
: Pipeline to be executed on the devicedevInfo
: DeviceInfo which specifies which device to connect topathToCmd
: Path to custom device firmware
-
DeviceBase
()¶ Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version Pipeline::DEFAULT_OPENVINO_VERSION
-
DeviceBase
(OpenVINO::Version version)¶ Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameters
version
: OpenVINO version which the device will be booted with.
-
template<typename
T
, std::enable_if_t<std::is_same<T, bool>::value, bool> = true>DeviceBase
(OpenVINO::Version version, T usb2Mode)¶ Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
- Parameters
version
: OpenVINO version which the device will be booted withusb2Mode
: Boot device using USB2 mode firmware
-
DeviceBase
(OpenVINO::Version version, UsbSpeed maxUsbSpeed)¶ Connects to device specified by devInfo.
- Parameters
version
: OpenVINO version which the device will be booted withmaxUsbSpeed
: Maximum allowed USB speed
-
DeviceBase
(OpenVINO::Version version, const dai::Path &pathToCmd)¶ Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
-
DeviceBase
(OpenVINO::Version version, const DeviceInfo &devInfo)¶ Connects to device specified by devInfo.
- Parameters
version
: OpenVINO version which the device will be booted withdevInfo
: DeviceInfo which specifies which device to connect to
-
template<typename
T
, std::enable_if_t<std::is_same<T, bool>::value, bool> = true>DeviceBase
(OpenVINO::Version version, const DeviceInfo &devInfo, T usb2Mode)¶ Connects to device specified by devInfo.
- Parameters
version
: OpenVINO version which the device will be booted withdevInfo
: DeviceInfo which specifies which device to connect tousb2Mode
: Boot device using USB2 mode firmware
-
DeviceBase
(OpenVINO::Version version, const DeviceInfo &devInfo, UsbSpeed maxUsbSpeed)¶ Connects to device specified by devInfo.
- Parameters
version
: OpenVINO version which the device will be booted withdevInfo
: DeviceInfo which specifies which device to connect tomaxUsbSpeed
: Maximum allowed USB speed
-
DeviceBase
(OpenVINO::Version version, const DeviceInfo &devInfo, const dai::Path &pathToCmd)¶ Connects to device specified by devInfo.
- Parameters
version
: OpenVINO version which the device will be booted withdevInfo
: DeviceInfo which specifies which device to connect topathToCmd
: Path to custom device firmware
-
DeviceBase
(Config config)¶ Connects to any available device with custom config.
- Parameters
config
: Device custom configuration to boot with
-
DeviceBase
(Config config, const DeviceInfo &devInfo)¶ Connects to device ‘devInfo’ with custom config.
- Parameters
devInfo
: DeviceInfo which specifies which device to connect toconfig
: Device custom configuration to boot with
-
~DeviceBase
()¶ Device destructor
- Note
In the destructor of the derived class, remember to call close()
-
bool
isPipelineRunning
()¶ Checks if devices pipeline is already running
- Return
True if running, false otherwise
-
bool
startPipeline
()¶ Starts the execution of the devices pipeline
- Return
True if pipeline started, false otherwise
-
bool
startPipeline
(const Pipeline &pipeline)¶ Starts the execution of a given pipeline
- Return
True if pipeline started, false otherwise
- Parameters
pipeline
: OpenVINO version of the pipeline must match the one which the device was booted with.
-
void
setLogLevel
(LogLevel level)¶ Sets the devices logging severity level. This level affects which logs are transferred from device to host.
- Parameters
level
: Logging severity
-
LogLevel
getLogLevel
()¶ Gets current logging severity level of the device.
- Return
Logging severity level
-
void
setXLinkChunkSize
(int sizeBytes)¶ 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.
- Parameters
sizeBytes
: XLink chunk size in bytes
-
int
getXLinkChunkSize
()¶ Gets current XLink chunk size.
- Return
XLink chunk size in bytes
-
DeviceInfo
getDeviceInfo
() const¶ Get the Device Info object o the device which is currently running
- Return
DeviceInfo of the current device in execution
-
std::string
getMxId
()¶ Get MxId of device
- Return
MxId of connected device
-
void
setLogOutputLevel
(LogLevel level)¶ Sets logging level which decides printing level to standard output. If lower than setLogLevel, no messages will be printed
- Parameters
level
: Standard output printing severity
-
LogLevel
getLogOutputLevel
()¶ Gets logging level which decides printing level to standard output.
- Return
Standard output printing severity
-
bool
setIrLaserDotProjectorBrightness
(float mA, int mask = -1)¶ 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- Return
True on success, false if not found or other failure
- Parameters
mA
: Current in mA that will determine brightness, 0 or negative to turn offmask
: Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W-DEV
-
bool
setIrFloodLightBrightness
(float mA, int mask = -1)¶ 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- Return
True on success, false if not found or other failure
- Parameters
mA
: Current in mA that will determine brightness, 0 or negative to turn offmask
: Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W-DEV
-
std::vector<std::tuple<std::string, int, int>>
getIrDrivers
()¶ Retrieves detected IR laser/LED drivers.
- Return
Vector of tuples containing: driver name, I2C bus, I2C address. For OAK-D-Pro it should be
[{"LM3644", 2, 0x63}]
-
int
addLogCallback
(std::function<void(LogMessage)> callback)¶ Add a callback for device logging. The callback will be called from a separate thread with the LogMessage being passed.
- Return
Id which can be used to later remove the callback
- Parameters
callback
: Callback to call whenever a log message arrives
-
bool
removeLogCallback
(int callbackId)¶ Removes a callback
- Return
True if callback was removed, false otherwise
- Parameters
callbackId
: Id of callback to be removed
-
void
setSystemInformationLoggingRate
(float rateHz)¶ 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
- Parameters
rateHz
: Logging rate in Hz
-
float
getSystemInformationLoggingRate
()¶ Gets current rate of system information logging (“info” severity) in Hz.
- Return
Logging rate in Hz
-
std::vector<CameraBoardSocket>
getConnectedCameras
()¶ Get cameras that are connected to the device
- Return
Vector of connected cameras
-
std::unordered_map<CameraBoardSocket, std::string>
getCameraSensorNames
()¶ Get sensor names for cameras that are connected to the device
- Return
Map/dictionary with camera sensor names, indexed by socket
-
MemoryInfo
getDdrMemoryUsage
()¶ Retrieves current DDR memory information from device
- Return
Used, remaining and total ddr memory
-
MemoryInfo
getCmxMemoryUsage
()¶ Retrieves current CMX memory information from device
- Return
Used, remaining and total cmx memory
-
MemoryInfo
getLeonCssHeapUsage
()¶ Retrieves current CSS Leon CPU heap information from device
- Return
Used, remaining and total heap memory
-
MemoryInfo
getLeonMssHeapUsage
()¶ Retrieves current MSS Leon CPU heap information from device
- Return
Used, remaining and total heap memory
-
ChipTemperature
getChipTemperature
()¶ Retrieves current chip temperature as measured by device
- Return
Temperature of various onboard sensors
-
CpuUsage
getLeonCssCpuUsage
()¶ Retrieves average CSS Leon CPU usage
- Return
Average CPU usage and sampling duration
-
CpuUsage
getLeonMssCpuUsage
()¶ Retrieves average MSS Leon CPU usage
- Return
Average CPU usage and sampling duration
-
bool
isEepromAvailable
()¶ Check if EEPROM is available
- Return
True if EEPROM is present on board, false otherwise
-
bool
flashCalibration
(CalibrationHandler calibrationDataHandler)¶ Stores the Calibration and Device information to the Device EEPROM
- Return
true on successful flash, false on failure
- Parameters
calibrationObj
: CalibrationHandler object which is loaded with calibration information.
-
void
flashCalibration2
(CalibrationHandler calibrationDataHandler)¶ Stores the Calibration and Device information to the Device EEPROM
- Exceptions
std::runtime_exception
: if failed to flash the calibration
- Parameters
calibrationObj
: CalibrationHandler object which is loaded with calibration information.
-
CalibrationHandler
readCalibration
()¶ Fetches the EEPROM data from the device and loads it into CalibrationHandler object If no calibration is flashed, it returns default
- Return
The CalibrationHandler object containing the calibration currently flashed on device EEPROM
-
CalibrationHandler
readCalibration2
()¶ Fetches the EEPROM data from the device and loads it into CalibrationHandler object
- Return
The CalibrationHandler object containing the calibration currently flashed on device EEPROM
- Exceptions
std::runtime_exception
: if no calibration is flashed
-
CalibrationHandler
readCalibrationOrDefault
()¶ Fetches the EEPROM data from the device and loads it into CalibrationHandler object If no calibration is flashed, it returns default
- Return
The CalibrationHandler object containing the calibration currently flashed on device EEPROM
-
void
factoryResetCalibration
()¶ Factory reset EEPROM data if factory backup is available.
- Exceptions
std::runtime_exception
: If factory reset was unsuccessful
-
void
flashFactoryCalibration
(CalibrationHandler calibrationHandler)¶ Stores the Calibration and Device information to the Device EEPROM in Factory area To perform this action, correct env variable must be set
- Return
True on successful flash, false on failure
- Exceptions
std::runtime_exception
: if failed to flash the calibration
-
CalibrationHandler
readFactoryCalibration
()¶ Fetches the EEPROM data from Factory area and loads it into CalibrationHandler object
- Return
The CalibrationHandler object containing the calibration currently flashed on device EEPROM in Factory Area
- Exceptions
std::runtime_exception
: if no calibration is flashed
-
CalibrationHandler
readFactoryCalibrationOrDefault
()¶ Fetches the EEPROM data from Factory area and loads it into CalibrationHandler object If no calibration is flashed, it returns default
- Return
The CalibrationHandler object containing the calibration currently flashed on device EEPROM in Factory Area
-
UsbSpeed
getUsbSpeed
()¶ Retrieves USB connection speed
- Return
USB connection speed of connected device if applicable. Unknown otherwise.
-
void
close
()¶ Explicitly closes connection to device.
- Note
This function does not need to be explicitly called as destructor closes the device automatically
-
bool
isClosed
() const¶ Is the device already closed (or disconnected)
-
std::shared_ptr<XLinkConnection>
getConnection
()¶ Returns underlying XLinkConnection
-
std::shared_ptr<const XLinkConnection>
getConnection
() const¶ Returns underlying XLinkConnection
Public Static Functions
-
std::chrono::milliseconds
getDefaultSearchTime
()¶ Get the Default Search Time for finding devices.
- Return
Default search time in milliseconds
-
std::tuple<bool, DeviceInfo>
getAnyAvailableDevice
(std::chrono::milliseconds timeout)¶ Waits for any available device with a timeout
- Return
Tuple of bool and DeviceInfo. Bool specifies if device was found. DeviceInfo specifies the found device
- Parameters
timeout
: duration of time to wait for the any device
-
std::tuple<bool, DeviceInfo>
getAnyAvailableDevice
()¶ Gets any available device
- Return
Tuple of bool and DeviceInfo. Bool specifies if device was found. DeviceInfo specifies the found device
-
std::tuple<bool, DeviceInfo>
getAnyAvailableDevice
(std::chrono::milliseconds timeout, std::function<void()> cb)¶ Waits for any available device with a timeout
- Return
Tuple of bool and DeviceInfo. Bool specifies if device was found. DeviceInfo specifies the found device
- Parameters
timeout
: duration of time to wait for the any devicecb
: callback function called between pooling intervals
-
std::tuple<bool, DeviceInfo>
getFirstAvailableDevice
(bool skipInvalidDevice = true)¶ Gets first available device. Device can be either in XLINK_UNBOOTED or XLINK_BOOTLOADER state
- Return
Tuple of bool and DeviceInfo. Bool specifies if device was found. DeviceInfo specifies the found device
-
std::tuple<bool, DeviceInfo>
getDeviceByMxId
(std::string mxId)¶ Finds a device by MX ID. Example: 14442C10D13EABCE00
- Return
Tuple of bool and DeviceInfo. Bool specifies if device was found. DeviceInfo specifies the found device
- Parameters
mxId
: MyraidX ID which uniquely specifies a device
-
std::vector<DeviceInfo>
getAllAvailableDevices
()¶ Returns all connected devices
- Return
Vector of connected devices
-
-
class
DeviceBootloader
¶ - #include <DeviceBootloader.hpp>
Represents the DepthAI bootloader with the methods to interact with it.
Public Functions
-
DeviceBootloader
(const DeviceInfo &devInfo)¶ Connects to or boots device in bootloader mode depending on devInfo state; flashing not allowed
- Parameters
devInfo
: DeviceInfo of which to boot or connect to
-
template<typename
T
, std::enable_if_t<std::is_same<T, bool>::value, bool> = true>DeviceBootloader
(const DeviceInfo &devInfo, T allowFlashingBootloader)¶ Connects to or boots device in bootloader mode depending on devInfo state.
- Parameters
devInfo
: DeviceInfo of which to boot or connect toallowFlashingBootloader
: (bool) Set to true to allow flashing the devices bootloader
-
DeviceBootloader
(const DeviceInfo &devInfo, Type type, bool allowFlashingBootloader = false)¶ Connects to device in bootloader of specified type. Throws if it wasn’t possible. This constructor will automatically boot into specified bootloader type if not already running
- Parameters
devInfo
: DeviceInfo of which to boot or connect totype
: Type of bootloader to boot/connect to.allowFlashingBootloader
: Set to true to allow flashing the devices bootloader. Defaults to false
-
DeviceBootloader
(const DeviceInfo &devInfo, const dai::Path &pathToBootloader, bool allowFlashingBootloader = false)¶ Connects to or boots device in bootloader mode depending on devInfo state with a custom bootloader firmware.
- Parameters
devInfo
: DeviceInfo of which to boot or connect topathToBootloader
: Custom bootloader firmware to bootallowFlashingBootloader
: Set to true to allow flashing the devices bootloader. Defaults to false
-
std::tuple<bool, std::string>
flash
(std::function<void(float)> progressCallback, const Pipeline &pipeline, bool compress = false, )¶ Flashes a given pipeline to the device.
- Parameters
progressCallback
: Callback that sends back a value between 0..1 which signifies current flashing progresspipeline
: Pipeline to flash to the board
-
std::tuple<bool, std::string>
flash
(const Pipeline &pipeline, bool compress = false)¶ Flashes a given pipeline to the device.
- Parameters
pipeline
: Pipeline to flash to the board
-
std::tuple<bool, std::string>
flashDepthaiApplicationPackage
(std::function<void(float)> progressCallback, std::vector<uint8_t> package, )¶ Flashes a specific depthai application package that was generated using createDepthaiApplicationPackage or saveDepthaiApplicationPackage
- Parameters
progressCallback
: Callback that sends back a value between 0..1 which signifies current flashing progresspackage
: Depthai application package to flash to the board
-
std::tuple<bool, std::string>
flashDepthaiApplicationPackage
(std::vector<uint8_t> package)¶ Flashes a specific depthai application package that was generated using createDepthaiApplicationPackage or saveDepthaiApplicationPackage
- Parameters
package
: Depthai application package to flash to the board
-
std::tuple<bool, std::string>
flashBootloader
(std::function<void(float)> progressCallback, const dai::Path &path = {}, )¶ Flashes bootloader to the current board
- Parameters
progressCallback
: Callback that sends back a value between 0..1 which signifies current flashing progresspath
: Optional parameter to custom bootloader to flash
-
std::tuple<bool, std::string>
flashBootloader
(Memory memory, Type type, std::function<void(float)> progressCallback, const dai::Path &path = {}, )¶ Flash selected bootloader to the current board
- Parameters
memory
: Memory to flashtype
: Bootloader type to flashprogressCallback
: Callback that sends back a value between 0..1 which signifies current flashing progresspath
: Optional parameter to custom bootloader to flash
-
nlohmann::json
readConfigData
(Memory memory = Memory::AUTO, Type type = Type::AUTO)¶ Flash arbitrary data at custom offset in specified memory
- Return
Unstructured configuration data
- Parameters
memory
: Memory to flashoffset
: Offset at which to flash the given data in bytesprogressCallback
: Callback that sends back a value between 0..1 which signifies current flashing progressdata
: Data to flash Reads configuration data from bootloader
- Parameters
memory
: Optional - from which memory to read configuration datatype
: Optional - from which type of bootloader to read configuration data
-
std::tuple<bool, std::string>
flashConfigData
(nlohmann::json configData, Memory memory = Memory::AUTO, Type type = Type::AUTO)¶ Flashes configuration data to bootloader
- Parameters
configData
: Unstructured configuration datamemory
: Optional - to which memory flash configurationtype
: Optional - for which type of bootloader to flash configuration
-
std::tuple<bool, std::string>
flashConfigFile
(const dai::Path &configPath, Memory memory = Memory::AUTO, Type type = Type::AUTO)¶ Flashes configuration data to bootloader
- Parameters
configPath
: Unstructured configuration datamemory
: Optional - to which memory flash configurationtype
: Optional - for which type of bootloader to flash configuration
-
std::tuple<bool, std::string>
flashConfigClear
(Memory memory = Memory::AUTO, Type type = Type::AUTO)¶ Clears configuration data
- Parameters
memory
: Optional - on which memory to clear configuration datatype
: Optional - for which type of bootloader to clear configuration data
-
Config
readConfig
(Memory memory = Memory::AUTO, Type type = Type::AUTO)¶ Reads configuration from bootloader
- Return
Configuration structure
- Parameters
memory
: Optional - from which memory to read configurationtype
: Optional - from which type of bootloader to read configuration
-
std::tuple<bool, std::string>
flashConfig
(const Config &config, Memory memory = Memory::AUTO, Type type = Type::AUTO)¶ Flashes configuration to bootloader
- Parameters
configData
: Configuration structurememory
: Optional - to which memory flash configurationtype
: Optional - for which type of bootloader to flash configuration
-
void
bootMemory
(const std::vector<uint8_t> &fw)¶ Boots a custom FW in memory
- Parameters
fw
:
- Exceptions
A
: runtime exception if there are any communication issues
-
void
bootUsbRomBootloader
()¶ Boots into integrated ROM bootloader in USB mode
- Exceptions
A
: runtime exception if there are any communication issues
-
bool
isEmbeddedVersion
() const¶ - Return
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.
-
Type
getType
() const¶ - Return
Type of currently connected bootloader
-
bool
isAllowedFlashingBootloader
() const¶ - Return
True if allowed to flash bootloader
-
void
close
()¶ Explicitly closes connection to device.
- Note
This function does not need to be explicitly called as destructor closes the device automatically
-
bool
isClosed
() const¶ Is the device already closed (or disconnected)
Public Static Functions
-
std::tuple<bool, DeviceInfo>
getFirstAvailableDevice
()¶ Searches for connected devices in either UNBOOTED or BOOTLOADER states and returns first available.
- Return
Tuple of boolean and DeviceInfo. If found boolean is true and DeviceInfo describes the device. Otherwise false
-
std::vector<DeviceInfo>
getAllAvailableDevices
()¶ Searches for connected devices in either UNBOOTED or BOOTLOADER states.
- Return
Vector of all found devices
-
std::vector<uint8_t>
createDepthaiApplicationPackage
(const Pipeline &pipeline, const dai::Path &pathToCmd = {}, bool compress = false)¶ Creates application package which can be flashed to depthai device.
- Return
Depthai application package
- Parameters
pipeline
: Pipeline from which to create the application packagepathToCmd
: Optional path to custom device firmwarecompress
: Optional boolean which specifies if contents should be compressed
-
std::vector<uint8_t>
createDepthaiApplicationPackage
(const Pipeline &pipeline, bool compress)¶ Creates application package which can be flashed to depthai device.
- Return
Depthai application package
- Parameters
pipeline
: Pipeline from which to create the application packagecompress
: Specifies if contents should be compressed
-
void
saveDepthaiApplicationPackage
(const dai::Path &path, const Pipeline &pipeline, const dai::Path &pathToCmd = {}, bool compress = false)¶ Saves application package to a file which can be flashed to depthai device.
-
void
saveDepthaiApplicationPackage
(const dai::Path &path, const Pipeline &pipeline, bool compress)¶ Saves application package to a file which can be flashed to depthai device.
-
std::vector<std::uint8_t>
getEmbeddedBootloaderBinary
(Type type = DEFAULT_TYPE)¶ - Return
Embedded bootloader binary
Public Static Attributes
-
constexpr const Type
DEFAULT_TYPE
= {Type::USB}¶ Default Bootloader type.
-
struct
Config
: public dai::bootloader::Config¶ Public Functions
-
void
setStaticIPv4
(std::string ip, std::string mask, std::string gateway)¶ Setting a static IPv4 won’t start DHCP client.
-
void
setDynamicIPv4
(std::string ip, std::string mask, std::string gateway)¶ Setting a dynamic IPv4 will set that IP as well as start DHCP client.
-
bool
isStaticIPV4
()¶ Get if static IPv4 configuration is set.
-
std::string
getIPv4
()¶ Get IPv4.
-
std::string
getIPv4Mask
()¶ Get IPv4 mask.
-
std::string
getIPv4Gateway
()¶ Get IPv4 gateway.
-
void
setDnsIPv4
(std::string dns, std::string dnsAlt = "")¶ Set IPv4 DNS options.
-
std::string
getDnsIPv4
()¶ Get primary IPv4 DNS server.
-
std::string
getDnsAltIPv4
()¶ Get alternate IPv4 DNS server.
-
void
setUsbTimeout
(std::chrono::milliseconds ms)¶ Set USB timeout.
-
std::chrono::milliseconds
getUsbTimeout
()¶ Get USB timeout.
-
void
setNetworkTimeout
(std::chrono::milliseconds ms)¶ Set NETWOR timeout.
-
std::chrono::milliseconds
getNetworkTimeout
()¶ Get NETWORK timeout.
-
void
setMacAddress
(std::string mac)¶ Set MAC address if not flashed on controller.
-
std::string
getMacAddress
()¶ Get MAC address if not flashed on controller.
-
void
-
struct
Version
¶ - #include <DeviceBootloader.hpp>
Bootloader version structure.
Public Functions
-
Version
(unsigned major, unsigned minor, unsigned patch)¶ Construct Version major, minor and patch numbers.
-
Version
(unsigned major, unsigned minor, unsigned patch, std::string buildInfo)¶ Construct Version major, minor and patch numbers with buildInfo.
-
std::string
getBuildInfo
() const¶ Get build info.
-
-
-
struct
DeviceInfo
¶ - #include <XLinkConnection.hpp>
Describes a connected device
Public Functions
-
DeviceInfo
(std::string mxidOrName)¶ Creates a DeviceInfo by checking whether supplied parameter is a MXID or IP/USB name
- Parameters
mxidOrName
: Either MXID, IP Address or USB port name
-
-
class
EdgeDetectorConfig
: public dai::Buffer - #include <EdgeDetectorConfig.hpp>
EdgeDetectorConfig message. Carries sobel edge filter config.
Public Functions
-
EdgeDetectorConfig
() Construct EdgeDetectorConfig message.
-
void
setSobelFilterKernels
(const std::vector<std::vector<int>> &horizontalKernel, const std::vector<std::vector<int>> &verticalKernel) Set sobel filter horizontal and vertical 3x3 kernels
- Parameters
horizontalKernel
: Used for horizontal gradient computation in 3x3 Sobel filterverticalKernel
: Used for vertical gradient computation in 3x3 Sobel filter
-
EdgeDetectorConfigData
getConfigData
() const Retrieve configuration data for EdgeDetector
- Return
EdgeDetectorConfigData: sobel filter horizontal and vertical 3x3 kernels
-
-
struct
EdgeDetectorConfigData
¶ - #include <RawEdgeDetectorConfig.hpp>
EdgeDetectorConfigData configuration data structure.
Public Members
-
std::vector<std::vector<int>>
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
-
std::vector<std::vector<int>>
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
-
std::vector<std::vector<int>>
-
struct
EdgeDetectorProperties
: public dai::PropertiesSerializable<Properties, EdgeDetectorProperties>¶ - #include <EdgeDetectorProperties.hpp>
Specify properties for EdgeDetector
Public Members
-
RawEdgeDetectorConfig
initialConfig
¶ Initial edge detector config.
-
int
outputFrameSize
= 1 * 1024 * 1024¶ Maximum output frame size in bytes (eg: 300x300 BGR image -> 300*300*3 bytes)
-
int
numFramesPool
= 4¶ Num frames in output pool.
-
RawEdgeDetectorConfig
-
struct
EepromData
¶ - #include <EepromData.hpp>
EepromData structure
Contains the Calibration and Board data stored on device
-
struct
Extrinsics
¶ - #include <Extrinsics.hpp>
Extrinsics structure.
-
class
FeatureTrackerConfig
: public dai::Buffer - #include <FeatureTrackerConfig.hpp>
FeatureTrackerConfig message. Carries config for feature tracking algorithm
Public Functions
-
FeatureTrackerConfig
() Construct FeatureTrackerConfig message.
-
FeatureTrackerConfig &
setCornerDetector
(dai::FeatureTrackerConfig::CornerDetector::Type cornerDetector) Set corner detector algorithm type.
- Parameters
cornerDetector
: Corner detector type, HARRIS or SHI_THOMASI
-
FeatureTrackerConfig &
setCornerDetector
(dai::FeatureTrackerConfig::CornerDetector config) Set corner detector full configuration.
- Parameters
config
: Corner detector configuration
-
FeatureTrackerConfig &
setOpticalFlow
() Set optical flow as motion estimation algorithm type.
-
FeatureTrackerConfig &
setOpticalFlow
(dai::FeatureTrackerConfig::MotionEstimator::OpticalFlow config) Set optical flow full configuration.
- Parameters
config
: Optical flow configuration
-
FeatureTrackerConfig &
setHwMotionEstimation
() Set hardware accelerated motion estimation using block matching. Faster than optical flow (software implementation) but might not be as accurate.
-
FeatureTrackerConfig &
setNumTargetFeatures
(std::int32_t numTargetFeatures) Set number of target features to detect.
- Parameters
numTargetFeatures
: Number of features
-
FeatureTrackerConfig &
setMotionEstimator
(bool enable) Enable or disable motion estimator.
- Parameters
enable
:
-
FeatureTrackerConfig &
setMotionEstimator
(dai::FeatureTrackerConfig::MotionEstimator config) Set motion estimator full configuration.
- Parameters
config
: Motion estimator configuration
-
FeatureTrackerConfig &
setFeatureMaintainer
(bool enable) Enable or disable feature maintainer.
- Parameters
enable
:
-
FeatureTrackerConfig &
setFeatureMaintainer
(dai::FeatureTrackerConfig::FeatureMaintainer config) Set feature maintainer full configuration.
- Parameters
config
: feature maintainer configuration
-
FeatureTrackerConfig &
set
(dai::RawFeatureTrackerConfig config) Set explicit configuration.
- Parameters
config
: Explicit configuration
-
dai::RawFeatureTrackerConfig
get
() const Retrieve configuration data for FeatureTracker.
- Return
config for feature tracking algorithm
-
-
struct
FeatureTrackerProperties
: public dai::PropertiesSerializable<Properties, FeatureTrackerProperties>¶ - #include <FeatureTrackerProperties.hpp>
Specify properties for FeatureTracker
Public Members
-
RawFeatureTrackerConfig
initialConfig
¶ Initial feature tracker config
-
std::int32_t
numShaves
= 1¶ 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.
-
std::int32_t
numMemorySlices
= 1¶ 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.
-
RawFeatureTrackerConfig
-
struct
GlobalProperties
: public dai::PropertiesSerializable<Properties, GlobalProperties>¶ - #include <GlobalProperties.hpp>
Specify properties which apply for whole pipeline
Public Members
-
double
leonCssFrequencyHz
= 700 * 1000 * 1000¶ Set frequency of Leon OS - Increasing can improve performance, at the cost of higher power draw
-
double
leonMssFrequencyHz
= 700 * 1000 * 1000¶ Set frequency of Leon RT - Increasing can improve performance, at the cost of higher power draw
-
tl::optional<dai::EepromData>
calibData
¶ Calibration data sent through pipeline
-
tl::optional<std::uint32_t>
cameraTuningBlobSize
¶ Camera tuning blob size in bytes
-
std::string
cameraTuningBlobUri
¶ Uri which points to camera tuning blob
-
int32_t
xlinkChunkSize
= -1¶ 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.
-
double
-
class
ImageManipConfig
: public dai::Buffer - #include <ImageManipConfig.hpp>
ImageManipConfig message. Specifies image manipulation options like:
Crop
Resize
Warp
…
Public Functions
-
ImageManipConfig
() Construct ImageManipConfig message.
-
ImageManipConfig &
setCropRect
(float xmin, float ymin, float xmax, float ymax) Specifies crop with rectangle with normalized values (0..1)
- Parameters
xmin
: Top left X coordinate of rectangleymin
: Top left Y coordinate of rectanglexmax
: Bottom right X coordinate of rectangleymax
: Bottom right Y coordinate of rectangle
-
ImageManipConfig &
setCropRect
(std::tuple<float, float, float, float> coordinates) Specifies crop with rectangle with normalized values (0..1)
- Parameters
coordinates
: Coordinate of rectangle
-
ImageManipConfig &
setCropRotatedRect
(RotatedRect rr, bool normalizedCoords = true) Specifies crop with rotated rectangle. Optionally as non normalized coordinates
- Parameters
rr
: Rotated rectangle which specifies cropnormalizedCoords
: If true coordinates are in normalized range (0..1) otherwise absolute
-
ImageManipConfig &
setCenterCrop
(float ratio, float whRatio = 1.0f) Specifies a centered crop.
- Parameters
ratio
: Ratio between input image and crop region (0..1)whRatio
: Crop region aspect ratio - 1 equals to square, 1.7 equals to 16:9, …
-
ImageManipConfig &
setWarpTransformFourPoints
(std::vector<Point2f> pt, bool normalizedCoords) Specifies warp by supplying 4 points in either absolute or normalized coordinates
- Parameters
pt
: 4 points specifying warpnormalizedCoords
: If true pt is interpreted as normalized, absolute otherwise
-
ImageManipConfig &
setWarpTransformMatrix3x3
(std::vector<float> mat) Specifies warp with a 3x3 matrix
- Parameters
mat
: 3x3 matrix
-
ImageManipConfig &
setWarpBorderReplicatePixels
() Specifies that warp replicates border pixels
-
ImageManipConfig &
setWarpBorderFillColor
(int red, int green, int blue) Specifies fill color for border pixels. Example:
setWarpBorderFillColor(255,255,255) -> white
setWarpBorderFillColor(0,0,255) -> blue
- Parameters
red
: Red componentgreen
: Green componentblue
: Blue component
-
ImageManipConfig &
setRotationDegrees
(float deg) Specifies clockwise rotation in degrees
- Parameters
deg
: Rotation in degrees
-
ImageManipConfig &
setRotationRadians
(float rad) Specifies clockwise rotation in radians
- Parameters
rad
: Rotation in radians
-
ImageManipConfig &
setResize
(int w, int h) Specifies output image size. After crop stage the image will be stretched to fit.
- Parameters
w
: Width in pixelsh
: Height in pixels
-
ImageManipConfig &
setResize
(std::tuple<int, int> size) Specifies output image size. After crop stage the image will be stretched to fit.
- Parameters
size
: Size in pixels
-
ImageManipConfig &
setResizeThumbnail
(int w, int h, int bgRed = 0, int bgGreen = 0, int bgBlue = 0) Specifies output image size. After crop stage the image will be resized by preserving aspect ration. Optionally background can be specified.
- Parameters
w
: Width in pixelsh
: Height in pixelsbgRed
: Red componentbgGreen
: Green componentbgBlue
: Blue component
-
ImageManipConfig &
setResizeThumbnail
(std::tuple<int, int> size, int bgRed = 0, int bgGreen = 0, int bgBlue = 0) Specifies output image size. After crop stage the image will be resized by preserving aspect ration. Optionally background can be specified.
- Parameters
size
: Size in pixelsbgRed
: Red componentbgGreen
: Green componentbgBlue
: Blue component
-
ImageManipConfig &
setFrameType
(ImgFrame::Type name) Specify output frame type.
- Parameters
name
: Frame type
-
ImageManipConfig &
setHorizontalFlip
(bool flip) Specify horizontal flip
- Parameters
flip
: True to enable flip, false otherwise
-
ImageManipConfig &
setReusePreviousImage
(bool reuse) Instruct ImageManip to not remove current image from its queue and use the same for next message.
- Parameters
reuse
: True to enable reuse, false otherwise
-
ImageManipConfig &
setSkipCurrentImage
(bool skip) Instructs ImageManip to skip current image and wait for next in queue.
- Parameters
skip
: True to skip current image, false otherwise
-
ImageManipConfig &
setKeepAspectRatio
(bool keep) Specifies to whether to keep aspect ratio or not
-
float
getCropXMin
() const - Return
Top left X coordinate of crop region
-
float
getCropYMin
() const - Return
Top left Y coordinate of crop region
-
float
getCropXMax
() const - Return
Bottom right X coordinate of crop region
-
float
getCropYMax
() const - Return
Bottom right Y coordinate of crop region
-
int
getResizeWidth
() const - Return
Output image width
-
int
getResizeHeight
() const - Return
Output image height
-
CropConfig
getCropConfig
() const - Return
Crop configuration
-
ResizeConfig
getResizeConfig
() const - Return
Resize configuration
-
FormatConfig
getFormatConfig
() const - Return
Format configuration
-
bool
isResizeThumbnail
() const - Return
True if resize thumbnail mode is set, false otherwise
-
struct
ImageManipProperties
: public dai::PropertiesSerializable<Properties, ImageManipProperties>¶ - #include <ImageManipProperties.hpp>
Specify properties for ImageManip
Public Members
-
RawImageManipConfig
initialConfig
¶ Initial configuration for ImageManip node.
-
int
outputFrameSize
= 1 * 1024 * 1024¶ Maximum output frame size in bytes (eg: 300x300 BGR image -> 300*300*3 bytes)
-
int
numFramesPool
= 4¶ Num frames in output pool.
-
RawImageManipConfig
-
struct
ImgDetection
¶ - #include <RawImgDetections.hpp>
ImgDetection structure.
Subclassed by dai::SpatialImgDetection
-
class
ImgDetections
: public dai::Buffer - #include <ImgDetections.hpp>
ImgDetections message. Carries normalized detection results
Public Functions
-
ImgDetections
() Construct ImgDetections message.
-
ImgDetections &
setTimestamp
(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp) Sets image timestamp related to dai::Clock::now()
-
ImgDetections &
setTimestampDevice
(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp) Sets image timestamp related to dai::Clock::now()
-
ImgDetections &
setSequenceNum
(int64_t sequenceNum) Retrieves image sequence number
-
std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration>
getTimestamp
() const Retrieves image timestamp related to dai::Clock::now()
-
std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration>
getTimestampDevice
() const Retrieves image timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging
-
int64_t
getSequenceNum
() const Retrieves image sequence number
Public Members
-
std::vector<ImgDetection> &
detections
Detections.
-
-
class
ImgFrame
: public dai::Buffer - #include <ImgFrame.hpp>
ImgFrame message. Carries image data and metadata.
Public Functions
-
std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration>
getTimestamp
() const Retrieves image timestamp related to dai::Clock::now()
-
std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration>
getTimestampDevice
() const Retrieves image timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging
-
unsigned int
getInstanceNum
() const Retrieves instance number
-
unsigned int
getCategory
() const Retrieves image category
-
int64_t
getSequenceNum
() const Retrieves image sequence number
-
unsigned int
getWidth
() const Retrieves image width in pixels
-
unsigned int
getHeight
() const Retrieves image height in pixels
-
Type
getType
() const Retrieves image type
-
ImgFrame &
setTimestamp
(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp) Retrieves image timestamp related to dai::Clock::now()
-
ImgFrame &
setTimestampDevice
(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp) Sets image timestamp related to dai::Clock::now()
-
ImgFrame &
setInstanceNum
(unsigned int instance) Instance number relates to the origin of the frame (which camera)
- Parameters
instance
: Instance number
-
ImgFrame &
setCategory
(unsigned int category) - Parameters
category
: Image category
-
ImgFrame &
setSequenceNum
(int64_t seq) Specifies sequence number
- Parameters
seq
: Sequence number
-
ImgFrame &
setWidth
(unsigned int width) Specifies frame width
- Parameters
width
: frame width
-
ImgFrame &
setHeight
(unsigned int height) Specifies frame height
- Parameters
height
: frame height
-
ImgFrame &
setSize
(unsigned int width, unsigned int height) Specifies frame size
- Parameters
height
: frame heightwidth
: frame width
-
ImgFrame &
setSize
(std::tuple<unsigned int, unsigned int> size) Specifies frame size
- Parameters
size
: frame size
-
ImgFrame &
setFrame
(cv::Mat frame) Copies cv::Mat data to
ImgFrame buffer- Note
This API only available if OpenCV support is enabled
- Parameters
frame
: Input cv::Mat frame from which to copy the data
-
cv::Mat
getFrame
(bool copy = false) Retrieves data as cv::Mat with specified width, height and type
- Note
This API only available if OpenCV support is enabled
- Return
cv::Mat with corresponding to ImgFrame parameters
- Parameters
copy
: If false only a reference to data is made, otherwise a copy
-
cv::Mat
getCvFrame
() Retrieves cv::Mat suitable for use in common opencv functions.
ImgFrame is converted to color BGR interleaved or grayscale depending on type.- Note
This API only available if OpenCV support is enabled
A copy is always made
- Return
cv::Mat for use in opencv functions
-
std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration>
-
class
IMUData
: public dai::Buffer - #include <IMUData.hpp>
IMUData message. Carries normalized detection results
Public Functions
-
IMUData
() Construct IMUData message.
Public Members
-
std::vector<IMUPacket> &
packets
Detections.
-
-
struct
IMUPacket
¶ - #include <RawIMUData.hpp>
IMU output
Contains combined output for all possible modes. Only the enabled outputs are populated.
-
struct
IMUProperties
: public dai::PropertiesSerializable<Properties, IMUProperties>¶
-
struct
IMUReport
¶ Subclassed by dai::IMUReportAccelerometer, dai::IMUReportGyroscope, dai::IMUReportMagneticField, dai::IMUReportRotationVectorWAcc
-
struct
IMUReportAccelerometer
: public dai::IMUReport¶ - #include <RawIMUData.hpp>
Accelerometer.
Units are [m/s^2]
-
struct
IMUReportGyroscope
: public dai::IMUReport¶ - #include <RawIMUData.hpp>
Gyroscope.
Units are [rad/s]
-
struct
IMUReportMagneticField
: public dai::IMUReport¶ - #include <RawIMUData.hpp>
Magnetic field.
Units are [uTesla]
-
struct
IMUReportRotationVectorWAcc
: public dai::IMUReport¶ - #include <RawIMUData.hpp>
Rotation Vector with Accuracy.
Contains quaternion components: i,j,k,real
-
struct
IMUSensorConfig
¶
-
template<typename
T
>
classLockingQueue
¶
-
struct
LogMessage
¶
-
struct
MemoryInfo
¶ - #include <MemoryInfo.hpp>
MemoryInfo structure
Free, remaining and total memory stats
-
struct
MonoCameraProperties
: public dai::PropertiesSerializable<Properties, MonoCameraProperties>¶ - #include <MonoCameraProperties.hpp>
Specify properties for MonoCamera such as camera ID, …
Public Types
Public Members
-
CameraBoardSocket
boardSocket
= CameraBoardSocket::AUTO¶ Which socket will mono camera use
-
CameraImageOrientation
imageOrientation
= CameraImageOrientation::AUTO¶ Camera sensor image orientation / pixel readout
-
SensorResolution
resolution
= SensorResolution::THE_720_P¶ Select the camera sensor resolution
-
float
fps
= 30.0¶ Camera sensor FPS
-
CameraBoardSocket
-
struct
NeuralNetworkProperties
: public dai::PropertiesSerializable<Properties, NeuralNetworkProperties>¶ - #include <NeuralNetworkProperties.hpp>
Specify properties for NeuralNetwork such as blob path, …
Subclassed by dai::PropertiesSerializable< NeuralNetworkProperties, DetectionNetworkProperties >
Public Members
-
tl::optional<std::uint32_t>
blobSize
¶ Blob binary size in bytes
-
std::string
blobUri
¶ Uri which points to blob
-
std::uint32_t
numFrames
= 8¶ Number of available output tensors in pool
-
std::uint32_t
numThreads
= 0¶ Number of threads to create for running inference. 0 = auto
-
std::uint32_t
numNCEPerThread
= 0¶ Number of NCE (Neural Compute Engine) per inference thread. 0 = auto
-
tl::optional<std::uint32_t>
-
class
NNData
: public dai::Buffer - #include <NNData.hpp>
NNData message. Carries tensors and their metadata
Public Functions
-
NNData
() Construct NNData message.
-
NNData &
setLayer
(const std::string &name, std::vector<std::uint8_t> data) Set a layer with datatype U8.
- Parameters
name
: Name of the layerdata
: Data to store
-
NNData &
setLayer
(const std::string &name, const std::vector<int> &data) Set a layer with datatype U8. Integers are cast to bytes.
- Parameters
name
: Name of the layerdata
: Data to store
-
NNData &
setLayer
(const std::string &name, std::vector<float> data) Set a layer with datatype FP16. Float values are converted to FP16.
- Parameters
name
: Name of the layerdata
: Data to store
-
NNData &
setLayer
(const std::string &name, std::vector<double> data) Set a layer with datatype FP16. Double values are converted to FP16.
- Parameters
name
: Name of the layerdata
: Data to store
-
std::vector<std::string>
getAllLayerNames
() const - Return
Names of all layers added
-
std::vector<TensorInfo>
getAllLayers
() const - Return
All layers and their information
-
bool
getLayer
(const std::string &name, TensorInfo &tensor) const Retrieve layers tensor information
- Return
True if layer exists, false otherwise
- Parameters
name
: Name of the layer[out] tensor
: Outputs tensor information of that layer
-
bool
hasLayer
(const std::string &name) const Checks if given layer exists
- Return
True if layer exists, false otherwise
- Parameters
name
: Name of the layer
-
bool
getLayerDatatype
(const std::string &name, TensorInfo::DataType &datatype) const Retrieve datatype of a layers tensor
- Return
True if layer exists, false otherwise
- Parameters
name
: Name of the layer[out] datatype
: Datatype of layers tensor
-
std::vector<std::uint8_t>
getLayerUInt8
(const std::string &name) const Convenience function to retrieve U8 data from layer
- Return
U8 binary data
- Parameters
name
: Name of the layer
-
std::vector<float>
getLayerFp16
(const std::string &name) const Convenience function to retrieve float values from layers FP16 tensor
- Return
Float data
- Parameters
name
: Name of the layer
-
std::vector<std::int32_t>
getLayerInt32
(const std::string &name) const Convenience function to retrieve INT32 values from layers tensor
- Return
INT32 data
- Parameters
name
: Name of the layer
-
std::vector<std::uint8_t>
getFirstLayerUInt8
() const Convenience function to retrieve U8 data from first layer
- Return
U8 binary data
-
std::vector<float>
getFirstLayerFp16
() const Convenience function to retrieve float values from first layers FP16 tensor
- Return
Float data
-
std::vector<std::int32_t>
getFirstLayerInt32
() const Convenience function to retrieve INT32 values from first layers tensor
- Return
INT32 data
-
std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration>
getTimestamp
() const Retrieves image timestamp related to dai::Clock::now()
-
std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration>
getTimestampDevice
() const Retrieves image timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging
-
int64_t
getSequenceNum
() const Retrieves image sequence number
-
NNData &
setTimestamp
(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp) Sets image timestamp related to dai::Clock::now()
-
NNData &
setTimestampDevice
(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp) Sets image timestamp related to dai::Clock::now()
-
NNData &
setSequenceNum
(int64_t sequenceNum) Retrieves image sequence number
-
-
class
Node
¶ - #include <Node.hpp>
Abstract Node.
Subclassed by dai::NodeCRTP< Node, AprilTag, AprilTagProperties >, dai::NodeCRTP< Node, ColorCamera, ColorCameraProperties >, dai::NodeCRTP< Node, DetectionParser, DetectionParserProperties >, dai::NodeCRTP< Node, EdgeDetector, EdgeDetectorProperties >, dai::NodeCRTP< Node, FeatureTracker, FeatureTrackerProperties >, dai::NodeCRTP< Node, ImageManip, ImageManipProperties >, dai::NodeCRTP< Node, IMU, IMUProperties >, dai::NodeCRTP< Node, MonoCamera, MonoCameraProperties >, dai::NodeCRTP< Node, NeuralNetwork, NeuralNetworkProperties >, dai::NodeCRTP< Node, ObjectTracker, ObjectTrackerProperties >, dai::NodeCRTP< Node, Script, ScriptProperties >, dai::NodeCRTP< Node, SpatialLocationCalculator, SpatialLocationCalculatorProperties >, dai::NodeCRTP< Node, SPIIn, SPIInProperties >, dai::NodeCRTP< Node, SPIOut, SPIOutProperties >, dai::NodeCRTP< Node, StereoDepth, StereoDepthProperties >, dai::NodeCRTP< Node, SystemLogger, SystemLoggerProperties >, dai::NodeCRTP< Node, VideoEncoder, VideoEncoderProperties >, dai::NodeCRTP< Node, XLinkIn, XLinkInProperties >, dai::NodeCRTP< Node, XLinkOut, XLinkOutProperties >
Public Types
Public Functions
-
const char *
getName
() const = 0¶ Retrieves nodes name.
-
std::vector<Output>
getOutputs
()¶ Retrieves all nodes outputs.
-
std::vector<Input>
getInputs
()¶ Retrieves all nodes inputs.
-
std::vector<Output*>
getOutputRefs
()¶ Retrieves reference to node outputs.
-
std::vector<const Output*>
getOutputRefs
() const¶ Retrieves reference to node outputs.
-
std::vector<Input*>
getInputRefs
()¶ Retrieves reference to node inputs.
-
std::vector<const Input*>
getInputRefs
() const¶ Retrieves reference to node inputs.
-
const AssetManager &
getAssetManager
() const¶ Get node AssetManager as a const reference.
-
AssetManager &
getAssetManager
()¶ Get node AssetManager as a reference.
-
struct
Connection
¶ - #include <Node.hpp>
Connection between an Input and Output.
-
const char *
-
struct
NodeConnectionSchema
¶ - #include <NodeConnectionSchema.hpp>
Specifies a connection between nodes IOs
-
template<typename
Base
, typenameDerived
, typenameProps
>
classNodeCRTP
: public Base¶ Public Members
-
Properties &
properties
¶ Underlying properties.
-
Properties &
-
struct
NodeIoInfo
¶ - #include <NodeIoInfo.hpp>
NodeIo informations such as name, type, …
-
struct
ObjectTrackerProperties
: public dai::PropertiesSerializable<Properties, ObjectTrackerProperties>¶ - #include <ObjectTrackerProperties.hpp>
Specify properties for ObjectTracker
Public Members
-
float
trackerThreshold
= 0.0¶ Confidence threshold for tracklets. Above this threshold detections will be tracked. Default 0, all detections are tracked.
-
std::int32_t
maxObjectsToTrack
= 60¶ Maximum number of objects to track. Maximum 60 for SHORT_TERM_KCF, maximum 1000 for other tracking methods. Default 60.
-
std::vector<std::uint32_t>
detectionLabelsToTrack
¶ Which detections labels to track. Default all labels are tracked.
-
TrackerType
trackerType
= TrackerType::ZERO_TERM_IMAGELESS¶ Tracking method.
-
TrackerIdAssignmentPolicy
trackerIdAssignmentPolicy
= TrackerIdAssignmentPolicy::UNIQUE_ID¶ New ID assignment policy.
-
float
-
class
OpenVINO
¶ - #include <OpenVINO.hpp>
Support for basic OpenVINO related actions like version identification of neural network blobs,…
Public Types
Public Static Functions
-
std::string
getVersionName
(Version version)¶ Returns string representation of a given version
- Return
Name of a given version
- Parameters
version
: OpenVINO version
-
Version
parseVersionName
(const std::string &versionString)¶ Creates Version from string representation. Throws if not possible.
- Return
Version object if successful
- Parameters
versionString
: Version as string
-
std::vector<Version>
getBlobSupportedVersions
(std::uint32_t majorVersion, std::uint32_t minorVersion)¶ Returns a list of potentially supported versions for a specified blob major and minor versions.
Public Static Attributes
-
constexpr const Version
DEFAULT_VERSION
= VERSION_2022_1¶ Main OpenVINO version.
-
struct
Blob
¶ - #include <OpenVINO.hpp>
Public Functions
Public Members
-
std::unordered_map<std::string, TensorInfo>
networkInputs
¶ Map of input names to additional information.
-
std::unordered_map<std::string, TensorInfo>
networkOutputs
¶ Map of output names to additional information.
-
uint32_t
stageCount
= 0¶ Number of network stages.
-
uint32_t
numShaves
= 0¶ Number of shaves the blob was compiled for.
-
uint32_t
numSlices
= 0¶ Number of CMX slices the blob was compiled for.
-
std::unordered_map<std::string, TensorInfo>
-
std::string
-
class
Path
¶ - #include <Path.hpp>
Represents paths on a filesystem; accepts utf-8, Windows utf-16 wchar_t, or std::filesystem::path.
It is suitable for direct use with OS APIs. Features are limited to character-set conversion of paths. It is not intended as a full replacement for std::filesystem::path
Public Types
-
using
value_type
= char¶ character used by native-encoding of filesystem
Public Functions
-
Path
(string_type &&source) noexcept¶ Construct Path object from source.
- Parameters
source
: native-encoding character sequence; no conversion
-
Path
(const string_type &source)¶ Construct Path object from source.
- Parameters
source
: native-encoding character sequence; no conversion
-
Path
(const value_type *source)¶ Construct Path object from source.
- Parameters
source
: pointer to null-terminated native-encoding character sequence; no conversion
-
std::string
string
() const¶ Get path in native-encoding string; no conversion.
- Return
std::string
-
std::string
u8string
() const¶ Get path in utf-8.
- Return
std::string in utf-8
-
operator string_type
() const noexcept¶ Implicitly convert to native-encoding string, suitable for use with OS APIs.
- Return
std::string of utf-8 on most OSs, std::wstring of utf-16 on Windows
-
const string_type &
native
() const noexcept¶ Returns native-encoding string by const reference, suitable for use with OS APIs.
- Return
const std::string& of utf-8 on most OSs, const std::wstring& of utf-16 on Windows
-
bool
empty
() const noexcept¶ Observes if path is empty (contains no string/folders/filename)
- Return
bool true if the path is empty, false otherwise
-
using
-
template<typename
T
>
classPimpl
¶
-
class
Pipeline
- #include <Pipeline.hpp>
Represents the pipeline, set of nodes and connections between them.
Public Functions
-
Pipeline
() Constructs a new pipeline
-
Pipeline
clone
() const Clone the pipeline (Creates a copy)
-
GlobalProperties
getGlobalProperties
() const - Return
Global properties of current pipeline
-
PipelineSchema
getPipelineSchema
(SerializationType type = DEFAULT_SERIALIZATION_TYPE) const - Return
Pipeline schema
-
nlohmann::json
serializeToJson
() const Returns whole pipeline represented as JSON.
Adds a node to pipeline.
Node is specified by template argument N
Removes a node from pipeline.
-
std::vector<std::shared_ptr<const Node>>
getAllNodes
() const Get a vector of all nodes.
-
std::vector<std::shared_ptr<Node>>
getAllNodes
() Get a vector of all nodes.
-
std::shared_ptr<const Node>
getNode
(Node::Id id) const Get node with id if it exists, nullptr otherwise.
-
std::vector<Node::Connection>
getConnections
() const Get all connections.
-
const NodeConnectionMap &
getConnectionMap
() const Get a reference to internal connection representation.
-
const NodeMap &
getNodeMap
() const Get a reference to internal node map.
-
void
link
(const Node::Output &out, const Node::Input &in) Link output to an input. Both nodes must be on the same pipeline
Throws an error if they aren’t or cannot be connected
- Parameters
out
: Nodes output to connect fromin
: Nodes input to connect to
-
void
unlink
(const Node::Output &out, const Node::Input &in) Unlink output from an input.
Throws an error if link doesn’t exists
- Parameters
out
: Nodes output to unlink fromin
: Nodes input to unlink to
-
const AssetManager &
getAssetManager
() const Get pipelines AssetManager as reference.
-
AssetManager &
getAssetManager
() Get pipelines AssetManager as reference.
-
void
setOpenVINOVersion
(OpenVINO::Version version) Set a specific OpenVINO version to use with this pipeline.
-
void
setCalibrationData
(CalibrationHandler calibrationDataHandler) Sets the calibration in pipeline which overrides the calibration data in eeprom
- Parameters
calibrationDataHandler
: CalibrationHandler object which is loaded with calibration information.
-
CalibrationHandler
getCalibrationData
() const gets the calibration data which is set through pipeline
- Return
the calibrationHandler with calib data in the pipeline
-
tl::optional<OpenVINO::Version>
getRequiredOpenVINOVersion
() const Get required OpenVINO version to run this pipeline. Can be none.
-
void
setCameraTuningBlobPath
(const dai::Path &path) Set a camera IQ (Image Quality) tuning blob, used for all cameras.
-
void
setXLinkChunkSize
(int sizeBytes) Set 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.
-
bool
isOpenVINOVersionCompatible
(OpenVINO::Version version) const Checks whether a given OpenVINO version is compatible with the pipeline.
-
Device::Config
getDeviceConfig
() const Get device configuration needed for this pipeline.
-
-
class
PipelineImpl
¶
-
struct
PipelineSchema
¶ - #include <PipelineSchema.hpp>
Specifies whole pipeline, nodes, properties and connections between nodes IOs
-
struct
Properties
¶ - #include <Properties.hpp>
Base Properties structure.
Subclassed by dai::PropertiesSerializable< Properties, AprilTagProperties >, dai::PropertiesSerializable< Properties, ColorCameraProperties >, dai::PropertiesSerializable< Properties, DetectionParserProperties >, dai::PropertiesSerializable< Properties, EdgeDetectorProperties >, dai::PropertiesSerializable< Properties, FeatureTrackerProperties >, dai::PropertiesSerializable< Properties, GlobalProperties >, dai::PropertiesSerializable< Properties, ImageManipProperties >, dai::PropertiesSerializable< Properties, IMUProperties >, dai::PropertiesSerializable< Properties, MonoCameraProperties >, dai::PropertiesSerializable< Properties, NeuralNetworkProperties >, dai::PropertiesSerializable< Properties, ObjectTrackerProperties >, dai::PropertiesSerializable< Properties, ScriptProperties >, dai::PropertiesSerializable< Properties, SpatialLocationCalculatorProperties >, dai::PropertiesSerializable< Properties, SPIInProperties >, dai::PropertiesSerializable< Properties, SPIOutProperties >, dai::PropertiesSerializable< Properties, StereoDepthProperties >, dai::PropertiesSerializable< Properties, SystemLoggerProperties >, dai::PropertiesSerializable< Properties, VideoEncoderProperties >, dai::PropertiesSerializable< Properties, XLinkInProperties >, dai::PropertiesSerializable< Properties, XLinkOutProperties >
-
template<typename
Base
, typenameDerived
>
structPropertiesSerializable
: public Base¶ - #include <Properties.hpp>
Serializable properties.
-
struct
RawAprilTagConfig
: public dai::RawBuffer¶ - #include <RawAprilTagConfig.hpp>
RawAprilTags configuration structure.
Public Types
Public Members
-
std::int32_t
quadDecimate
= 4¶ Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution.
-
float
quadSigma
= 0.0f¶ What Gaussian blur should be applied to the segmented image. Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8).
-
bool
refineEdges
= true¶ When non-zero, the edges of the each quad are adjusted to “snap
to” strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on. Very computationally inexpensive. Option is ignored if quadDecimate = 1.
-
float
decodeSharpening
= 0.25f¶ How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions. The default value is 0.25.
-
std::int32_t
maxHammingDistance
= 1¶ Max number of error bits that should be corrected. 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.
-
QuadThresholds
quadThresholds
¶ AprilTag quad threshold parameters.
-
struct
QuadThresholds
¶ - #include <RawAprilTagConfig.hpp>
AprilTag quad threshold parameters.
Public Members
-
std::int32_t
minClusterPixels
= 5¶ Reject quads containing too few pixels.
-
std::int32_t
maxNmaxima
= 10¶ How many corner candidates to consider when segmenting a group of pixels into a quad.
-
float
criticalDegree
= 10.f¶ 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).
-
float
maxLineFitMse
= 10.f¶ 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.
-
std::int32_t
minWhiteBlackDiff
= 5¶ 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]).
-
bool
deglitch
= false¶ Should the thresholded image be deglitched? Only useful for very noisy images
-
std::int32_t
-
std::int32_t
-
struct
RawAprilTags
: public dai::RawBuffer¶ - #include <RawAprilTags.hpp>
RawAprilTags structure.
-
struct
RawBuffer
¶ - #include <RawBuffer.hpp>
RawBuffer structure.
Subclassed by dai::RawAprilTagConfig, dai::RawAprilTags, dai::RawCameraControl, dai::RawEdgeDetectorConfig, dai::RawFeatureTrackerConfig, dai::RawImageManipConfig, dai::RawImgDetections, dai::RawImgFrame, dai::RawIMUData, dai::RawNNData, dai::RawSpatialImgDetections, dai::RawSpatialLocationCalculatorConfig, dai::RawSpatialLocations, dai::RawStereoDepthConfig, dai::RawSystemInformation, dai::RawTrackedFeatures, dai::RawTracklets
-
struct
RawCameraControl
: public dai::RawBuffer¶ - #include <RawCameraControl.hpp>
RawCameraControl structure.
Public Members
-
uint8_t
lensPosition
= 0¶ Lens/VCM position, range: 0..255. Used with
autoFocusMode = OFF
. With current IMX378 modules:max 255: macro focus, at 8cm distance
infinite focus at about 120..130 (may vary from module to module)
lower values lead to out-of-focus (lens too close to the sensor array)
-
struct
ManualExposureParams
¶
-
struct
RegionParams
¶
-
uint8_t
-
struct
RawEdgeDetectorConfig
: public dai::RawBuffer¶ - #include <RawEdgeDetectorConfig.hpp>
RawEdgeDetectorConfig configuration structure.
-
struct
RawFeatureTrackerConfig
: public dai::RawBuffer¶ - #include <RawFeatureTrackerConfig.hpp>
RawFeatureTrackerConfig configuration structure.
Public Members
-
CornerDetector
cornerDetector
¶ Corner detector configuration. Used for feature detection.
-
MotionEstimator
motionEstimator
¶ Motion estimator configuration. Used for feature reidentification between current and previous features.
-
FeatureMaintainer
featureMaintainer
¶ FeatureMaintainer configuration. Used for feature maintaining.
-
struct
CornerDetector
¶ - #include <RawFeatureTrackerConfig.hpp>
Corner detector configuration structure.
Public Members
-
Type
type
= Type::HARRIS¶ Corner detector algorithm type.
-
std::int32_t
cellGridDimension
= 4¶ 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.
-
std::int32_t
numTargetFeatures
= 320¶ Target number of features to detect. Maximum number of features is determined at runtime based on algorithm type.
-
std::int32_t
numMaxFeatures
= AUTO¶ 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.
-
bool
enableSobel
= true¶ 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.
-
bool
enableSorting
= true¶ Enable sorting detected features based on their score or not.
-
Thresholds
thresholds
¶ Threshold settings. These are advanced settings, suitable for debugging/special cases.
-
struct
Thresholds
¶ - #include <RawFeatureTrackerConfig.hpp>
Threshold settings structure for corner detector.
Public Members
-
float
initialValue
= AUTO¶ 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.
-
float
min
= AUTO¶ Minimum limit for threshold. Applicable when automatic threshold update is enabled. 0 means auto, 6000000 for HARRIS, 1200 for SHI_THOMASI. Empirical value.
-
float
max
= AUTO¶ Maximum limit for threshold. Applicable when automatic threshold update is enabled. 0 means auto. Empirical value.
-
float
decreaseFactor
= 0.9f¶ When detected number of features exceeds the maximum in a cell threshold is lowered by multiplying its value with this factor.
-
float
increaseFactor
= 1.1f¶ When detected number of features doesn’t exceed the maximum in a cell, threshold is increased by multiplying its value with this factor.
-
float
-
Type
-
struct
FeatureMaintainer
¶ - #include <RawFeatureTrackerConfig.hpp>
FeatureMaintainer configuration structure.
Public Members
-
bool
enable
= true¶ Enable feature maintaining or not.
-
float
minimumDistanceBetweenFeatures
= 50¶ 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.
-
float
lostFeatureErrorThreshold
= 50000¶ 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.
-
float
trackedFeatureThreshold
= 200000¶ 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.
-
bool
-
struct
MotionEstimator
¶ - #include <RawFeatureTrackerConfig.hpp>
Used for feature reidentification between current and previous features.
Public Members
-
bool
enable
= true¶ Enable motion estimation or not.
-
Type
type
= Type::LUCAS_KANADE_OPTICAL_FLOW¶ Motion estimator algorithm type.
-
OpticalFlow
opticalFlow
¶ Optical flow configuration. Takes effect only if MotionEstimator algorithm type set to LUCAS_KANADE_OPTICAL_FLOW.
-
struct
OpticalFlow
¶ - #include <RawFeatureTrackerConfig.hpp>
Optical flow configuration structure.
Public Members
-
std::int32_t
pyramidLevels
= AUTO¶ 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.
-
std::int32_t
searchWindowWidth
= 5¶ 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
-
std::int32_t
searchWindowHeight
= 5¶ 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
-
float
epsilon
= 0.01f¶ 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.
-
std::int32_t
maxIterations
= 9¶ 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.
-
std::int32_t
-
bool
-
CornerDetector
-
struct
RawImageManipConfig
: public dai::RawBuffer¶ - #include <RawImageManipConfig.hpp>
RawImageManipConfig structure.
-
struct
CropConfig
¶
-
struct
CropRect
¶
-
struct
FormatConfig
¶
-
struct
-
struct
RawImgDetections
: public dai::RawBuffer¶ - #include <RawImgDetections.hpp>
RawImgDetections structure.
-
struct
RawImgFrame
: public dai::RawBuffer¶ - #include <RawImgFrame.hpp>
RawImgFrame structure.
-
struct
Specs
¶
-
struct
-
struct
RawSpatialImgDetections
: public dai::RawBuffer¶ - #include <RawSpatialImgDetections.hpp>
RawSpatialImgDetections structure.
-
struct
RawSpatialLocationCalculatorConfig
: public dai::RawBuffer¶ - #include <RawSpatialLocationCalculatorConfig.hpp>
RawSpatialLocation configuration structure.
-
struct
RawSpatialLocations
: public dai::RawBuffer¶ - #include <RawSpatialLocations.hpp>
RawSpatialLocations structure.
-
struct
RawStereoDepthConfig
: public dai::RawBuffer¶ - #include <RawStereoDepthConfig.hpp>
RawStereoDepthConfig configuration structure.
Public Members
-
AlgorithmControl
algorithmControl
¶ Controls the flow of stereo algorithm - left-right check, subpixel etc.
-
PostProcessing
postProcessing
¶ Controls the postprocessing of disparity and/or depth map.
-
CensusTransform
censusTransform
¶ Census transform settings.
-
CostMatching
costMatching
¶ Cost matching settings.
-
CostAggregation
costAggregation
¶ Cost aggregation settings.
-
struct
AlgorithmControl
¶ Public Types
Public Members
-
DepthAlign
depthAlign
= DepthAlign::RECTIFIED_RIGHT¶ Set the disparity/depth alignment to the perspective of a rectified output, or center it
-
DepthUnit
depthUnit
= DepthUnit::MILLIMETER¶ Measurement unit for depth data. Depth data is integer value, multiple of depth unit.
-
float
customDepthUnitMultiplier
= 1000.f¶ Custom depth unit multiplier, if custom depth unit is enabled, relative to 1 meter. A multiplier of 1000 effectively means depth unit in millimeter.
-
bool
enableLeftRightCheck
= true¶ Computes and combines disparities in both L-R and R-L directions, and combine them. For better occlusion handling
-
bool
enableExtended
= false¶ Disparity range increased from 95 to 190, combined from full resolution and downscaled images. Suitable for short range objects
-
bool
enableSubpixel
= false¶ Computes disparity with sub-pixel interpolation (5 fractional bits), suitable for long range
-
std::int32_t
leftRightCheckThreshold
= 10¶ Left-right check threshold for left-right, right-left disparity map combine, 0..128 Used only when left-right check mode is enabled. Defines the maximum difference between the confidence of pixels from left-right and right-left confidence maps
-
std::int32_t
subpixelFractionalBits
= 3¶ Number of fractional bits for subpixel mode
Valid values: 3,4,5
Defines the number of fractional disparities: 2^x
Median filter postprocessing is supported only for 3 fractional bits
-
DepthAlign
-
struct
CensusTransform
¶ - #include <RawStereoDepthConfig.hpp>
The basic cost function used by the Stereo Accelerator for matching the left and right images is the Census Transform. It works on a block of pixels and computes a bit vector which represents the structure of the image in that block. There are two types of Census Transform based on how the middle pixel is used: Classic Approach and Modified Census. The comparisons that are made between pixels can be or not thresholded. In some cases a mask can be applied to filter out only specific bits from the entire bit stream. All these approaches are: Classic Approach: Uses middle pixel to compare against all its neighbors over a defined window. Each comparison results in a new bit, that is 0 if central pixel is smaller, or 1 if is it bigger than its neighbor. Modified Census Transform: same as classic Census Transform, but instead of comparing central pixel with its neighbors, the window mean will be compared with each pixel over the window. Thresholding Census Transform: same as classic Census Transform, but it is not enough that a neighbor pixel to be bigger than the central pixel, it must be significant bigger (based on a threshold). Census Transform with Mask: same as classic Census Transform, but in this case not all of the pixel from the support window are part of the binary descriptor. We use a ma sk “M” to define which pixels are part of the binary descriptor (1), and which pixels should be skipped (0).
Public Types
Public Members
-
KernelSize
kernelSize
= KernelSize::AUTO¶ Census transform kernel size.
-
uint64_t
kernelMask
= 0¶ Census transform mask, default - auto, mask is set based on resolution and kernel size. Disabled for 400p input resolution. Enabled for 720p. 0XA82415 for 5x5 census transform kernel. 0XAA02A8154055 for 7x7 census transform kernel. 0X2AA00AA805540155 for 7x9 census transform kernel. Empirical values.
-
bool
enableMeanMode
= true¶ If enabled, each pixel in the window is compared with the mean window value instead of the central pixel.
-
uint32_t
threshold
= 0¶ Census transform comparison threshold value.
-
KernelSize
-
struct
CostAggregation
¶ - #include <RawStereoDepthConfig.hpp>
Cost Aggregation is based on Semi Global Block Matching (SGBM). This algorithm uses a semi global technique to aggregate the cost map. Ultimately the idea is to build inertia into the stereo algorithm. If a pixel has very little texture information, then odds are the correct disparity for this pixel is close to that of the previous pixel considered. This means that we get improved results in areas with low texture.
Public Members
-
uint8_t
divisionFactor
= 1¶ Cost calculation linear equation parameters.
-
uint16_t
horizontalPenaltyCostP1
= defaultPenaltyP1¶ Horizontal P1 penalty cost parameter.
-
uint16_t
horizontalPenaltyCostP2
= defaultPenaltyP2¶ Horizontal P2 penalty cost parameter.
-
uint16_t
verticalPenaltyCostP1
= defaultPenaltyP1¶ Vertical P1 penalty cost parameter.
-
uint16_t
verticalPenaltyCostP2
= defaultPenaltyP2¶ Vertical P2 penalty cost parameter.
-
uint8_t
-
struct
CostMatching
¶ - #include <RawStereoDepthConfig.hpp>
The matching cost is way of measuring the similarity of image locations in stereo correspondence algorithm. Based on the configuration parameters and based on the descriptor type, a linear equation is applied to computing the cost for each candidate disparity at each pixel.
Public Types
Public Members
-
DisparityWidth
disparityWidth
= DisparityWidth::DISPARITY_96¶ Disparity search range, default 96 pixels.
-
bool
enableCompanding
= false¶ Disparity companding using sparse matching. Matching pixel by pixel for N disparities. Matching every 2nd pixel for M disparitites. Matching every 4th pixel for T disparities. In case of 96 disparities: N=48, M=32, T=16. This way the search range is extended to 176 disparities, by sparse matching. Note: when enabling this flag only depth map will be affected, disparity map is not.
-
uint8_t
invalidDisparityValue
= 0¶ Used only for debug purposes, SW postprocessing handled only invalid value of 0 properly.
-
uint8_t
confidenceThreshold
= 245¶ Disparities with confidence value under this threshold are accepted. Higher confidence threshold means disparities with less confidence are accepted too.
-
LinearEquationParameters
linearEquationParameters
¶ Cost calculation linear equation parameters.
-
struct
LinearEquationParameters
¶ - #include <RawStereoDepthConfig.hpp>
The linear equation applied for computing the cost is: COMB_COST = α*AD + β*(CTC<<3). CLAMP(COMB_COST >> 5, threshold). Where AD is the Absolute Difference between 2 pixels values. CTC is the Census Transform Cost between 2 pixels, based on Hamming distance (xor). The α and β parameters are subject to fine tuning by the user.
-
DisparityWidth
-
struct
PostProcessing
¶ - #include <RawStereoDepthConfig.hpp>
Post-processing filters, all the filters are applied in disparity domain.
Public Members
-
MedianFilter
median
= MedianFilter::KERNEL_5x5¶ Set kernel size for disparity/depth median filtering, or disable
-
std::int16_t
bilateralSigmaValue
= 0¶ Sigma value for bilateral filter. 0 means disabled. A larger value of the parameter means that farther colors within the pixel neighborhood will be mixed together.
-
SpatialFilter
spatialFilter
¶ Edge-preserving filtering: This type of filter will smooth the depth noise while attempting to preserve edges.
-
TemporalFilter
temporalFilter
¶ Temporal filtering with optional persistence.
-
ThresholdFilter
thresholdFilter
¶ Threshold filtering. Filters out distances outside of a given interval.
-
SpeckleFilter
speckleFilter
¶ Speckle filtering. Removes speckle noise.
-
DecimationFilter
decimationFilter
¶ Decimation filter. Reduces disparity/depth map x/y complexity, reducing runtime complexity for other filters.
-
struct
DecimationFilter
- #include <RawStereoDepthConfig.hpp>
Decimation filter. Reduces the depth scene complexity. The filter runs on kernel sizes [2x2] to [8x8] pixels.
Public Types
-
enum
DecimationMode
Decimation algorithm type.
Values:
-
enumerator
PIXEL_SKIPPING
-
enumerator
NON_ZERO_MEDIAN
-
enumerator
NON_ZERO_MEAN
-
enumerator
Public Members
-
std::uint32_t
decimationFactor
= 1 Decimation factor. Valid values are 1,2,3,4. Disparity/depth map x/y resolution will be decimated with this value.
-
DecimationMode
decimationMode
= DecimationMode::
-
enum
-
MedianFilter
-
AlgorithmControl
-
using