Python API Reference

Classes:

ADatatype

Abstract message

Asset

Asset is identified with string key and can store arbitrary binary data

AssetManager

AssetManager can store assets and serialize

Buffer

Base message - buffer of binary data

CameraBoardSocket

Which Camera socket to use.

CameraControl

CameraControl message Specifies various camera control commands like:

CameraImageOrientation

Camera sensor image orientation / pixel readout.

ChipTemperature

Chip temperature information.

ColorCamera

ColorCamera node.

ColorCameraProperties

Specify ColorCamera options such as camera ID, …

CpuUsage

CpuUsage structure

DataInputQueue

Access to send messages through XLink stream

DataOutputQueue

Access to receive messages coming from XLink stream

DetectionNetwork

DetectionNetwork.

DetectionNetworkProperties

Properties for DetectionNetwork

Device

Represents the DepthAI device with the methods to interact with it.

DeviceBootloader

Represents the DepthAI bootloader with the methods to interact with it.

DeviceDesc

DeviceInfo

GlobalProperties

Specify properties which apply for whole pipeline

ImageManip

ImageManip node.

ImageManipConfig

ImageManipConfig message.

ImgDetection

ImgDetections

ImgDetections message.

ImgFrame

ImgFrame message.

LogLevel

Members:

MemoryInfo

MemoryInfo structure

MobileNetDetectionNetwork

MobileNetDetectionNetwork node.

MobileNetSpatialDetectionNetwork

MobileNetSpatialDetectionNetwork.

MonoCamera

MonoCamera node.

MonoCameraProperties

Specify MonoCamera options such as camera ID, …

NNData

NNData message.

NeuralNetwork

NeuralNetwork node.

NeuralNetworkProperties

Specify NeuralNetwork options such as blob path, …

Node

Abstract Node

OpenVINO

Support for basic OpenVINO related actions like version identification of neural network blobs,…

Pipeline

Represents the pipeline, set of nodes and connections between them

Point2f

Point2f structure

Point3f

Point3f structure

RawBuffer

RawCameraControl

RawImageManipConfig

RawImgDetections

RawImgFrame

RawNNData

RawSpatialImgDetections

RawSystemInformation

System information of device

Rect

Rect structure

RotatedRect

SPIOut

SPIOut node.

Size2f

SpatialDetectionNetwork

SpatialDetectionNetwork node.

SpatialDetectionNetworkProperties

Properties for SpatialDetectionNetwork

SpatialImgDetection

Spatial image detection structure

SpatialImgDetections

SpatialImgDetections message.

SpatialLocationCalculator

SpatialLocationCalculator node.

SpatialLocationCalculatorConfig

SpatialLocationCalculatorConfig message.

SpatialLocationCalculatorConfigData

SpatialLocationCalculatorConfigThresholds

Spatial location configuration thresholds structure

SpatialLocationCalculatorData

SpatialLocationCalculatorData message.

SpatialLocationCalculatorProperties

Specify SpatialLocationCalculator options

SpatialLocations

Spatial location information structure

StereoDepth

StereoDepth node.

StereoDepthProperties

Specify StereoDepth options

SystemInformation

SystemInformation message.

SystemLogger

SystemLogger node.

SystemLoggerProperties

TensorInfo

Timestamp

VideoEncoder

VideoEncoder node.

VideoEncoderProperties

Specify VideoEncoder options such as profile, bitrate, …

XLinkConnection

XLinkDeviceState

Members:

XLinkIn

XLinkIn node.

XLinkOut

XLinkOut node.

XLinkPlatform

Members:

XLinkProtocol

Members:

YoloDetectionNetwork

YoloDetectionNetwork node.

YoloSpatialDetectionNetwork

YoloSpatialDetectionNetwork.

class depthai.ADatatype

Bases: pybind11_builtins.pybind11_object

Abstract message

Methods:

__init__(*args, **kwargs)

Initialize self.

getRaw(self)

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getRaw(self: depthai.ADatatype)depthai.RawBuffer
class depthai.Asset

Bases: pybind11_builtins.pybind11_object

Asset is identified with string key and can store arbitrary binary data

Methods:

__init__(*args, **kwargs)

Overloaded function.

Attributes:

alignment

data

key

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: depthai.Asset) -> None

  2. __init__(self: depthai.Asset, arg0: str) -> None

property alignment
property data
property key
class depthai.AssetManager

Bases: pybind11_builtins.pybind11_object

AssetManager can store assets and serialize

Methods:

__init__(self)

add(*args, **kwargs)

Overloaded function.

addExisting(self, assets)

Adds all assets in an array to the AssetManager

get(*args, **kwargs)

Overloaded function.

getAll(*args, **kwargs)

Overloaded function.

remove(self, key)

Removes asset with key

set(self, key, asset)

Adds or overwrites existing asset with a specificied key.

size(self)

returns

Number of asset stored in the AssetManager

__init__(self: depthai.AssetManager)None
add(*args, **kwargs)

Overloaded function.

  1. add(self: depthai.AssetManager, asset: depthai.Asset) -> None

Adds an asset object to AssetManager.

Parameter asset:

Asset to add

  1. add(self: depthai.AssetManager, key: str, asset: depthai.Asset) -> None

Adds an asset object to AssetManager with a specificied key. Key value will be assigned to an Asset as well

If asset with key already exists, the function throws an error

Parameter key:

Key under which the asset should be stored

Parameter asset:

Asset to store

addExisting(self: depthai.AssetManager, assets: List[depthai.Asset])None

Adds all assets in an array to the AssetManager

Parameter assets:

Vector of assets to add

get(*args, **kwargs)

Overloaded function.

  1. get(self: depthai.AssetManager, key: str) -> depthai.Asset

Returns

Asset assigned to the specified key or throws an error otherwise

  1. get(self: depthai.AssetManager, key: str) -> depthai.Asset

Returns

Asset assigned to the specified key or throws an error otherwise

getAll(*args, **kwargs)

Overloaded function.

  1. getAll(self: depthai.AssetManager) -> List[depthai.Asset]

Returns

All asset stored in the AssetManager

  1. getAll(self: depthai.AssetManager) -> List[depthai.Asset]

Returns

All asset stored in the AssetManager

remove(self: depthai.AssetManager, key: str)None

Removes asset with key

Parameter key:

Key of asset to remove

set(self: depthai.AssetManager, key: str, asset: depthai.Asset)None

Adds or overwrites existing asset with a specificied key.

Parameter key:

Key under which the asset should be stored

Parameter asset:

Asset to store

size(self: depthai.AssetManager)int
Returns

Number of asset stored in the AssetManager

class depthai.Buffer

Bases: depthai.ADatatype

Base message - buffer of binary data

Methods:

__init__(self)

Creates Buffer message

getData(self)

returns

Reference to internal buffer

setData(*args, **kwargs)

Overloaded function.

__init__(self: depthai.Buffer)None

Creates Buffer message

getData(self: object) → numpy.ndarray[numpy.uint8]
Returns

Reference to internal buffer

setData(*args, **kwargs)

Overloaded function.

  1. setData(self: depthai.Buffer, arg0: List[int]) -> None

Parameter data:

Copies data to internal buffer

  1. setData(self: depthai.Buffer, arg0: numpy.ndarray[numpy.uint8]) -> None

Parameter data:

Copies data to internal buffer

class depthai.CameraBoardSocket

Bases: pybind11_builtins.pybind11_object

Which Camera socket to use.

AUTO denotes that the decision will be made by device

Members:

AUTO

RGB

LEFT

RIGHT

Attributes:

AUTO

LEFT

RGB

RIGHT

name

value

Methods:

__init__(self, value)

AUTO = <CameraBoardSocket.AUTO: -1>
LEFT = <CameraBoardSocket.LEFT: 1>
RGB = <CameraBoardSocket.RGB: 0>
RIGHT = <CameraBoardSocket.RIGHT: 2>
__init__(self: depthai.CameraBoardSocket, value: int)None
property name
property value
class depthai.CameraControl

Bases: depthai.Buffer

CameraControl message Specifies various camera control commands like:

  • Still capture

  • Auto focus

  • Anti banding

  • Auto white balance

  • Scene

  • Effect

Classes:

AntiBandingMode

Members:

AutoFocusMode

Members:

AutoWhiteBalanceMode

Members:

EffectMode

Members:

SceneMode

Members:

Methods:

__init__(self)

Construct CameraControl message

getCaptureStill(self)

Check whether command to capture a still is set

setAntiBandingMode(self, mode)

Set a command to specify auto banding mode

setAutoExposureCompensation(self, compensation)

Set a command to specify auto exposure compenstaion

setAutoExposureEnable(self)

Set a command to enable auto exposure

setAutoExposureLock(self, lock)

Set a command to specify lock auto exposure

setAutoExposureRegion(self, startX, startY, …)

Set a command to specify auto exposure region in pixels

setAutoFocusMode(self, mode)

Set a command to specify autofocus mode

setAutoFocusRegion(self, startX, startY, …)

Set a command to specify focus region in pixels

setAutoFocusTrigger(self)

Set a command to trigger autofocus

setAutoWhiteBalanceLock(self, lock)

Set a command to specify auto white balance lock

setAutoWhiteBalanceMode(self, mode)

Set a command to specify auto white balance mode

setBrightness(self, value)

Set a command to specify auto white balance lock

setCaptureStill(self, capture)

Set a command to capture a still image

setChromaDenoise(self, value)

Set a command to specify chroma denoise value

setContrast(self, value)

Set a command to specify auto white balance lock

setEffectMode(self, mode)

Set a command to specify effect mode

setLumaDenoise(self, value)

Set a command to specify luma denoise value

setManualExposure(self, exposureTimeUs, …)

Set a command to manually specify exposure

setManualFocus(self, lensPosition)

Set a command to specify manual focus position

setNoiseReductionStrength(self, value)

Set a command to specify noise reduction strength

setSaturation(self, value)

Set a command to specify saturation value

setSceneMode(self, mode)

Set a command to specify scene mode

setSharpness(self, value)

Set a command to specify sharpness value

setStartStreaming(self)

Set a command to start streaming

setStopStreaming(self)

Set a command to stop streaming

class AntiBandingMode

Bases: pybind11_builtins.pybind11_object

Members:

OFF

MAINS_50_HZ

MAINS_60_HZ

AUTO

Attributes:

AUTO

MAINS_50_HZ

MAINS_60_HZ

OFF

name

value

Methods:

__init__(self, value)

AUTO = <AntiBandingMode.AUTO: 3>
MAINS_50_HZ = <AntiBandingMode.MAINS_50_HZ: 1>
MAINS_60_HZ = <AntiBandingMode.MAINS_60_HZ: 2>
OFF = <AntiBandingMode.OFF: 0>
__init__(self: depthai.RawCameraControl.AntiBandingMode, value: int)None
property name
property value
class AutoFocusMode

Bases: pybind11_builtins.pybind11_object

Members:

OFF

AUTO

MACRO

CONTINUOUS_VIDEO

CONTINUOUS_PICTURE

EDOF

Attributes:

AUTO

CONTINUOUS_PICTURE

CONTINUOUS_VIDEO

EDOF

MACRO

OFF

name

value

Methods:

__init__(self, value)

AUTO = <AutoFocusMode.AUTO: 1>
CONTINUOUS_PICTURE = <AutoFocusMode.CONTINUOUS_PICTURE: 4>
CONTINUOUS_VIDEO = <AutoFocusMode.CONTINUOUS_VIDEO: 3>
EDOF = <AutoFocusMode.EDOF: 5>
MACRO = <AutoFocusMode.MACRO: 2>
OFF = <AutoFocusMode.OFF: 0>
__init__(self: depthai.RawCameraControl.AutoFocusMode, value: int)None
property name
property value
class AutoWhiteBalanceMode

Bases: pybind11_builtins.pybind11_object

Members:

OFF

AUTO

INCANDESCENT

FLUORESCENT

WARM_FLUORESCENT

DAYLIGHT

CLOUDY_DAYLIGHT

TWILIGHT

SHADE

Attributes:

AUTO

CLOUDY_DAYLIGHT

DAYLIGHT

FLUORESCENT

INCANDESCENT

OFF

SHADE

TWILIGHT

WARM_FLUORESCENT

name

value

Methods:

__init__(self, value)

AUTO = <AutoWhiteBalanceMode.AUTO: 1>
CLOUDY_DAYLIGHT = <AutoWhiteBalanceMode.CLOUDY_DAYLIGHT: 6>
DAYLIGHT = <AutoWhiteBalanceMode.DAYLIGHT: 5>
FLUORESCENT = <AutoWhiteBalanceMode.FLUORESCENT: 3>
INCANDESCENT = <AutoWhiteBalanceMode.INCANDESCENT: 2>
OFF = <AutoWhiteBalanceMode.OFF: 0>
SHADE = <AutoWhiteBalanceMode.SHADE: 8>
TWILIGHT = <AutoWhiteBalanceMode.TWILIGHT: 7>
WARM_FLUORESCENT = <AutoWhiteBalanceMode.WARM_FLUORESCENT: 4>
__init__(self: depthai.RawCameraControl.AutoWhiteBalanceMode, value: int)None
property name
property value
class EffectMode

Bases: pybind11_builtins.pybind11_object

Members:

OFF

MONO

NEGATIVE

SOLARIZE

SEPIA

POSTERIZE

WHITEBOARD

BLACKBOARD

AQUA

Attributes:

AQUA

BLACKBOARD

MONO

NEGATIVE

OFF

POSTERIZE

SEPIA

SOLARIZE

WHITEBOARD

name

value

Methods:

__init__(self, value)

AQUA = <EffectMode.AQUA: 8>
BLACKBOARD = <EffectMode.BLACKBOARD: 7>
MONO = <EffectMode.MONO: 1>
NEGATIVE = <EffectMode.NEGATIVE: 2>
OFF = <EffectMode.OFF: 0>
POSTERIZE = <EffectMode.POSTERIZE: 5>
SEPIA = <EffectMode.SEPIA: 4>
SOLARIZE = <EffectMode.SOLARIZE: 3>
WHITEBOARD = <EffectMode.WHITEBOARD: 6>
__init__(self: depthai.RawCameraControl.EffectMode, value: int)None
property name
property value
class SceneMode

Bases: pybind11_builtins.pybind11_object

Members:

UNSUPPORTED

FACE_PRIORITY

ACTION

PORTRAIT

LANDSCAPE

NIGHT

NIGHT_PORTRAIT

THEATRE

BEACH

SNOW

SUNSET

STEADYPHOTO

FIREWORKS

SPORTS

PARTY

CANDLELIGHT

BARCODE

Attributes:

ACTION

BARCODE

BEACH

CANDLELIGHT

FACE_PRIORITY

FIREWORKS

LANDSCAPE

NIGHT

NIGHT_PORTRAIT

PARTY

PORTRAIT

SNOW

SPORTS

STEADYPHOTO

SUNSET

THEATRE

UNSUPPORTED

name

value

Methods:

__init__(self, value)

ACTION = <SceneMode.ACTION: 2>
BARCODE = <SceneMode.BARCODE: 16>
BEACH = <SceneMode.BEACH: 8>
CANDLELIGHT = <SceneMode.CANDLELIGHT: 15>
FACE_PRIORITY = <SceneMode.FACE_PRIORITY: 1>
FIREWORKS = <SceneMode.FIREWORKS: 12>
LANDSCAPE = <SceneMode.LANDSCAPE: 4>
NIGHT = <SceneMode.NIGHT: 5>
NIGHT_PORTRAIT = <SceneMode.NIGHT_PORTRAIT: 6>
PARTY = <SceneMode.PARTY: 14>
PORTRAIT = <SceneMode.PORTRAIT: 3>
SNOW = <SceneMode.SNOW: 9>
SPORTS = <SceneMode.SPORTS: 13>
STEADYPHOTO = <SceneMode.STEADYPHOTO: 11>
SUNSET = <SceneMode.SUNSET: 10>
THEATRE = <SceneMode.THEATRE: 7>
UNSUPPORTED = <SceneMode.UNSUPPORTED: 0>
__init__(self: depthai.RawCameraControl.SceneMode, value: int)None
property name
property value
__init__(self: depthai.CameraControl)None

Construct CameraControl message

getCaptureStill(self: depthai.CameraControl)bool

Check whether command to capture a still is set

Returns

True if capture still command is set

setAntiBandingMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.AntiBandingMode)None

Set a command to specify auto banding mode

Parameter mode:

Auto banding mode to use

setAutoExposureCompensation(self: depthai.CameraControl, compensation: int)None

Set a command to specify auto exposure compenstaion

Parameter compensation:

Compensation value between -128..127

setAutoExposureEnable(self: depthai.CameraControl)None

Set a command to enable auto exposure

setAutoExposureLock(self: depthai.CameraControl, lock: bool)None

Set a command to specify lock auto exposure

Parameter lock:

Auto exposure lock mode enabled or disabled

setAutoExposureRegion(self: depthai.CameraControl, startX: int, startY: int, width: int, height: int)None

Set a command to specify auto exposure region in pixels

Parameter startX:

X coordinate of top left corner of region

Parameter startY:

Y coordinate of top left corner of region

Parameter width:

Region width

Parameter height:

Region height

setAutoFocusMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.AutoFocusMode)None

Set a command to specify autofocus mode

setAutoFocusRegion(self: depthai.CameraControl, startX: int, startY: int, width: int, height: int)None

Set a command to specify focus region in pixels

Parameter startX:

X coordinate of top left corner of region

Parameter startY:

Y coordinate of top left corner of region

Parameter width:

Region width

Parameter height:

Region height

setAutoFocusTrigger(self: depthai.CameraControl)None

Set a command to trigger autofocus

setAutoWhiteBalanceLock(self: depthai.CameraControl, lock: bool)None

Set a command to specify auto white balance lock

Parameter lock:

Auto white balance lock mode enabled or disabled

setAutoWhiteBalanceMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.AutoWhiteBalanceMode)None

Set a command to specify auto white balance mode

Parameter mode:

Auto white balance mode to use

setBrightness(self: depthai.CameraControl, value: int)None

Set a command to specify auto white balance lock

Parameter lock:

Auto white balance lock mode enabled or disabled

setCaptureStill(self: depthai.CameraControl, capture: bool)None

Set a command to capture a still image

setChromaDenoise(self: depthai.CameraControl, value: int)None

Set a command to specify chroma denoise value

Parameter value:

Chroma denoise

setContrast(self: depthai.CameraControl, value: int)None

Set a command to specify auto white balance lock

Parameter lock:

Auto white balance lock mode enabled or disabled

setEffectMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.EffectMode)None

Set a command to specify effect mode

Parameter mode:

Effect mode

setLumaDenoise(self: depthai.CameraControl, value: int)None

Set a command to specify luma denoise value

Parameter value:

Luma denoise

setManualExposure(self: depthai.CameraControl, exposureTimeUs: int, sensitivityIso: int)None

Set a command to manually specify exposure

Parameter exposureTimeUs:

Exposure time in microseconds

Parameter sensitivityIso:

Sensitivity as ISO value

setManualFocus(self: depthai.CameraControl, lensPosition: int)None

Set a command to specify manual focus position

Parameter lensPosition:

specify lens position 0..255

setNoiseReductionStrength(self: depthai.CameraControl, value: int)None

Set a command to specify noise reduction strength

Parameter value:

Noise reduction strength

setSaturation(self: depthai.CameraControl, value: int)None

Set a command to specify saturation value

Parameter value:

Saturation

setSceneMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.SceneMode)None

Set a command to specify scene mode

Parameter mode:

Scene mode

setSharpness(self: depthai.CameraControl, value: int)None

Set a command to specify sharpness value

Parameter value:

Sharpness

setStartStreaming(self: depthai.CameraControl)None

Set a command to start streaming

setStopStreaming(self: depthai.CameraControl)None

Set a command to stop streaming

class depthai.CameraImageOrientation

Bases: pybind11_builtins.pybind11_object

Camera sensor image orientation / pixel readout. This exposes direct sensor settings. 90 or 270 degrees rotation is not available.

AUTO denotes that the decision will be made by device (e.g. on OAK-1/megaAI: ROTATE_180_DEG).

Members:

AUTO

NORMAL

HORIZONTAL_MIRROR

VERTICAL_FLIP

ROTATE_180_DEG

Attributes:

AUTO

HORIZONTAL_MIRROR

NORMAL

ROTATE_180_DEG

VERTICAL_FLIP

name

value

Methods:

__init__(self, value)

AUTO = <CameraImageOrientation.AUTO: -1>
HORIZONTAL_MIRROR = <CameraImageOrientation.HORIZONTAL_MIRROR: 1>
NORMAL = <CameraImageOrientation.NORMAL: 0>
ROTATE_180_DEG = <CameraImageOrientation.ROTATE_180_DEG: 3>
VERTICAL_FLIP = <CameraImageOrientation.VERTICAL_FLIP: 2>
__init__(self: depthai.CameraImageOrientation, value: int)None
property name
property value
class depthai.ChipTemperature

Bases: pybind11_builtins.pybind11_object

Chip temperature information.

Multiple temperature measurement points and their average

Methods:

__init__(self)

Attributes:

average

css

dss

mss

upa

__init__(self: depthai.ChipTemperature)None
property average
property css
property dss
property mss
property upa
class depthai.ColorCamera

Bases: depthai.Node

ColorCamera node. For use with color sensors.

Classes:

Properties

alias of depthai.ColorCameraProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getBoardSocket(self)

Retrieves which board socket to use

getCamId(self)

getColorOrder(self)

Get color order of preview output frames.

getFp16(self)

Get fp16 (0..255) data of preview output frames

getFps(self)

Get rate at which camera should produce frames

getImageOrientation(self)

Get camera image orientation

getInterleaved(self)

Get planar or interleaved data of preview output frames

getPreviewHeight(self)

Get preview height

getPreviewKeepAspectRatio(self)

See also

setPreviewKeepAspectRatio

getPreviewSize(self)

Get preview size as tuple

getPreviewWidth(self)

Get preview width

getResolution(self)

Get sensor resolution

getResolutionHeight(self)

Get sensor resolution height

getResolutionSize(self)

Get sensor resolution as size

getResolutionWidth(self)

Get sensor resolution width

getSensorCrop(self)

returns

Sensor top left crop coordinates

getSensorCropX(self)

Get sensor top left x crop coordinate

getSensorCropY(self)

Get sensor top left y crop coordinate

getStillHeight(self)

Get still height

getStillSize(self)

Get still size as tuple

getStillWidth(self)

Get still width

getVideoHeight(self)

Get video height

getVideoSize(self)

Get video size as tuple

getVideoWidth(self)

Get video width

getWaitForConfigInput(self)

See also

setWaitForConfigInput

sensorCenterCrop(self)

Specify sensor center crop.

setBoardSocket(self, boardSocket)

Specify which board socket to use

setCamId(self, arg0)

setColorOrder(self, colorOrder)

Set color order of preview output images.

setFp16(self, fp16)

Set fp16 (0..255) data type of preview output frames

setFps(self, fps)

Set rate at which camera should produce frames

setImageOrientation(self, boardSocket)

Set camera image orientation

setInterleaved(self, interleaved)

Set planar or interleaved data of preview output frames

setPreviewKeepAspectRatio(self, keep)

Specifies whether preview output should preserve aspect ratio, after downscaling from video size or not.

setPreviewSize(self, width, height)

Set preview output size

setResolution(self, resolution)

Set sensor resolution

setSensorCrop(self, x, y)

Specifies sensor crop rectangle

setStillSize(self, width, height)

Set still output size

setVideoSize(self, width, height)

Set video output size

setWaitForConfigInput(self, wait)

Specify to wait until inputConfig receives a configuration message, before sending out a frame.

Attributes:

initialControl

Initial control options to apply to sensor

inputConfig

Input for ImageManipConfig message, which can modify crop paremeters in runtime

inputControl

Input for CameraControl message, which can modify camera parameters in runtime

preview

Outputs ImgFrame message that carries BGR/RGB planar/interleaved encoded frame data.

still

Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data.

video

Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data.

Properties

alias of depthai.ColorCameraProperties Classes:

ColorOrder

For 24 bit color these can be either RGB or BGR

SensorResolution

Select the camera sensor resolution

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

boardSocket

colorOrder

fps

initialControl

interleaved

previewHeight

previewWidth

resolution

sensorCropX

sensorCropY

stillHeight

stillWidth

videoHeight

videoWidth

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getBoardSocket(self: depthai.ColorCamera) → dai::CameraBoardSocket

Retrieves which board socket to use

Returns

Board socket to use

getCamId(self: depthai.ColorCamera)int
getColorOrder(self: depthai.ColorCamera) → dai::ColorCameraProperties::ColorOrder

Get color order of preview output frames. RGB or BGR

getFp16(self: depthai.ColorCamera)bool

Get fp16 (0..255) data of preview output frames

getFps(self: depthai.ColorCamera)float

Get rate at which camera should produce frames

Returns

Rate in frames per second

getImageOrientation(self: depthai.ColorCamera) → dai::CameraImageOrientation

Get camera image orientation

getInterleaved(self: depthai.ColorCamera)bool

Get planar or interleaved data of preview output frames

getPreviewHeight(self: depthai.ColorCamera)int

Get preview height

getPreviewKeepAspectRatio(self: depthai.ColorCamera)bool

See also

setPreviewKeepAspectRatio

Returns

Preview keep aspect ratio option

getPreviewSize(self: depthai.ColorCamera) → Tuple[int, int]

Get preview size as tuple

getPreviewWidth(self: depthai.ColorCamera)int

Get preview width

getResolution(self: depthai.ColorCamera) → dai::ColorCameraProperties::SensorResolution

Get sensor resolution

getResolutionHeight(self: depthai.ColorCamera)int

Get sensor resolution height

getResolutionSize(self: depthai.ColorCamera) → Tuple[int, int]

Get sensor resolution as size

getResolutionWidth(self: depthai.ColorCamera)int

Get sensor resolution width

getSensorCrop(self: depthai.ColorCamera) → Tuple[float, float]
Returns

Sensor top left crop coordinates

getSensorCropX(self: depthai.ColorCamera)float

Get sensor top left x crop coordinate

getSensorCropY(self: depthai.ColorCamera)float

Get sensor top left y crop coordinate

getStillHeight(self: depthai.ColorCamera)int

Get still height

getStillSize(self: depthai.ColorCamera) → Tuple[int, int]

Get still size as tuple

getStillWidth(self: depthai.ColorCamera)int

Get still width

getVideoHeight(self: depthai.ColorCamera)int

Get video height

getVideoSize(self: depthai.ColorCamera) → Tuple[int, int]

Get video size as tuple

getVideoWidth(self: depthai.ColorCamera)int

Get video width

getWaitForConfigInput(self: depthai.ColorCamera)bool

See also

setWaitForConfigInput

Returns

True if wait for inputConfig message, false otherwise

property initialControl

Initial control options to apply to sensor

property inputConfig

Input for ImageManipConfig message, which can modify crop paremeters in runtime

Default queue is non-blocking with size 8

property inputControl

Input for CameraControl message, which can modify camera parameters in runtime

Default queue is blocking with size 8

property preview

Outputs ImgFrame message that carries BGR/RGB planar/interleaved encoded frame data.

Suitable for use with NeuralNetwork node

sensorCenterCrop(self: depthai.ColorCamera)None

Specify sensor center crop. Resolution size / video size

setBoardSocket(self: depthai.ColorCamera, boardSocket: dai::CameraBoardSocket)None

Specify which board socket to use

Parameter boardSocket:

Board socket to use

setCamId(self: depthai.ColorCamera, arg0: int)None
setColorOrder(self: depthai.ColorCamera, colorOrder: dai::ColorCameraProperties::ColorOrder)None

Set color order of preview output images. RGB or BGR

setFp16(self: depthai.ColorCamera, fp16: bool)None

Set fp16 (0..255) data type of preview output frames

setFps(self: depthai.ColorCamera, fps: float)None

Set rate at which camera should produce frames

Parameter fps:

Rate in frames per second

setImageOrientation(self: depthai.ColorCamera, boardSocket: dai::CameraImageOrientation)None

Set camera image orientation

setInterleaved(self: depthai.ColorCamera, interleaved: bool)None

Set planar or interleaved data of preview output frames

setPreviewKeepAspectRatio(self: depthai.ColorCamera, keep: bool)None

Specifies whether preview output should preserve aspect ratio, after downscaling from video size or not.

Parameter keep:

If true, a larger crop region will be considered to still be able to create the final image in the specified aspect ratio. Otherwise video size is resized to fit preview size

setPreviewSize(self: depthai.ColorCamera, width: int, height: int)None

Set preview output size

setResolution(self: depthai.ColorCamera, resolution: dai::ColorCameraProperties::SensorResolution)None

Set sensor resolution

setSensorCrop(self: depthai.ColorCamera, x: float, y: float)None

Specifies sensor crop rectangle

Parameter x:

Top left X coordinate

Parameter y:

Top left Y coordinate

setStillSize(self: depthai.ColorCamera, width: int, height: int)None

Set still output size

setVideoSize(self: depthai.ColorCamera, width: int, height: int)None

Set video output size

setWaitForConfigInput(self: depthai.ColorCamera, wait: bool)None

Specify to wait until inputConfig receives a configuration message, before sending out a frame.

Parameter wait:

True to wait for inputConfig message, false otherwise

property still

Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data.

The message is sent only when a CameraControl message arrives to inputControl with captureStill command set.

property video

Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data.

Suitable for use with VideoEncoder node

class depthai.ColorCameraProperties

Bases: pybind11_builtins.pybind11_object

Specify ColorCamera options such as camera ID, …

Classes:

ColorOrder

For 24 bit color these can be either RGB or BGR

SensorResolution

Select the camera sensor resolution

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

boardSocket

colorOrder

fps

initialControl

interleaved

previewHeight

previewWidth

resolution

sensorCropX

sensorCropY

stillHeight

stillWidth

videoHeight

videoWidth

class ColorOrder

Bases: pybind11_builtins.pybind11_object

For 24 bit color these can be either RGB or BGR

Members:

BGR

RGB

Attributes:

BGR

RGB

name

value

Methods:

__init__(self, value)

BGR = <ColorOrder.BGR: 0>
RGB = <ColorOrder.RGB: 1>
__init__(self: depthai.ColorCameraProperties.ColorOrder, value: int)None
property name
property value
class SensorResolution

Bases: pybind11_builtins.pybind11_object

Select the camera sensor resolution

Members:

THE_1080_P

THE_4_K

THE_12_MP

Attributes:

THE_1080_P

THE_12_MP

THE_4_K

name

value

Methods:

__init__(self, value)

THE_1080_P = <SensorResolution.THE_1080_P: 0>
THE_12_MP = <SensorResolution.THE_12_MP: 2>
THE_4_K = <SensorResolution.THE_4_K: 1>
__init__(self: depthai.ColorCameraProperties.SensorResolution, value: int)None
property name
property value
__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property boardSocket
property colorOrder
property fps
property initialControl
property interleaved
property previewHeight
property previewWidth
property resolution
property sensorCropX
property sensorCropY
property stillHeight
property stillWidth
property videoHeight
property videoWidth
class depthai.CpuUsage

Bases: pybind11_builtins.pybind11_object

CpuUsage structure

Average usage in percent and time span of the average (since last query)

Methods:

__init__(self)

Attributes:

average

msTime

__init__(self: depthai.CpuUsage)None
property average
property msTime
class depthai.DataInputQueue

Bases: pybind11_builtins.pybind11_object

Access to send messages through XLink stream

Methods:

__init__(*args, **kwargs)

Initialize self.

getBlocking(self)

Gets current queue behavior when full (maxSize)

getMaxSize(self, arg0)

Gets queue maximum size

getName(self)

Gets queues name

send(*args, **kwargs)

Overloaded function.

setBlocking(self, blocking)

Sets queue behavior when full (maxSize)

setMaxSize(self, maxSize)

Sets queue maximum size

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getBlocking(self: depthai.DataInputQueue)bool

Gets current queue behavior when full (maxSize)

Returns

true if blocking, false otherwise

getMaxSize(self: depthai.DataInputQueue, arg0: int)int

Gets queue maximum size

Returns

Maximum queue size

getName(self: depthai.DataInputQueue)str

Gets queues name

Returns

Queue name

send(*args, **kwargs)

Overloaded function.

  1. send(self: depthai.DataInputQueue, msg: depthai.ADatatype) -> None

Adds a message to the queue, which will be picked up and sent to the device. Can either block if ‘blocking’ behavior is true or overwrite oldest

Parameter msg:

Message to add to the queue

  1. send(self: depthai.DataInputQueue, rawMsg: depthai.RawBuffer) -> None

Adds a raw message to the queue, which will be picked up and sent to the device. Can either block if ‘blocking’ behavior is true or overwrite oldest

Parameter rawMsg:

Message to add to the queue

setBlocking(self: depthai.DataInputQueue, blocking: bool)None

Sets queue behavior when full (maxSize)

Parameter blocking:

Specifies if block or overwrite the oldest message in the queue

setMaxSize(self: depthai.DataInputQueue, maxSize: int)None

Sets queue maximum size

Parameter maxSize:

Specifies maximum number of messages in the queue

class depthai.DataOutputQueue

Bases: pybind11_builtins.pybind11_object

Access to receive messages coming from XLink stream

Methods:

__init__(*args, **kwargs)

Initialize self.

addCallback(*args, **kwargs)

Overloaded function.

get(self)

Block until a message is available.

getAll(self)

Block until at least one message in the queue.

getBlocking(self)

Gets current queue behavior when full (maxSize)

getMaxSize(self, arg0)

Gets queue maximum size

getName(self)

Gets queues name

has(self)

Check whether front of the queue has a message (isn’t empty)

removeCallback(self, callbackId)

Removes a callback

setBlocking(self, blocking)

Sets queue behavior when full (maxSize)

setMaxSize(self, maxSize)

Sets queue maximum size

tryGet(self)

Try to retrieve message from queue.

tryGetAll(self)

Try to retrieve all messages in the queue.

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

addCallback(*args, **kwargs)

Overloaded function.

  1. addCallback(self: depthai.DataOutputQueue, callback: std::function<void (std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::shared_ptr<dai::ADatatype>)>) -> int

Adds a callback on message received

Parameter callback:

Callback function with queue name and message pointer

Returns

Callback id

  1. addCallback(self: depthai.DataOutputQueue, callback: std::function<void (std::shared_ptr<dai::ADatatype>)>) -> int

Adds a callback on message received

Parameter callback:

Callback function with message pointer

Returns

Callback id

  1. addCallback(self: depthai.DataOutputQueue, callback: std::function<void ()>) -> int

Adds a callback on message received

Parameter callback:

Callback function without any parameters

Returns

Callback id

get(self: depthai.DataOutputQueue)depthai.ADatatype

Block until a message is available.

Returns

Message or nullptr if no message available

getAll(self: depthai.DataOutputQueue) → List[depthai.ADatatype]

Block until at least one message in the queue. Then return all messages from the queue.

Returns

Vector of messages

getBlocking(self: depthai.DataOutputQueue)bool

Gets current queue behavior when full (maxSize)

Returns

true if blocking, false otherwise

getMaxSize(self: depthai.DataOutputQueue, arg0: int)int

Gets queue maximum size

Returns

Maximum queue size

getName(self: depthai.DataOutputQueue)str

Gets queues name

Returns

Queue name

has(self: depthai.DataOutputQueue)bool

Check whether front of the queue has a message (isn’t empty)

Returns

true if queue isn’t empty, false otherwise

removeCallback(self: depthai.DataOutputQueue, callbackId: int)bool

Removes a callback

Parameter callbackId:

Id of callback to be removed

Returns

true if callback was removed, false otherwise

setBlocking(self: depthai.DataOutputQueue, blocking: bool)None

Sets queue behavior when full (maxSize)

Parameter blocking:

Specifies if block or overwrite the oldest message in the queue

setMaxSize(self: depthai.DataOutputQueue, maxSize: int)None

Sets queue maximum size

Parameter maxSize:

Specifies maximum number of messages in the queue

tryGet(self: depthai.DataOutputQueue)depthai.ADatatype

Try to retrieve message from queue. If no message available, return immidiately with nullptr

Returns

Message or nullptr if no message available

tryGetAll(self: depthai.DataOutputQueue) → List[depthai.ADatatype]

Try to retrieve all messages in the queue.

Returns

Vector of messages

class depthai.DetectionNetwork

Bases: depthai.NeuralNetwork

DetectionNetwork. Base for different network specializations

Classes:

Properties

alias of depthai.DetectionNetworkProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

setConfidenceThreshold(self, thresh)

Specifies confidence threshold at which to filter the rest of the detections.

Attributes:

input

Input message with data to be infered upon Default queue is blocking with size 5

out

Outputs ImgDetections message that carries parsed detection results.

passthrough

Passthrough message on which the inference was performed.

Properties

alias of depthai.DetectionNetworkProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

anchorMasks

anchors

classes

confidenceThreshold

coordinates

iouThreshold

nnFamily

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property input

Input message with data to be infered upon Default queue is blocking with size 5

property out

Outputs ImgDetections message that carries parsed detection results.

property passthrough

Passthrough message on which the inference was performed.

Suitable for when input queue is set to non-blocking behavior.

setConfidenceThreshold(self: depthai.DetectionNetwork, thresh: float)None

Specifies confidence threshold at which to filter the rest of the detections.

Parameter thresh:

Detection confidence must be greater than specified threshold to be added to the list

class depthai.DetectionNetworkProperties

Bases: depthai.NeuralNetworkProperties

Properties for DetectionNetwork

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

anchorMasks

anchors

classes

confidenceThreshold

coordinates

iouThreshold

nnFamily

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property anchorMasks
property anchors
property classes
property confidenceThreshold
property coordinates
property iouThreshold
property nnFamily
class depthai.Device

Bases: pybind11_builtins.pybind11_object

Represents the DepthAI device with the methods to interact with it.

Methods:

__init__(*args, **kwargs)

Overloaded function.

addLogCallback(self, callback)

Add a callback for device logging.

close(self)

Closes the connection to device.

getAllAvailableDevices()

Returns all connected devices

getAnyAvailableDevice(*args, **kwargs)

Overloaded function.

getChipTemperature(self)

Retrieves current chip temperature as measured by device

getCmxMemoryUsage(self)

Retrieves current CMX memory information from device

getDdrMemoryUsage(self)

Retrieves current DDR memory information from device

getDeviceByMxId(mxId)

Finds a device by MX ID.

getEmbeddedDeviceBinary(usb2Mode, version)

Gets device firmware binary for a specific OpenVINO version

getFirstAvailableDevice()

Gets first available device.

getInputQueue(*args, **kwargs)

Overloaded function.

getInputQueueNames(self)

Get all available input queue names

getLeonCssCpuUsage(self)

Retrieves average CSS Leon CPU usage

getLeonCssHeapUsage(self)

Retrieves current CSS Leon CPU heap information from device

getLeonMssCpuUsage(self)

Retrieves average MSS Leon CPU usage

getLeonMssHeapUsage(self)

Retrieves current MSS Leon CPU heap information from device

getLogLevel(self)

Gets current logging severity level of the device.

getLogOutputLevel(self)

Gets logging level which decides printing level to standard output.

getOutputQueue(*args, **kwargs)

Overloaded function.

getOutputQueueNames(self)

Get all available output queue names

getQueueEvent(*args, **kwargs)

Overloaded function.

getQueueEvents(*args, **kwargs)

Overloaded function.

getSystemInformationLoggingRate(self)

Gets current rate of system information logging (“info” severity) in Hz.

isPipelineRunning(self)

Checks if devices pipeline is already running

removeLogCallback(self, callbackId)

Removes a callback

setLogLevel(self, level)

Sets the devices logging severity level.

setLogOutputLevel(self, level)

Sets logging level which decides printing level to standard output.

setSystemInformationLoggingRate(self, rateHz)

Sets rate of system information logging (“info” severity).

startPipeline(self)

Starts the execution of the devices pipeline

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: depthai.Device, pipeline: depthai.Pipeline) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:
  • Pipeline to be executed on the device

  1. __init__(self: depthai.Device, pipeline: depthai.Pipeline, usb2Mode: bool) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:
  • Pipeline to be executed on the device

Parameter usb2Mode:
  • Boot device using USB2 mode firmware

  1. __init__(self: depthai.Device, pipeline: depthai.Pipeline, pathToCmd: str) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:
  • Pipeline to be executed on the device

Parameter pathToCmd:
  • Path to custom device firmware

  1. __init__(self: depthai.Device, pipeline: depthai.Pipeline, deviceDesc: depthai.DeviceInfo, usb2Mode: bool = False) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:
  • Pipeline to be executed on the device

Parameter pathToCmd:
  • Path to custom device firmware

  1. __init__(self: depthai.Device, pipeline: depthai.Pipeline, deviceDesc: depthai.DeviceInfo, pathToCmd: str) -> None

Connects to device specified by devInfo.

Parameter pipeline:
  • Pipeline to be executed on the device

Parameter devInfo:
  • DeviceInfo which specifies which device to connect to

Parameter usb2Mode:
  • Boot device using USB2 mode firmware

addLogCallback(self: depthai.Device, callback: std::function<void (dai::LogMessage)>)int

Add a callback for device logging. The callback will be called from a separate thread with the LogMessage being passed.

Parameter callback:
  • Callback to call whenever a log message arrives

Returns

Id which can be used to later remove the callback

close(self: depthai.Device)None

Closes the connection to device. Better alternative is the usage of context manager: with depthai.Device(pipeline) as device:

static getAllAvailableDevices() → List[depthai.DeviceInfo]

Returns all connected devices

Returns

vector of connected devices

static getAnyAvailableDevice(*args, **kwargs)

Overloaded function.

  1. getAnyAvailableDevice(timeout: datetime.timedelta) -> Tuple[bool, depthai.DeviceInfo]

Waits for any available device with a timeout

Parameter timeout:
  • duration of time to wait for the any device

Returns

a tuple of bool and DeviceInfo. Bool specifies if device was found. DeviceInfo specifies the found device

  1. getAnyAvailableDevice() -> Tuple[bool, depthai.DeviceInfo]

Gets any available device

Returns

a tuple of bool and DeviceInfo. Bool specifies if device was found. DeviceInfo specifies the found device

getChipTemperature(self: depthai.Device) → dai::ChipTemperature

Retrieves current chip temperature as measured by device

Returns

Temperature of various onboard sensors

getCmxMemoryUsage(self: depthai.Device) → dai::MemoryInfo

Retrieves current CMX memory information from device

Returns

Used, remaining and total cmx memory

getDdrMemoryUsage(self: depthai.Device) → dai::MemoryInfo

Retrieves current DDR memory information from device

Returns

Used, remaining and total ddr memory

static getDeviceByMxId(mxId: str) → Tuple[bool, depthai.DeviceInfo]

Finds a device by MX ID. Example: 14442C10D13EABCE00

Parameter mxId:
  • MyraidX ID which uniquely specifies a device

Returns

a tuple of bool and DeviceInfo. Bool specifies if device was found. DeviceInfo specifies the found device

static getEmbeddedDeviceBinary(usb2Mode: bool, version: depthai.OpenVINO.Version = <Version.VERSION_2020_1: 0>) → List[int]

Gets device firmware binary for a specific OpenVINO version

Parameter usb2Mode:
  • USB2 mode firmware

Parameter version:
  • Version of OpenVINO which firmware will support

Returns

firmware binary

static getFirstAvailableDevice() → Tuple[bool, depthai.DeviceInfo]

Gets first available device. Device can be either in XLINK_UNBOOTED or XLINK_BOOTLOADER state

Returns

a tuple of bool and DeviceInfo. Bool specifies if device was found. DeviceInfo specifies the found device

getInputQueue(*args, **kwargs)

Overloaded function.

  1. getInputQueue(self: depthai.Device, name: str) -> dai::DataInputQueue

Gets an input queue corresponding to stream name. If it doesn’t exist it throws

Parameter name:

Queue/stream name, set in XLinkIn node

Returns

Smart pointer to DataInputQueue

  1. getInputQueue(self: depthai.Device, name: str, maxSize: int, blocking: bool = True) -> dai::DataInputQueue

Gets an input queue corresponding to stream name. If it doesn’t exist it throws. Also sets queue options

Parameter name:

Queue/stream name, set in XLinkOut node

Parameter maxSize:

Maximum number of messages in queue

Parameter blocking:

Queue behavior once full. True: blocking, false: overwriting of oldest messages. Default: true

Returns

Smart pointer to DataInputQueue

getInputQueueNames(self: depthai.Device) → List[str]

Get all available input queue names

Returns

Vector of input queue names

getLeonCssCpuUsage(self: depthai.Device) → dai::CpuUsage

Retrieves average CSS Leon CPU usage

Returns

Average CPU usage and sampling duration

getLeonCssHeapUsage(self: depthai.Device) → dai::MemoryInfo

Retrieves current CSS Leon CPU heap information from device

Returns

Used, remaining and total heap memory

getLeonMssCpuUsage(self: depthai.Device) → dai::CpuUsage

Retrieves average MSS Leon CPU usage

Returns

Average CPU usage and sampling duration

getLeonMssHeapUsage(self: depthai.Device) → dai::MemoryInfo

Retrieves current MSS Leon CPU heap information from device

Returns

Used, remaining and total heap memory

getLogLevel(self: depthai.Device) → dai::LogLevel

Gets current logging severity level of the device.

Returns

Logging severity level

getLogOutputLevel(self: depthai.Device) → dai::LogLevel

Gets logging level which decides printing level to standard output.

Returns

Standard output printing severity

getOutputQueue(*args, **kwargs)

Overloaded function.

  1. getOutputQueue(self: depthai.Device, name: str) -> dai::DataOutputQueue

Gets an output queue corresponding to stream name. If it doesn’t exist it throws

Parameter name:

Queue/stream name, created by XLinkOut node

Returns

Smart pointer to DataOutputQueue

  1. getOutputQueue(self: depthai.Device, name: str, maxSize: int, blocking: bool = True) -> dai::DataOutputQueue

Gets a queue corresponding to stream name, if it exists, otherwise it throws. Also sets queue options

Parameter name:

Queue/stream name, set in XLinkOut node

Parameter maxSize:

Maximum number of messages in queue

Parameter blocking:

Queue behavior once full. True specifies blocking and false overwriting of oldest messages. Default: true

Returns

Smart pointer to DataOutputQueue

getOutputQueueNames(self: depthai.Device) → List[str]

Get all available output queue names

Returns

Vector of output queue names

getQueueEvent(*args, **kwargs)

Overloaded function.

  1. getQueueEvent(self: depthai.Device, queueNames: List[str], timeout: datetime.timedelta = datetime.timedelta(days=-1, seconds=86399, microseconds=999999)) -> str

Gets or waits until any of specified queues has received a message

Parameter queueNames:

Names of queues for which to wait for

Parameter timeout:

Timeout after which return regardless. If negative then wait is indefinite. Default is -1

Returns

Queue name which received a message first

  1. getQueueEvent(self: depthai.Device, queueName: str, timeout: datetime.timedelta = datetime.timedelta(days=-1, seconds=86399, microseconds=999999)) -> str

Gets or waits until specified queue has received a message

Parameter queueNames:

Name of queues for which to wait for

Parameter timeout:

Timeout after which return regardless. If negative then wait is indefinite. Default is -1

Returns

Queue name which received a message

  1. getQueueEvent(self: depthai.Device, timeout: datetime.timedelta = datetime.timedelta(days=-1, seconds=86399, microseconds=999999)) -> str

Gets or waits until any queue has received a message

Parameter timeout:

Timeout after which return regardless. If negative then wait is indefinite. Default is -1

Returns

Queue name which received a message

getQueueEvents(*args, **kwargs)

Overloaded function.

  1. getQueueEvents(self: depthai.Device, queueNames: List[str], maxNumEvents: int = 18446744073709551615, timeout: datetime.timedelta = datetime.timedelta(days=-1, seconds=86399, microseconds=999999)) -> List[str]

Gets or waits until any of specified queues has received a message

Parameter queueNames:

Names of queues for which to block

Parameter maxNumEvents:

Maximum number of events to remove from queue - Default is unlimited

Parameter timeout:

Timeout after which return regardless. If negative then wait is indefinite - Default is -1

Returns

Names of queues which received messages first

  1. getQueueEvents(self: depthai.Device, queueName: str, maxNumEvents: int = 18446744073709551615, timeout: datetime.timedelta = datetime.timedelta(days=-1, seconds=86399, microseconds=999999)) -> List[str]

Gets or waits until specified queue has received a message

Parameter queueName:

Name of queues for which to wait for

Parameter maxNumEvents:

Maximum number of events to remove from queue. Default is unlimited

Parameter timeout:

Timeout after which return regardless. If negative then wait is indefinite. Default is -1

Returns

Names of queues which received messages first

  1. getQueueEvents(self: depthai.Device, maxNumEvents: int = 18446744073709551615, timeout: datetime.timedelta = datetime.timedelta(days=-1, seconds=86399, microseconds=999999)) -> List[str]

Gets or waits until any any queue has received a message

Parameter maxNumEvents:

Maximum number of events to remove from queue. Default is unlimited

Parameter timeout:

Timeout after which return regardless. If negative then wait is indefinite. Default is -1

Returns

Names of queues which received messages first

getSystemInformationLoggingRate(self: depthai.Device)float

Gets current rate of system information logging (“info” severity) in Hz.

Returns

Logging rate in Hz

isPipelineRunning(self: depthai.Device)bool

Checks if devices pipeline is already running

Returns

true if running, false otherwise

removeLogCallback(self: depthai.Device, callbackId: int)bool

Removes a callback

Parameter callbackId:

Id of callback to be removed

Returns

true if callback was removed, false otherwise

setLogLevel(self: depthai.Device, level: dai::LogLevel)None

Sets the devices logging severity level. This level affects which logs are transfered from device to host.

Parameter level:

Logging severity

setLogOutputLevel(self: depthai.Device, level: dai::LogLevel)None

Sets logging level which decides printing level to standard output. If lower than setLogLevel, no messages will be printed

Parameter level:
  • Standard output printing severity

setSystemInformationLoggingRate(self: depthai.Device, rateHz: float)None

Sets rate of system information logging (“info” severity). Default 1Hz If parameter is less or equal to zero, then system information logging will be disabled

Parameter rateHz:

Logging rate in Hz

startPipeline(self: depthai.Device)bool

Starts the execution of the devices pipeline

Returns

true if pipeline started, false otherwise

class depthai.DeviceBootloader

Bases: pybind11_builtins.pybind11_object

Represents the DepthAI bootloader with the methods to interact with it.

Classes:

Version

Bootloader version structure

Methods:

__init__(*args, **kwargs)

Overloaded function.

close(self)

Closes the connection to device.

createDepthaiApplicationPackage(pipeline, …)

Creates application package which can be flashed to depthai device.

flash(self, progressCallback, None], pipeline)

Flashes a give pipeline to the board.

flashBootloader(self, progressCallback, …)

Flashes bootloader to the current board

flashDepthaiApplicationPackage(self, …)

Flashes a specific depthai application package that was generated using createDepthaiApplicationPackage or saveDepthaiApplicationPackage

getAllAvailableDevices()

Searches for connected devices in either UNBOOTED or BOOTLOADER states.

getEmbeddedBootloaderBinary()

returns

Embedded bootloader binary

getEmbeddedBootloaderVersion()

returns

Embedded bootloader version

getFirstAvailableDevice()

Searches for connected devices in either UNBOOTED or BOOTLOADER states and returns first available.

getVersion(self)

returns

Version of current running bootloader

isEmbeddedVersion(self)

returns

True whether the bootloader running is flashed or booted by library

saveDepthaiApplicationPackage(path, …)

Saves application package to a file which can be flashed to depthai device.

class Version

Bases: pybind11_builtins.pybind11_object

Bootloader version structure

Methods:

__init__(*args, **kwargs)

Overloaded function.

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: depthai.DeviceBootloader.Version, v: str) -> None

Construct Version from string

  1. __init__(self: depthai.DeviceBootloader.Version, major: int, minor: int, patch: int) -> None

Construct Version major, minor and patch numbers

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: depthai.DeviceBootloader, deviceDesc: depthai.DeviceInfo) -> None

  2. __init__(self: depthai.DeviceBootloader, deviceDesc: depthai.DeviceInfo, pathToCmd: str) -> None

Connects to or boots device in bootloader mode depending on devInfo state.

Parameter devInfo:

DeviceInfo of which to boot or connect to

close(self: depthai.DeviceBootloader)None

Closes the connection to device. Better alternative is the usage of context manager: with depthai.DeviceBootloader(deviceInfo) as bootloader:

static createDepthaiApplicationPackage(pipeline: depthai.Pipeline, pathToCmd: str = '') → List[int]

Creates application package which can be flashed to depthai device.

Parameter pipeline:

Pipeline from which to create the application package

Parameter pathToCmd:

Optional path to custom device firmware

Returns

Depthai application package

flash(self: depthai.DeviceBootloader, progressCallback: Callable[[float], None], pipeline: depthai.Pipeline) → Tuple[bool, str]

Flashes a give pipeline to the board.

Parameter progressCallback:

Callback that sends back a value between 0..1 which signifies current flashing progress

Parameter pipeline:

Pipeline to flash to the board

flashBootloader(self: depthai.DeviceBootloader, progressCallback: Callable[[float], None], path: str = '') → Tuple[bool, str]

Flashes bootloader to the current board

Parameter progressCallback:

Callback that sends back a value between 0..1 which signifies current flashing progress

Parameter path:

Optional parameter to custom bootloader to flash

flashDepthaiApplicationPackage(self: depthai.DeviceBootloader, progressCallback: Callable[[float], None], package: List[int]) → Tuple[bool, str]

Flashes a specific depthai application package that was generated using createDepthaiApplicationPackage or saveDepthaiApplicationPackage

Parameter progressCallback:

Callback that sends back a value between 0..1 which signifies current flashing progress

Parameter package:

Depthai application package to flash to the board

static getAllAvailableDevices() → List[depthai.DeviceInfo]

Searches for connected devices in either UNBOOTED or BOOTLOADER states.

Returns

Vector of all found devices

static getEmbeddedBootloaderBinary() → List[int]
Returns

Embedded bootloader binary

static getEmbeddedBootloaderVersion()depthai.DeviceBootloader.Version
Returns

Embedded bootloader version

static getFirstAvailableDevice() → Tuple[bool, depthai.DeviceInfo]

Searches for connected devices in either UNBOOTED or BOOTLOADER states and returns first available.

Returns

Tuple of boolean and DeviceInfo. If found boolean is true and DeviceInfo describes the device. Otherwise false

getVersion(self: depthai.DeviceBootloader)depthai.DeviceBootloader.Version
Returns

Version of current running bootloader

isEmbeddedVersion(self: depthai.DeviceBootloader)bool
Returns

True whether the bootloader running is flashed or booted by library

static saveDepthaiApplicationPackage(path: str, pipeline: depthai.Pipeline, pathToCmd: str = '')None

Saves application package to a file which can be flashed to depthai device.

Parameter path:

Path where to save the application package

Parameter pipeline:

Pipeline from which to create the application package

Parameter pathToCmd:

Optional path to custom device firmware

class depthai.DeviceDesc

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

name

platform

protocol

__init__(self: depthai.DeviceDesc)None
property name
property platform
property protocol
class depthai.DeviceInfo

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

getMxId(self)

Attributes:

desc

state

__init__(self: depthai.DeviceInfo)None
property desc
getMxId(self: depthai.DeviceInfo)str
property state
class depthai.GlobalProperties

Bases: pybind11_builtins.pybind11_object

Specify properties which apply for whole pipeline

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

leonOsFrequencyHz

leonRtFrequencyHz

pipelineName

pipelineVersion

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property leonOsFrequencyHz
property leonRtFrequencyHz
property pipelineName
property pipelineVersion
class depthai.ImageManip

Bases: depthai.Node

ImageManip node. Capability to crop, resize, warp, … incoming image frames

Methods:

__init__(*args, **kwargs)

Initialize self.

setCenterCrop(self, arg0, arg1)

setCropRect(self, arg0, arg1, arg2, arg3)

setFrameType(self, arg0)

setHorizontalFlip(self, arg0)

setKeepAspectRatio(self, arg0)

setMaxOutputFrameSize(self, arg0)

Specify maximum size of output image.

setNumFramesPool(self, arg0)

Specify number of frames in pool.

setResize(self, arg0, arg1)

setResizeThumbnail(self, arg0, arg1, arg2, …)

setWaitForConfigInput(self, arg0)

Specify whether or not wait until configuration message arrives to inputConfig Input.

Attributes:

initialConfig

Initial config to use when manipulating frames

inputConfig

Input ImageManipConfig message with ability to modify parameters in runtime Default queue is blocking with size 8

inputImage

Input image to be modified Default queue is blocking with size 8

out

Outputs ImgFrame message that carries modified image.

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property initialConfig

Initial config to use when manipulating frames

property inputConfig

Input ImageManipConfig message with ability to modify parameters in runtime Default queue is blocking with size 8

property inputImage

Input image to be modified Default queue is blocking with size 8

property out

Outputs ImgFrame message that carries modified image.

setCenterCrop(self: depthai.ImageManip, arg0: float, arg1: float)None
setCropRect(self: depthai.ImageManip, arg0: float, arg1: float, arg2: float, arg3: float)None
setFrameType(self: depthai.ImageManip, arg0: dai::RawImgFrame::Type)None
setHorizontalFlip(self: depthai.ImageManip, arg0: bool)None
setKeepAspectRatio(self: depthai.ImageManip, arg0: bool)None
setMaxOutputFrameSize(self: depthai.ImageManip, arg0: int)None

Specify maximum size of output image.

Parameter maxFrameSize:

Maximum frame size in bytes

setNumFramesPool(self: depthai.ImageManip, arg0: int)None

Specify number of frames in pool.

Parameter numFramesPool:

How many frames should the pool have

setResize(self: depthai.ImageManip, arg0: int, arg1: int)None
setResizeThumbnail(self: depthai.ImageManip, arg0: int, arg1: int, arg2: int, arg3: int, arg4: int)None
setWaitForConfigInput(self: depthai.ImageManip, arg0: bool)None

Specify whether or not wait until configuration message arrives to inputConfig Input.

Parameter wait:

True to wait for configuration message, false otherwise

class depthai.ImageManipConfig

Bases: depthai.Buffer

ImageManipConfig message. Specifies image manipulation options like:

  • Crop

  • Resize

  • Warp

Methods:

__init__(self)

getCropXMax(self)

returns

Bottom right X coordinate of crop region

getCropXMin(self)

returns

Top left X coordinate of crop region

getCropYMax(self)

returns

Bottom right Y coordinate of crop region

getCropYMin(self)

returns

Top left Y coordinate of crop region

getResizeHeight(self)

returns

Output image height

getResizeWidth(self)

returns

Output image width

isResizeThumbnail(self)

returns

True if resize thumbnail mode is set, false otherwise

setCenterCrop(self, ratio, whRatio)

Specifies a centered crop.

setCropRect(self, xmin, ymin, xmax, xmax)

Specifies crop with rectangle with normalized values (0..1)

setCropRotatedRect(self, rr, normalizedCoords)

Specifies crop with rotated rectangle.

setFrameType(self, name)

Specify output frame type.

setHorizontalFlip(self, flip)

Specify horizontal flip

setKeepAspectRatio(self, keep)

Specifies to whether to keep aspect ratio or not

setResize(self, w, h)

Specifies output image size.

setResizeThumbnail(self, w, h, bgRed, …)

Specifies output image size.

setReusePreviousImage(self, reuse)

Instruct ImageManip to not remove current image from its queue and use the same for next message.

setRotationDegrees(self, deg)

Specifies clockwise rotation in degrees

setRotationRadians(self, rad)

Specifies clockwise rotation in radians

setSkipCurrentImage(self, skip)

Instructs ImageManip to skip current image and wait for next in queue.

setWarpBorderFillColor(self, red, green, blue)

Specifies fill color for border pixels.

setWarpBorderReplicatePixels(self)

Specifies that warp replicates border pixels

setWarpTransformFourPoints(self, pt, …)

Specifies warp by suppling 4 points in either absolute or normalized coordinates

setWarpTransformMatrix3x3(self, mat)

Specifies warp with a 3x3 matrix

__init__(self: depthai.ImageManipConfig)None
getCropXMax(self: depthai.ImageManipConfig)float
Returns

Bottom right X coordinate of crop region

getCropXMin(self: depthai.ImageManipConfig)float
Returns

Top left X coordinate of crop region

getCropYMax(self: depthai.ImageManipConfig)float
Returns

Bottom right Y coordinate of crop region

getCropYMin(self: depthai.ImageManipConfig)float
Returns

Top left Y coordinate of crop region

getResizeHeight(self: depthai.ImageManipConfig)int
Returns

Output image height

getResizeWidth(self: depthai.ImageManipConfig)int
Returns

Output image width

isResizeThumbnail(self: depthai.ImageManipConfig)bool
Returns

True if resize thumbnail mode is set, false otherwise

setCenterCrop(self: depthai.ImageManipConfig, ratio: float, whRatio: float = 1.0)None

Specifies a centered crop.

Parameter ratio:

Ratio between input image and crop region (0..1)

Parameter whRatio:

Crop region aspect ratio - 1 equals to square, 1.7 equals to 16:9, …

ImageManipConfig.setCropRect(self: depthai.ImageManipConfig, xmin: float, ymin: float, xmax: float, xmax: float) -> None

Specifies crop with rectangle with normalized values (0..1)

Parameter xmin:

Top left X coordinate of rectangle

Parameter ymin:

Top left Y coordinate of rectangle

Parameter xmax:

Bottom right X coordinate of rectangle

Parameter ymax:

Bottom right Y coordinate of rectangle

setCropRotatedRect(self: depthai.ImageManipConfig, rr: depthai.RotatedRect, normalizedCoords: bool = True)None

Specifies crop with rotated rectangle. Optionally as non normalized coordinates

Parameter rr:

Rotated rectangle which specifies crop

Parameter normalizedCoords:

If true coordinates are in normalized range (0..1) otherwise absolute

setFrameType(self: depthai.ImageManipConfig, name: depthai.RawImgFrame.Type)None

Specify output frame type.

Parameter name:

Frame type

setHorizontalFlip(self: depthai.ImageManipConfig, flip: bool)None

Specify horizontal flip

Parameter flip:

True to enable flip, false otherwise

setKeepAspectRatio(self: depthai.ImageManipConfig, keep: bool)None

Specifies to whether to keep aspect ratio or not

setResize(self: depthai.ImageManipConfig, w: int, h: int)None

Specifies output image size. After crop stage the image will be streched to fit.

Parameter w:

Width in pixels

Parameter h:

Height in pixels

setResizeThumbnail(self: depthai.ImageManipConfig, w: int, h: int, bgRed: int = 0, bgGreen: int = 0, bgBlue: int = 0)None

Specifies output image size. After crop stage the image will be resized by preserving aspect ration. Optionally background can be specified.

Parameter w:

Width in pixels

Parameter h:

Height in pixels

Parameter bgRed:

Red component

Parameter bgGreen:

Green component

Parameter bgBlue:

Blue component

setReusePreviousImage(self: depthai.ImageManipConfig, reuse: bool)None

Instruct ImageManip to not remove current image from its queue and use the same for next message.

Parameter reuse:

True to enable reuse, false otherwise

setRotationDegrees(self: depthai.ImageManipConfig, deg: float)None

Specifies clockwise rotation in degrees

Parameter deg:

Rotation in degrees

setRotationRadians(self: depthai.ImageManipConfig, rad: float)None

Specifies clockwise rotation in radians

Parameter rad:

Rotation in radians

setSkipCurrentImage(self: depthai.ImageManipConfig, skip: bool)None

Instructs ImageManip to skip current image and wait for next in queue.

Parameter skip:

True to skip current image, false otherwise

setWarpBorderFillColor(self: depthai.ImageManipConfig, red: int, green: int, blue: int)None

Specifies fill color for border pixels. Example:

  • setWarpBorderFillColor(255,255,255) -> white

  • setWarpBorderFillColor(0,0,255) -> blue

Parameter red:

Red component

Parameter green:

Green component

Parameter blue:

Blue component

setWarpBorderReplicatePixels(self: depthai.ImageManipConfig)None

Specifies that warp replicates border pixels

setWarpTransformFourPoints(self: depthai.ImageManipConfig, pt: List[depthai.Point2f], normalizedCoords: bool)None

Specifies warp by suppling 4 points in either absolute or normalized coordinates

Parameter pt:

4 points specifying warp

Parameter normalizedCoords:

If true pt is interpreted as normalized, absolute otherwise

setWarpTransformMatrix3x3(self: depthai.ImageManipConfig, mat: List[float])None

Specifies warp with a 3x3 matrix

Parameter mat:

3x3 matrix

class depthai.ImgDetection

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

confidence

label

xmax

xmin

ymax

ymin

__init__(self: depthai.ImgDetection)None
property confidence
property label
property xmax
property xmin
property ymax
property ymin
class depthai.ImgDetections

Bases: depthai.Buffer

ImgDetections message. Carries normalized detection results

Methods:

__init__(self)

Construct ImgDetections message

Attributes:

detections

Detections

__init__(self: depthai.ImgDetections)None

Construct ImgDetections message

property detections

Detections

class depthai.ImgFrame

Bases: depthai.Buffer

ImgFrame message. Carries image data and metadata.

Classes:

Specs

Type

Members:

Methods:

__init__(self)

getCategory(self)

Retrievies image category

getCvFrame(self)

Returns BGR or grayscale frame compatible with use in other opencv functions

getFrame(self, copy)

Returns numpy array with shape as specified by width, height and type

getHeight(self)

Retrievies image height in pixels

getInstanceNum(self)

Retrievies instance number

getSequenceNum(self)

Retrievies image sequence number

getTimestamp(self)

Retrievies image timestamp related to steady_clock / time.monotonic

getType(self)

Retrieves image type

getWidth(self)

Retrievies image width in pixels

setCategory(self, category)

Parameter category:

setFrame(self, array)

Copies array bytes to ImgFrame buffer

setHeight(self, height)

Specifies frame height

setInstanceNum(self, instance)

Instance number relates to the origin of the frame (which camera)

setSequenceNum(self, seq)

Specifies sequence number

setTimestamp(self, timestamp)

Specifies current timestamp, related to steady_clock / time.monotonic

setType(self, type)

Specifies frame type, RGB, BGR, …

setWidth(self, width)

Specifies frame width

class Specs

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

bytesPP

height

p1Offset

p2Offset

p3Offset

stride

type

width

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property bytesPP
property height
property p1Offset
property p2Offset
property p3Offset
property stride
property type
property width
class Type

Bases: pybind11_builtins.pybind11_object

Members:

YUV422i

YUV444p

YUV420p

YUV422p

YUV400p

RGBA8888

RGB161616

RGB888p

BGR888p

RGB888i

BGR888i

RGBF16F16F16p

BGRF16F16F16p

RGBF16F16F16i

BGRF16F16F16i

GRAY8

GRAYF16

LUT2

LUT4

LUT16

RAW16

RAW14

RAW12

RAW10

RAW8

PACK10

PACK12

YUV444i

NV12

NV21

BITSTREAM

HDR

NONE

Attributes:

BGR888i

BGR888p

BGRF16F16F16i

BGRF16F16F16p

BITSTREAM

GRAY8

GRAYF16

HDR

LUT16

LUT2

LUT4

NONE

NV12

NV21

PACK10

PACK12

RAW10

RAW12

RAW14

RAW16

RAW8

RGB161616

RGB888i

RGB888p

RGBA8888

RGBF16F16F16i

RGBF16F16F16p

YUV400p

YUV420p

YUV422i

YUV422p

YUV444i

YUV444p

name

value

Methods:

__init__(self, value)

BGR888i = <Type.BGR888i: 10>
BGR888p = <Type.BGR888p: 8>
BGRF16F16F16i = <Type.BGRF16F16F16i: 14>
BGRF16F16F16p = <Type.BGRF16F16F16p: 12>
BITSTREAM = <Type.BITSTREAM: 30>
GRAY8 = <Type.GRAY8: 15>
GRAYF16 = <Type.GRAYF16: 16>
HDR = <Type.HDR: 31>
LUT16 = <Type.LUT16: 19>
LUT2 = <Type.LUT2: 17>
LUT4 = <Type.LUT4: 18>
NONE = <Type.NONE: 32>
NV12 = <Type.NV12: 28>
NV21 = <Type.NV21: 29>
PACK10 = <Type.PACK10: 25>
PACK12 = <Type.PACK12: 26>
RAW10 = <Type.RAW10: 23>
RAW12 = <Type.RAW12: 22>
RAW14 = <Type.RAW14: 21>
RAW16 = <Type.RAW16: 20>
RAW8 = <Type.RAW8: 24>
RGB161616 = <Type.RGB161616: 6>
RGB888i = <Type.RGB888i: 9>
RGB888p = <Type.RGB888p: 7>
RGBA8888 = <Type.RGBA8888: 5>
RGBF16F16F16i = <Type.RGBF16F16F16i: 13>
RGBF16F16F16p = <Type.RGBF16F16F16p: 11>
YUV400p = <Type.YUV400p: 4>
YUV420p = <Type.YUV420p: 2>
YUV422i = <Type.YUV422i: 0>
YUV422p = <Type.YUV422p: 3>
YUV444i = <Type.YUV444i: 27>
YUV444p = <Type.YUV444p: 1>
__init__(self: depthai.RawImgFrame.Type, value: int)None
property name
property value
__init__(self: depthai.ImgFrame)None
getCategory(self: depthai.ImgFrame)int

Retrievies image category

getCvFrame(self: object)object

Returns BGR or grayscale frame compatible with use in other opencv functions

getFrame(self: object, copy: bool = False) → numpy.ndarray

Returns numpy array with shape as specified by width, height and type

getHeight(self: depthai.ImgFrame)int

Retrievies image height in pixels

getInstanceNum(self: depthai.ImgFrame)int

Retrievies instance number

getSequenceNum(self: depthai.ImgFrame)int

Retrievies image sequence number

getTimestamp(self: depthai.ImgFrame)datetime.timedelta

Retrievies image timestamp related to steady_clock / time.monotonic

getType(self: depthai.ImgFrame)depthai.RawImgFrame.Type

Retrieves image type

getWidth(self: depthai.ImgFrame)int

Retrievies image width in pixels

setCategory(self: depthai.ImgFrame, category: int)None
Parameter category:

Image category

setFrame(self: depthai.ImgFrame, array: numpy.ndarray)None

Copies array bytes to ImgFrame buffer

setHeight(self: depthai.ImgFrame, height: int)None

Specifies frame height

Parameter width:

frame height

setInstanceNum(self: depthai.ImgFrame, instance: int)None

Instance number relates to the origin of the frame (which camera)

Parameter instance:

Instance number

setSequenceNum(self: depthai.ImgFrame, seq: int)None

Specifies sequence number

Parameter seq:

Sequence number

setTimestamp(self: depthai.ImgFrame, timestamp: datetime.timedelta)None

Specifies current timestamp, related to steady_clock / time.monotonic

setType(self: depthai.ImgFrame, type: depthai.RawImgFrame.Type)None

Specifies frame type, RGB, BGR, …

Parameter type:

Type of image

setWidth(self: depthai.ImgFrame, width: int)None

Specifies frame width

Parameter width:

frame width

class depthai.LogLevel

Bases: pybind11_builtins.pybind11_object

Members:

TRACE

DEBUG

INFO

WARN

ERR

CRITICAL

OFF

Attributes:

CRITICAL

DEBUG

ERR

INFO

OFF

TRACE

WARN

name

value

Methods:

__init__(self, value)

CRITICAL = <LogLevel.CRITICAL: 5>
DEBUG = <LogLevel.DEBUG: 1>
ERR = <LogLevel.ERR: 4>
INFO = <LogLevel.INFO: 2>
OFF = <LogLevel.OFF: 6>
TRACE = <LogLevel.TRACE: 0>
WARN = <LogLevel.WARN: 3>
__init__(self: depthai.LogLevel, value: int)None
property name
property value
class depthai.MemoryInfo

Bases: pybind11_builtins.pybind11_object

MemoryInfo structure

Free, remaining and total memory stats

Methods:

__init__(self)

Attributes:

remaining

total

used

__init__(self: depthai.MemoryInfo)None
property remaining
property total
property used
class depthai.MobileNetDetectionNetwork

Bases: depthai.DetectionNetwork

MobileNetDetectionNetwork node. Parses MobileNet results

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class depthai.MobileNetSpatialDetectionNetwork

Bases: depthai.SpatialDetectionNetwork

MobileNetSpatialDetectionNetwork. Mobilenet-SSD based network with spatial location data.

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class depthai.MonoCamera

Bases: depthai.Node

MonoCamera node. For use with grayscale sensors.

Classes:

Properties

alias of depthai.MonoCameraProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getBoardSocket(self)

Retrieves which board socket to use

getCamId(self)

getFps(self)

Get rate at which camera should produce frames

getImageOrientation(self)

Get camera image orientation

getResolution(self)

Get sensor resolution

getResolutionHeight(self)

Get sensor resolution height

getResolutionSize(self)

Get sensor resolution as size

getResolutionWidth(self)

Get sensor resolution width

setBoardSocket(self, boardSocket)

Specify which board socket to use

setCamId(self, arg0)

setFps(self, fps)

Set rate at which camera should produce frames

setImageOrientation(self, imageOrientation)

Set camera image orientation

setResolution(self, resolution)

Set sensor resolution

Attributes:

initialControl

Initial control options to apply to sensor

inputControl

Input for CameraControl message, which can modify camera parameters in runtime Default queue is blocking with size 8

out

Outputs ImgFrame message that carries RAW8 encoded (grayscale) frame data.

Properties

alias of depthai.MonoCameraProperties Classes:

SensorResolution

Select the camera sensor resolution: 1280×720, 1280×800, 640×400

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

boardSocket

fps

initialControl

resolution

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getBoardSocket(self: depthai.MonoCamera) → dai::CameraBoardSocket

Retrieves which board socket to use

Returns

Board socket to use

getCamId(self: depthai.MonoCamera)int
getFps(self: depthai.MonoCamera)float

Get rate at which camera should produce frames

Returns

Rate in frames per second

getImageOrientation(self: depthai.MonoCamera) → dai::CameraImageOrientation

Get camera image orientation

getResolution(self: depthai.MonoCamera) → dai::MonoCameraProperties::SensorResolution

Get sensor resolution

getResolutionHeight(self: depthai.MonoCamera)int

Get sensor resolution height

getResolutionSize(self: depthai.MonoCamera) → Tuple[int, int]

Get sensor resolution as size

getResolutionWidth(self: depthai.MonoCamera)int

Get sensor resolution width

property initialControl

Initial control options to apply to sensor

property inputControl

Input for CameraControl message, which can modify camera parameters in runtime Default queue is blocking with size 8

property out

Outputs ImgFrame message that carries RAW8 encoded (grayscale) frame data.

Suitable for use StereoDepth node

setBoardSocket(self: depthai.MonoCamera, boardSocket: dai::CameraBoardSocket)None

Specify which board socket to use

Parameter boardSocket:

Board socket to use

setCamId(self: depthai.MonoCamera, arg0: int)None
setFps(self: depthai.MonoCamera, fps: float)None

Set rate at which camera should produce frames

Parameter fps:

Rate in frames per second

setImageOrientation(self: depthai.MonoCamera, imageOrientation: dai::CameraImageOrientation)None

Set camera image orientation

setResolution(self: depthai.MonoCamera, resolution: dai::MonoCameraProperties::SensorResolution)None

Set sensor resolution

class depthai.MonoCameraProperties

Bases: pybind11_builtins.pybind11_object

Specify MonoCamera options such as camera ID, …

Classes:

SensorResolution

Select the camera sensor resolution: 1280×720, 1280×800, 640×400

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

boardSocket

fps

initialControl

resolution

class SensorResolution

Bases: pybind11_builtins.pybind11_object

Select the camera sensor resolution: 1280×720, 1280×800, 640×400

Members:

THE_720_P

THE_800_P

THE_400_P

Attributes:

THE_400_P

THE_720_P

THE_800_P

name

value

Methods:

__init__(self, value)

THE_400_P = <SensorResolution.THE_400_P: 2>
THE_720_P = <SensorResolution.THE_720_P: 0>
THE_800_P = <SensorResolution.THE_800_P: 1>
__init__(self: depthai.MonoCameraProperties.SensorResolution, value: int)None
property name
property value
__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property boardSocket
property fps
property initialControl
property resolution
class depthai.NNData

Bases: depthai.Buffer

NNData message. Carries tensors and their metadata

Methods:

__init__(self)

Construct NNData message.

getAllLayerNames(self)

returns

Names of all layers added

getAllLayers(self)

returns

All layers and their information

getFirstLayerFp16(self)

Convinience function to retrieve float values from first layers FP16 tensor

getFirstLayerInt32(self)

Convinience function to retrieve INT32 values from first layers tensor

getFirstLayerUInt8(self)

Convinience function to retrieve U8 data from first layer

getLayer(self, name, tensor)

Retrieve layers tensor information

getLayerDatatype(self, name, datatype)

Retrieve datatype of a layers tensor

getLayerFp16(self, name)

Convinience function to retrieve float values from layers FP16 tensor

getLayerInt32(self, name)

Convinience function to retrieve INT32 values from layers tensor

getLayerUInt8(self, name)

Convinience function to retrieve U8 data from layer

hasLayer(self, name)

Checks if given layer exists

setLayer(*args, **kwargs)

Overloaded function.

__init__(self: depthai.NNData)None

Construct NNData message.

getAllLayerNames(self: depthai.NNData) → List[str]
Returns

Names of all layers added

getAllLayers(self: depthai.NNData) → List[depthai.TensorInfo]
Returns

All layers and their information

getFirstLayerFp16(self: depthai.NNData) → List[float]

Convinience function to retrieve float values from first layers FP16 tensor

Returns

Float data

getFirstLayerInt32(self: depthai.NNData) → List[int]

Convinience function to retrieve INT32 values from first layers tensor

Returns

INT32 data

getFirstLayerUInt8(self: depthai.NNData) → List[int]

Convinience function to retrieve U8 data from first layer

Returns

U8 binary data

getLayer(self: depthai.NNData, name: str, tensor: depthai.TensorInfo)bool

Retrieve layers tensor information

Parameter name:

Name of the layer

Parameter tensor:

Outputs tensor infromation of that layer

Returns

True if layer exists, false otherwise

getLayerDatatype(self: depthai.NNData, name: str, datatype: depthai.TensorInfo.DataType)bool

Retrieve datatype of a layers tensor

Parameter name:

Name of the layer

Parameter datatype:

Datatype of layers tensor

Returns

True if layer exists, false otherwise

getLayerFp16(self: depthai.NNData, name: str) → List[float]

Convinience function to retrieve float values from layers FP16 tensor

Parameter name:

Name of the layer

Returns

Float data

getLayerInt32(self: depthai.NNData, name: str) → List[int]

Convinience function to retrieve INT32 values from layers tensor

Parameter name:

Name of the layer

Returns

INT32 data

getLayerUInt8(self: depthai.NNData, name: str) → List[int]

Convinience function to retrieve U8 data from layer

Parameter name:

Name of the layer

Returns

U8 binary data

hasLayer(self: depthai.NNData, name: str)bool

Checks if given layer exists

Parameter name:

Name of the layer

Returns

True if layer exists, false otherwise

setLayer(*args, **kwargs)

Overloaded function.

  1. setLayer(self: depthai.NNData, name: str, data: numpy.ndarray[numpy.uint8]) -> None

Set a layer with datatype U8.

Parameter name:

Name of the layer

Parameter data:

Data to store

  1. setLayer(self: depthai.NNData, name: str, data: List[int]) -> None

Set a layer with datatype U8. Integers are casted to bytes.

Parameter name:

Name of the layer

Parameter data:

Data to store

  1. setLayer(self: depthai.NNData, name: str, data: List[float]) -> None

Set a layer with datatype FP16. Float values are converted to FP16.

Parameter name:

Name of the layer

Parameter data:

Data to store

  1. setLayer(self: depthai.NNData, name: str, data: List[float]) -> None

Set a layer with datatype FP16. Double values are converted to FP16.

Parameter name:

Name of the layer

Parameter data:

Data to store

class depthai.NeuralNetwork

Bases: depthai.Node

NeuralNetwork node. Runs a neural inference on input data.

Classes:

Properties

alias of depthai.NeuralNetworkProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getNumInferenceThreads(self)

How many inference threads will be used to run the network

setBlobPath(self, path)

Load network blob into assets and use once pipeline is started.

setNumInferenceThreads(self, numThreads)

How many threads should the node use to run the network.

setNumNCEPerInferenceThread(self, …)

How many Neural Compute Engines should a single thread use for inference

setNumPoolFrames(self, numFrames)

Specifies how many frames will be avilable in the pool

Attributes:

input

Input message with data to be infered upon Default queue is blocking with size 5

out

Outputs NNData message that carries inference results

passthrough

Passthrough message on which the inference was performed.

Properties

alias of depthai.NeuralNetworkProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

blobSize

blobUri

numFrames

numNCEPerThread

numThreads

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getNumInferenceThreads(self: depthai.NeuralNetwork)int

How many inference threads will be used to run the network

Returns

Number of threads, 0, 1 or 2. Zero means AUTO

property input

Input message with data to be infered upon Default queue is blocking with size 5

property out

Outputs NNData message that carries inference results

property passthrough

Passthrough message on which the inference was performed.

Suitable for when input queue is set to non-blocking behavior.

setBlobPath(self: depthai.NeuralNetwork, path: str)None

Load network blob into assets and use once pipeline is started.

Throws if file doesn’t exist or isn’t a valid network blob.

Parameter path:

Path to network blob

setNumInferenceThreads(self: depthai.NeuralNetwork, numThreads: int)None

How many threads should the node use to run the network.

Parameter numThreads:

Number of threads to dedicate to this node

setNumNCEPerInferenceThread(self: depthai.NeuralNetwork, numNCEPerThread: int)None

How many Neural Compute Engines should a single thread use for inference

Parameter numNCEPerThread:

Number of NCE per thread

setNumPoolFrames(self: depthai.NeuralNetwork, numFrames: int)None

Specifies how many frames will be avilable in the pool

Parameter numFrames:

How many frames will pool have

class depthai.NeuralNetworkProperties

Bases: pybind11_builtins.pybind11_object

Specify NeuralNetwork options such as blob path, …

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

blobSize

blobUri

numFrames

numNCEPerThread

numThreads

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property blobSize
property blobUri
property numFrames
property numNCEPerThread
property numThreads
class depthai.Node

Bases: pybind11_builtins.pybind11_object

Abstract Node

Classes:

Connection

Connection between an Input and Output

Id

Node identificator.

Input

Output

Methods:

__init__(*args, **kwargs)

Initialize self.

getAssets(self)

Retrieves all nodes assets

getInputs(self)

Retrieves all nodes inputs

getName(self)

Retrieves nodes name

getOutputs(self)

Retrieves all nodes outputs

Attributes:

id

Id of node

class Connection

Bases: pybind11_builtins.pybind11_object

Connection between an Input and Output

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

inputId

inputName

outputId

outputName

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property inputId
property inputName
property outputId
property outputName
class Id

Bases: pybind11_builtins.pybind11_object

Node identificator. Unique for every node on a single Pipeline

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class Input

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

getBlocking(self)

Get input queue behavior

getQueueSize(self)

Get input queue size.

setBlocking(self, blocking)

Overrides default input queue behavior.

setQueueSize(self, size)

Overrides default input queue size.

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getBlocking(self: depthai.Node.Input)bool

Get input queue behavior

Returns

True blocking, false overwriting

getQueueSize(self: depthai.Node.Input)int

Get input queue size.

Returns

Maximum input queue size

setBlocking(self: depthai.Node.Input, blocking: bool)None

Overrides default input queue behavior.

Parameter blocking:

True blocking, false overwriting

setQueueSize(self: depthai.Node.Input, size: int)None

Overrides default input queue size. If queue size fills up, behavior depends on blocking attribute

Parameter size:

Maximum input queue size

class Output

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

canConnect(self, in)

Check if connection is possible

getConnections(self)

Retrieve all connections from this output

link(self, in)

Link current output to input.

unlink(self, in)

Unlink a previously linked connection

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

canConnect(self: depthai.Node.Output, in: depthai.Node.Input)bool

Check if connection is possible

Parameter in:

Input to connect to

Returns

True if connection is possible, false otherwise

getConnections(self: depthai.Node.Output) → List[dai::Node::Connection]

Retrieve all connections from this output

Returns

Vector of connections

Link current output to input.

Throws an error if this output cannot be linked to given input, or if they are already linked

Parameter in:

Input to link to

Unlink a previously linked connection

Throws an error if not linked.

Parameter in:

Input from which to unlink from

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getAssets(self: depthai.Node) → List[depthai.Asset]

Retrieves all nodes assets

getInputs(self: depthai.Node) → List[dai::Node::Input]

Retrieves all nodes inputs

getName(self: depthai.Node)str

Retrieves nodes name

getOutputs(self: depthai.Node) → List[dai::Node::Output]

Retrieves all nodes outputs

property id

Id of node

class depthai.OpenVINO

Bases: pybind11_builtins.pybind11_object

Support for basic OpenVINO related actions like version identification of neural network blobs,…

Attributes:

VERSION_2020_1

VERSION_2020_2

VERSION_2020_3

VERSION_2020_4

VERSION_2021_1

VERSION_2021_2

Classes:

Version

OpenVINO Version supported version information

Methods:

__init__(*args, **kwargs)

Initialize self.

areVersionsBlobCompatible(v1, v2)

Checks whether two blob versions are compatible

getBlobLatestSupportedVersion(majorVersion, …)

Returns latest potentionally supported version by a given blob version.

getBlobSupportedVersions(majorVersion, …)

Returns a list of potentionally supported versions for a specified blob major and minor versions.

getVersionName(version)

Returns string representation of a given version

getVersions()

returns

Supported versions

parseVersionName(versionString)

Creates Version from string representation.

VERSION_2020_1 = <Version.VERSION_2020_1: 0>
VERSION_2020_2 = <Version.VERSION_2020_2: 1>
VERSION_2020_3 = <Version.VERSION_2020_3: 2>
VERSION_2020_4 = <Version.VERSION_2020_4: 3>
VERSION_2021_1 = <Version.VERSION_2021_1: 4>
VERSION_2021_2 = <Version.VERSION_2021_2: 5>
class Version

Bases: pybind11_builtins.pybind11_object

OpenVINO Version supported version information

Members:

VERSION_2020_1

VERSION_2020_2

VERSION_2020_3

VERSION_2020_4

VERSION_2021_1

VERSION_2021_2

Attributes:

VERSION_2020_1

VERSION_2020_2

VERSION_2020_3

VERSION_2020_4

VERSION_2021_1

VERSION_2021_2

name

value

Methods:

__init__(self, value)

VERSION_2020_1 = <Version.VERSION_2020_1: 0>
VERSION_2020_2 = <Version.VERSION_2020_2: 1>
VERSION_2020_3 = <Version.VERSION_2020_3: 2>
VERSION_2020_4 = <Version.VERSION_2020_4: 3>
VERSION_2021_1 = <Version.VERSION_2021_1: 4>
VERSION_2021_2 = <Version.VERSION_2021_2: 5>
__init__(self: depthai.OpenVINO.Version, value: int)None
property name
property value
__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

static areVersionsBlobCompatible(v1: dai::OpenVINO::Version, v2: dai::OpenVINO::Version)bool

Checks whether two blob versions are compatible

OpenVINO.getBlobLatestSupportedVersion(majorVersion: int, majorVersion: int) -> dai::OpenVINO::Version

Returns latest potentionally supported version by a given blob version.

Parameter majorVersion:

Major version from OpenVINO blob

Parameter minorVersion:

Minor version from OpenVINO blob

Returns

Latest potentionally supported version

OpenVINO.getBlobSupportedVersions(majorVersion: int, majorVersion: int) -> List[dai::OpenVINO::Version]

Returns a list of potentionally supported versions for a specified blob major and minor versions.

Parameter majorVersion:

Major version from OpenVINO blob

Parameter minorVersion:

Minor version from OpenVINO blob

Returns

Vector of potentionally supported versions

static getVersionName(version: dai::OpenVINO::Version)str

Returns string representation of a given version

Parameter version:

OpenVINO version

Returns

Name of a given version

static getVersions() → List[dai::OpenVINO::Version]
Returns

Supported versions

static parseVersionName(versionString: str) → dai::OpenVINO::Version

Creates Version from string representation. Throws if not possible.

Parameter versionString:

Version as string

Returns

Version object if successful

class depthai.Pipeline

Bases: pybind11_builtins.pybind11_object

Represents the pipeline, set of nodes and connections between them

Methods:

__init__(self)

Constructs a new pipeline

createColorCamera(self)

createImageManip(self)

createMobileNetDetectionNetwork(self)

createMobileNetSpatialDetectionNetwork(self)

createMonoCamera(self)

createNeuralNetwork(self)

createSPIOut(self)

createSpatialLocationCalculator(self)

createStereoDepth(self)

createSystemLogger(self)

createVideoEncoder(self)

createXLinkIn(self)

createXLinkOut(self)

createYoloDetectionNetwork(self)

createYoloSpatialDetectionNetwork(self)

getAllAssets(self)

Get assets on the pipeline includes nodes assets

getAllNodes(*args, **kwargs)

Overloaded function.

getAssetManager(*args, **kwargs)

Overloaded function.

getConnectionMap(self)

Get a reference to internal connection representation

getConnections(self)

Get all connections

getGlobalProperties(self)

returns

Global properties of current pipeline

getNode(*args, **kwargs)

Overloaded function.

getNodeMap(self)

Get a reference to internal node map

link(self, arg0, arg1)

Link output to an input.

remove(self, node)

Removes a node from pipeline

setOpenVINOVersion(self, version)

Set a specific OpenVINO version to use with this pipeline

unlink(self, arg0, arg1)

Unlink output from an input.

__init__(self: depthai.Pipeline)None

Constructs a new pipeline

createColorCamera(self: depthai.Pipeline)depthai.ColorCamera
createImageManip(self: depthai.Pipeline)depthai.ImageManip
createMobileNetDetectionNetwork(self: depthai.Pipeline)depthai.MobileNetDetectionNetwork
createMobileNetSpatialDetectionNetwork(self: depthai.Pipeline)depthai.MobileNetSpatialDetectionNetwork
createMonoCamera(self: depthai.Pipeline)depthai.MonoCamera
createNeuralNetwork(self: depthai.Pipeline)depthai.NeuralNetwork
createSPIOut(self: depthai.Pipeline)depthai.SPIOut
createSpatialLocationCalculator(self: depthai.Pipeline)depthai.SpatialLocationCalculator
createStereoDepth(self: depthai.Pipeline)depthai.StereoDepth
createSystemLogger(self: depthai.Pipeline)depthai.SystemLogger
createVideoEncoder(self: depthai.Pipeline)depthai.VideoEncoder
createXLinkIn(self: depthai.Pipeline)depthai.XLinkIn
createXLinkOut(self: depthai.Pipeline)depthai.XLinkOut
createYoloDetectionNetwork(self: depthai.Pipeline)depthai.YoloDetectionNetwork
createYoloSpatialDetectionNetwork(self: depthai.Pipeline)depthai.YoloSpatialDetectionNetwork
getAllAssets(self: depthai.Pipeline)depthai.AssetManager

Get assets on the pipeline includes nodes assets

getAllNodes(*args, **kwargs)

Overloaded function.

  1. getAllNodes(self: depthai.Pipeline) -> List[depthai.Node]

Get a vector of all nodes

  1. getAllNodes(self: depthai.Pipeline) -> List[depthai.Node]

Get a vector of all nodes

getAssetManager(*args, **kwargs)

Overloaded function.

  1. getAssetManager(self: depthai.Pipeline) -> depthai.AssetManager

Get pipelines AssetManager as reference

  1. getAssetManager(self: depthai.Pipeline) -> depthai.AssetManager

Get pipelines AssetManager as reference

getConnectionMap(self: depthai.Pipeline) → Dict[int, Set[depthai.Node.Connection]]

Get a reference to internal connection representation

getConnections(self: depthai.Pipeline) → List[depthai.Node.Connection]

Get all connections

getGlobalProperties(self: depthai.Pipeline)depthai.GlobalProperties
Returns

Global properties of current pipeline

getNode(*args, **kwargs)

Overloaded function.

  1. getNode(self: depthai.Pipeline, arg0: int) -> depthai.Node

Get node with id if it exists, nullptr otherwise

  1. getNode(self: depthai.Pipeline, arg0: int) -> depthai.Node

Get node with id if it exists, nullptr otherwise

getNodeMap(self: depthai.Pipeline) → Dict[int, depthai.Node]

Get a reference to internal node map

Link output to an input. Both nodes must be on the same pipeline

Throws an error if they aren’t or cannot be connected

Parameter out:

Nodes output to connect from

Parameter in:

Nodes input to connect to

remove(self: depthai.Pipeline, node: depthai.Node)None

Removes a node from pipeline

setOpenVINOVersion(self: depthai.Pipeline, version: depthai.OpenVINO.Version = <Version.VERSION_2020_1: 0>)None

Set a specific OpenVINO version to use with this pipeline

Unlink output from an input.

Throws an error if link doesn’t exists

Parameter out:

Nodes output to unlink from

Parameter in:

Nodes input to unlink to

class depthai.Point2f

Bases: pybind11_builtins.pybind11_object

Point2f structure

x and y coordinates that define a 2D point.

Methods:

__init__(*args, **kwargs)

Overloaded function.

Attributes:

x

y

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: depthai.Point2f) -> None

  2. __init__(self: depthai.Point2f, arg0: float, arg1: float) -> None

property x
property y
class depthai.Point3f

Bases: pybind11_builtins.pybind11_object

Point3f structure

x,y,z coordinates that define a 3D point.

Methods:

__init__(*args, **kwargs)

Overloaded function.

Attributes:

x

y

z

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: depthai.Point3f) -> None

  2. __init__(self: depthai.Point3f, arg0: float, arg1: float, arg2: float) -> None

property x
property y
property z
class depthai.RawBuffer

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

data

__init__(self: depthai.RawBuffer)None
property data
class depthai.RawCameraControl

Bases: depthai.RawBuffer

Classes:

AntiBandingMode

Members:

AutoFocusMode

Members:

AutoWhiteBalanceMode

Members:

EffectMode

Members:

SceneMode

Members:

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

autoFocusMode

cmdMask

lensPosition

class AntiBandingMode

Bases: pybind11_builtins.pybind11_object

Members:

OFF

MAINS_50_HZ

MAINS_60_HZ

AUTO

Attributes:

AUTO

MAINS_50_HZ

MAINS_60_HZ

OFF

name

value

Methods:

__init__(self, value)

AUTO = <AntiBandingMode.AUTO: 3>
MAINS_50_HZ = <AntiBandingMode.MAINS_50_HZ: 1>
MAINS_60_HZ = <AntiBandingMode.MAINS_60_HZ: 2>
OFF = <AntiBandingMode.OFF: 0>
__init__(self: depthai.RawCameraControl.AntiBandingMode, value: int)None
property name
property value
class AutoFocusMode

Bases: pybind11_builtins.pybind11_object

Members:

OFF

AUTO

MACRO

CONTINUOUS_VIDEO

CONTINUOUS_PICTURE

EDOF

Attributes:

AUTO

CONTINUOUS_PICTURE

CONTINUOUS_VIDEO

EDOF

MACRO

OFF

name

value

Methods:

__init__(self, value)

AUTO = <AutoFocusMode.AUTO: 1>
CONTINUOUS_PICTURE = <AutoFocusMode.CONTINUOUS_PICTURE: 4>
CONTINUOUS_VIDEO = <AutoFocusMode.CONTINUOUS_VIDEO: 3>
EDOF = <AutoFocusMode.EDOF: 5>
MACRO = <AutoFocusMode.MACRO: 2>
OFF = <AutoFocusMode.OFF: 0>
__init__(self: depthai.RawCameraControl.AutoFocusMode, value: int)None
property name
property value
class AutoWhiteBalanceMode

Bases: pybind11_builtins.pybind11_object

Members:

OFF

AUTO

INCANDESCENT

FLUORESCENT

WARM_FLUORESCENT

DAYLIGHT

CLOUDY_DAYLIGHT

TWILIGHT

SHADE

Attributes:

AUTO

CLOUDY_DAYLIGHT

DAYLIGHT

FLUORESCENT

INCANDESCENT

OFF

SHADE

TWILIGHT

WARM_FLUORESCENT

name

value

Methods:

__init__(self, value)

AUTO = <AutoWhiteBalanceMode.AUTO: 1>
CLOUDY_DAYLIGHT = <AutoWhiteBalanceMode.CLOUDY_DAYLIGHT: 6>
DAYLIGHT = <AutoWhiteBalanceMode.DAYLIGHT: 5>
FLUORESCENT = <AutoWhiteBalanceMode.FLUORESCENT: 3>
INCANDESCENT = <AutoWhiteBalanceMode.INCANDESCENT: 2>
OFF = <AutoWhiteBalanceMode.OFF: 0>
SHADE = <AutoWhiteBalanceMode.SHADE: 8>
TWILIGHT = <AutoWhiteBalanceMode.TWILIGHT: 7>
WARM_FLUORESCENT = <AutoWhiteBalanceMode.WARM_FLUORESCENT: 4>
__init__(self: depthai.RawCameraControl.AutoWhiteBalanceMode, value: int)None
property name
property value
class EffectMode

Bases: pybind11_builtins.pybind11_object

Members:

OFF

MONO

NEGATIVE

SOLARIZE

SEPIA

POSTERIZE

WHITEBOARD

BLACKBOARD

AQUA

Attributes:

AQUA

BLACKBOARD

MONO

NEGATIVE

OFF

POSTERIZE

SEPIA

SOLARIZE

WHITEBOARD

name

value

Methods:

__init__(self, value)

AQUA = <EffectMode.AQUA: 8>
BLACKBOARD = <EffectMode.BLACKBOARD: 7>
MONO = <EffectMode.MONO: 1>
NEGATIVE = <EffectMode.NEGATIVE: 2>
OFF = <EffectMode.OFF: 0>
POSTERIZE = <EffectMode.POSTERIZE: 5>
SEPIA = <EffectMode.SEPIA: 4>
SOLARIZE = <EffectMode.SOLARIZE: 3>
WHITEBOARD = <EffectMode.WHITEBOARD: 6>
__init__(self: depthai.RawCameraControl.EffectMode, value: int)None
property name
property value
class SceneMode

Bases: pybind11_builtins.pybind11_object

Members:

UNSUPPORTED

FACE_PRIORITY

ACTION

PORTRAIT

LANDSCAPE

NIGHT

NIGHT_PORTRAIT

THEATRE

BEACH

SNOW

SUNSET

STEADYPHOTO

FIREWORKS

SPORTS

PARTY

CANDLELIGHT

BARCODE

Attributes:

ACTION

BARCODE

BEACH

CANDLELIGHT

FACE_PRIORITY

FIREWORKS

LANDSCAPE

NIGHT

NIGHT_PORTRAIT

PARTY

PORTRAIT

SNOW

SPORTS

STEADYPHOTO

SUNSET

THEATRE

UNSUPPORTED

name

value

Methods:

__init__(self, value)

ACTION = <SceneMode.ACTION: 2>
BARCODE = <SceneMode.BARCODE: 16>
BEACH = <SceneMode.BEACH: 8>
CANDLELIGHT = <SceneMode.CANDLELIGHT: 15>
FACE_PRIORITY = <SceneMode.FACE_PRIORITY: 1>
FIREWORKS = <SceneMode.FIREWORKS: 12>
LANDSCAPE = <SceneMode.LANDSCAPE: 4>
NIGHT = <SceneMode.NIGHT: 5>
NIGHT_PORTRAIT = <SceneMode.NIGHT_PORTRAIT: 6>
PARTY = <SceneMode.PARTY: 14>
PORTRAIT = <SceneMode.PORTRAIT: 3>
SNOW = <SceneMode.SNOW: 9>
SPORTS = <SceneMode.SPORTS: 13>
STEADYPHOTO = <SceneMode.STEADYPHOTO: 11>
SUNSET = <SceneMode.SUNSET: 10>
THEATRE = <SceneMode.THEATRE: 7>
UNSUPPORTED = <SceneMode.UNSUPPORTED: 0>
__init__(self: depthai.RawCameraControl.SceneMode, value: int)None
property name
property value
__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property autoFocusMode
property cmdMask
property lensPosition
class depthai.RawImageManipConfig

Bases: depthai.RawBuffer

Classes:

CropConfig

CropRect

FormatConfig

ResizeConfig

Methods:

__init__(self)

Attributes:

cropConfig

enableCrop

enableFormat

enableResize

formatConfig

resizeConfig

class CropConfig

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

cropRatio

cropRect

cropRotatedRect

enableCenterCropRectangle

enableRotatedRect

normalizedCoords

widthHeightAspectRatio

__init__(self: depthai.RawImageManipConfig.CropConfig)None
property cropRatio
property cropRect
property cropRotatedRect
property enableCenterCropRectangle
property enableRotatedRect
property normalizedCoords
property widthHeightAspectRatio
class CropRect

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

xmax

xmin

ymax

ymin

__init__(self: depthai.RawImageManipConfig.CropRect)None
property xmax
property xmin
property ymax
property ymin
class FormatConfig

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

flipHorizontal

type

__init__(self: depthai.RawImageManipConfig.FormatConfig)None
property flipHorizontal
property type
class ResizeConfig

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

bgBlue

bgGreen

bgRed

enableRotation

enableWarp4pt

enableWarpMatrix

height

keepAspectRatio

lockAspectRatioFill

normalizedCoords

rotationAngleDeg

warpBorderReplicate

warpFourPoints

warpMatrix3x3

width

__init__(self: depthai.RawImageManipConfig.ResizeConfig)None
property bgBlue
property bgGreen
property bgRed
property enableRotation
property enableWarp4pt
property enableWarpMatrix
property height
property keepAspectRatio
property lockAspectRatioFill
property normalizedCoords
property rotationAngleDeg
property warpBorderReplicate
property warpFourPoints
property warpMatrix3x3
property width
__init__(self: depthai.RawImageManipConfig)None
property cropConfig
property enableCrop
property enableFormat
property enableResize
property formatConfig
property resizeConfig
class depthai.RawImgDetections

Bases: depthai.RawBuffer

Methods:

__init__(self)

Attributes:

detections

__init__(self: depthai.RawImgDetections)None
property detections
class depthai.RawImgFrame

Bases: depthai.RawBuffer

Classes:

Specs

Type

Members:

Methods:

__init__(self)

Attributes:

category

fb

instanceNum

sequenceNum

ts

class Specs

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

bytesPP

height

p1Offset

p2Offset

p3Offset

stride

type

width

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property bytesPP
property height
property p1Offset
property p2Offset
property p3Offset
property stride
property type
property width
class Type

Bases: pybind11_builtins.pybind11_object

Members:

YUV422i

YUV444p

YUV420p

YUV422p

YUV400p

RGBA8888

RGB161616

RGB888p

BGR888p

RGB888i

BGR888i

RGBF16F16F16p

BGRF16F16F16p

RGBF16F16F16i

BGRF16F16F16i

GRAY8

GRAYF16

LUT2

LUT4

LUT16

RAW16

RAW14

RAW12

RAW10

RAW8

PACK10

PACK12

YUV444i

NV12

NV21

BITSTREAM

HDR

NONE

Attributes:

BGR888i

BGR888p

BGRF16F16F16i

BGRF16F16F16p

BITSTREAM

GRAY8

GRAYF16

HDR

LUT16

LUT2

LUT4

NONE

NV12

NV21

PACK10

PACK12

RAW10

RAW12

RAW14

RAW16

RAW8

RGB161616

RGB888i

RGB888p

RGBA8888

RGBF16F16F16i

RGBF16F16F16p

YUV400p

YUV420p

YUV422i

YUV422p

YUV444i

YUV444p

name

value

Methods:

__init__(self, value)

BGR888i = <Type.BGR888i: 10>
BGR888p = <Type.BGR888p: 8>
BGRF16F16F16i = <Type.BGRF16F16F16i: 14>
BGRF16F16F16p = <Type.BGRF16F16F16p: 12>
BITSTREAM = <Type.BITSTREAM: 30>
GRAY8 = <Type.GRAY8: 15>
GRAYF16 = <Type.GRAYF16: 16>
HDR = <Type.HDR: 31>
LUT16 = <Type.LUT16: 19>
LUT2 = <Type.LUT2: 17>
LUT4 = <Type.LUT4: 18>
NONE = <Type.NONE: 32>
NV12 = <Type.NV12: 28>
NV21 = <Type.NV21: 29>
PACK10 = <Type.PACK10: 25>
PACK12 = <Type.PACK12: 26>
RAW10 = <Type.RAW10: 23>
RAW12 = <Type.RAW12: 22>
RAW14 = <Type.RAW14: 21>
RAW16 = <Type.RAW16: 20>
RAW8 = <Type.RAW8: 24>
RGB161616 = <Type.RGB161616: 6>
RGB888i = <Type.RGB888i: 9>
RGB888p = <Type.RGB888p: 7>
RGBA8888 = <Type.RGBA8888: 5>
RGBF16F16F16i = <Type.RGBF16F16F16i: 13>
RGBF16F16F16p = <Type.RGBF16F16F16p: 11>
YUV400p = <Type.YUV400p: 4>
YUV420p = <Type.YUV420p: 2>
YUV422i = <Type.YUV422i: 0>
YUV422p = <Type.YUV422p: 3>
YUV444i = <Type.YUV444i: 27>
YUV444p = <Type.YUV444p: 1>
__init__(self: depthai.RawImgFrame.Type, value: int)None
property name
property value
__init__(self: depthai.RawImgFrame)None
property category
property fb
property instanceNum
property sequenceNum
property ts
class depthai.RawNNData

Bases: depthai.RawBuffer

Methods:

__init__(self)

Attributes:

batchSize

tensors

__init__(self: depthai.RawNNData)None
property batchSize
property tensors
class depthai.RawSpatialImgDetections

Bases: depthai.RawBuffer

Methods:

__init__(self)

Attributes:

detections

__init__(self: depthai.RawSpatialImgDetections)None
property detections
class depthai.RawSystemInformation

Bases: depthai.RawBuffer

System information of device

Memory usage, cpu usage and chip temperature

Methods:

__init__(self)

Attributes:

chipTemperature

cmxMemoryUsage

ddrMemoryUsage

leonCssCpuUsage

leonCssMemoryUsage

leonMssCpuUsage

leonMssMemoryUsage

__init__(self: depthai.RawSystemInformation)None
property chipTemperature
property cmxMemoryUsage
property ddrMemoryUsage
property leonCssCpuUsage
property leonCssMemoryUsage
property leonMssCpuUsage
property leonMssMemoryUsage
class depthai.Rect

Bases: pybind11_builtins.pybind11_object

Rect structure

x,y coordinates together with width and height that define a rectangle. Can be either normalized [0,1] or absolute representation.

Methods:

__init__(*args, **kwargs)

Overloaded function.

area(self)

Area (width*height) of the rectangle

bottomRight(self)

The bottom-right corner

contains(self, arg0)

Checks whether the rectangle contains the point.

denormalize(self, width, height)

Denormalize rectangle.

empty(self)

True if rectangle is empty.

isNormalized(self)

Whether rectangle is normalized (coordinates in [0,1] range) or not.

normalize(self, width, height)

Normalize rectangle.

size(self)

Size (width, height) of the rectangle

topLeft(self)

The top-left corner.

Attributes:

height

width

x

y

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: depthai.Rect) -> None

  2. __init__(self: depthai.Rect, arg0: float, arg1: float, arg2: float, arg3: float) -> None

  3. __init__(self: depthai.Rect, arg0: depthai.Point2f, arg1: depthai.Point2f) -> None

  4. __init__(self: depthai.Rect, arg0: depthai.Point2f, arg1: depthai.Size2f) -> None

area(self: depthai.Rect)float

Area (width*height) of the rectangle

bottomRight(self: depthai.Rect)depthai.Point2f

The bottom-right corner

contains(self: depthai.Rect, arg0: depthai.Point2f)bool

Checks whether the rectangle contains the point.

denormalize(self: depthai.Rect, width: int, height: int)depthai.Rect

Denormalize rectangle.

Parameter width:

Destination frame width.

Parameter height:

Destination frame height.

empty(self: depthai.Rect)bool

True if rectangle is empty.

property height
isNormalized(self: depthai.Rect)bool

Whether rectangle is normalized (coordinates in [0,1] range) or not.

normalize(self: depthai.Rect, width: int, height: int)depthai.Rect

Normalize rectangle.

Parameter width:

Source frame width.

Parameter height:

Source frame height.

size(self: depthai.Rect)depthai.Size2f

Size (width, height) of the rectangle

topLeft(self: depthai.Rect)depthai.Point2f

The top-left corner.

property width
property x
property y
class depthai.RotatedRect

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

angle

center

size

__init__(self: depthai.RotatedRect)None
property angle
property center
property size
class depthai.SPIOut

Bases: depthai.Node

SPIOut node. Sends messages over SPI.

Methods:

__init__(*args, **kwargs)

Initialize self.

setBusId(self, id)

Specifies SPI Bus number to use

setStreamName(self, name)

Specifies stream name over which the node will send data

Attributes:

input

Input for any type of messages to be transfered over SPI stream

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property input

Input for any type of messages to be transfered over SPI stream

Default queue is blocking with size 8

setBusId(self: depthai.SPIOut, id: int)None

Specifies SPI Bus number to use

Parameter id:

SPI Bus id

setStreamName(self: depthai.SPIOut, name: str)None

Specifies stream name over which the node will send data

Parameter name:

Stream name

class depthai.Size2f

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Overloaded function.

Attributes:

height

width

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: depthai.Size2f) -> None

  2. __init__(self: depthai.Size2f, arg0: float, arg1: float) -> None

property height
property width
class depthai.SpatialDetectionNetwork

Bases: depthai.DetectionNetwork

SpatialDetectionNetwork node. Runs a neural inference on input image and calculates spatial location data.

Classes:

Properties

alias of depthai.SpatialDetectionNetworkProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

setBoundingBoxScaleFactor(self, scaleFactor)

Specifies scale factor for detected bounding boxes.

setDepthLowerThreshold(self, lowerThreshold)

Specifies lower threshold in milimeters for depth values which will used to calculate spatial data

setDepthUpperThreshold(self, upperThreshold)

Specifies upper threshold in milimeters for depth values which will used to calculate spatial data

Attributes:

boundingBoxMapping

Outputs mapping of detected bounding boxes relative to depth map

input

Input message with data to be infered upon Default queue is blocking with size 5

inputDepth

Input message with depth data used to retrieve spatial information about detected object Default queue is non-blocking with size 4

out

Outputs ImgDetections message that carries parsed detection results.

passthrough

Passthrough message on which the inference was performed.

passthroughDepth

Passthrough message for depth frame on which the spatial location calculation was performed.

Properties

alias of depthai.SpatialDetectionNetworkProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

depthThresholds

detectedBBScaleFactor

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property boundingBoxMapping

Outputs mapping of detected bounding boxes relative to depth map

Suitable for when displaying remapped bounding boxes on depth frame

property input

Input message with data to be infered upon Default queue is blocking with size 5

property inputDepth

Input message with depth data used to retrieve spatial information about detected object Default queue is non-blocking with size 4

property out

Outputs ImgDetections message that carries parsed detection results.

property passthrough

Passthrough message on which the inference was performed.

Suitable for when input queue is set to non-blocking behavior.

property passthroughDepth

Passthrough message for depth frame on which the spatial location calculation was performed.

Suitable for when input queue is set to non-blocking behavior.

setBoundingBoxScaleFactor(self: depthai.SpatialDetectionNetwork, scaleFactor: float)None

Specifies scale factor for detected bounding boxes.

Parameter scaleFactor:

Scale factor must be in the interval (0,1].

setDepthLowerThreshold(self: depthai.SpatialDetectionNetwork, lowerThreshold: int)None

Specifies lower threshold in milimeters for depth values which will used to calculate spatial data

Parameter lowerThreshold:

LowerThreshold must be in the interval [0,upperThreshold] and less than upperThreshold.

setDepthUpperThreshold(self: depthai.SpatialDetectionNetwork, upperThreshold: int)None

Specifies upper threshold in milimeters for depth values which will used to calculate spatial data

Parameter upperThreshold:

UpperThreshold must be in the interval (lowerThreshold,65535].

class depthai.SpatialDetectionNetworkProperties

Bases: depthai.DetectionNetworkProperties

Properties for SpatialDetectionNetwork

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

depthThresholds

detectedBBScaleFactor

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property depthThresholds
property detectedBBScaleFactor
class depthai.SpatialImgDetection

Bases: depthai.ImgDetection

Spatial image detection structure

Contains image detection results together with spatial location data.

Methods:

__init__(self)

Attributes:

spatialCoordinates

__init__(self: depthai.SpatialImgDetection)None
property spatialCoordinates
class depthai.SpatialImgDetections

Bases: depthai.Buffer

SpatialImgDetections message. Carries detection results together with spatial location data

Methods:

__init__(self)

Attributes:

detections

__init__(self: depthai.SpatialImgDetections)None
property detections
class depthai.SpatialLocationCalculator

Bases: depthai.Node

SpatialLocationCalculator node. Calculates spatial location data on a set of ROIs on depth map.

Classes:

Properties

alias of depthai.SpatialLocationCalculatorProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

setWaitForConfigInput(self, wait)

Specify whether or not wait until configuration message arrives to inputConfig Input.

Attributes:

initialConfig

Initial config to use when calculating spatial location data.

inputConfig

Input SpatialLocationCalculatorConfig message with ability to modify parameters in runtime.

inputDepth

Input message with depth data used to retrieve spatial information about detected object.

out

Outputs SpatialLocationCalculatorData message that carries spatial location results.

passthroughDepth

Passthrough message on which the calculation was performed.

Properties

alias of depthai.SpatialLocationCalculatorProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

inputConfigSync

roiConfig

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property initialConfig

Initial config to use when calculating spatial location data.

property inputConfig

Input SpatialLocationCalculatorConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4.

property inputDepth

Input message with depth data used to retrieve spatial information about detected object. Default queue is non-blocking with size 4.

property out

Outputs SpatialLocationCalculatorData message that carries spatial location results.

property passthroughDepth

Passthrough message on which the calculation was performed. Suitable for when input queue is set to non-blocking behavior.

setWaitForConfigInput(self: depthai.SpatialLocationCalculator, wait: bool)None

Specify whether or not wait until configuration message arrives to inputConfig Input.

Parameter wait:

True to wait for configuration message, false otherwise.

class depthai.SpatialLocationCalculatorConfig

Bases: depthai.Buffer

SpatialLocationCalculatorConfig message. Carries ROI (region of interest) and threshold for depth calculation

Methods:

__init__(self)

addROI(self, ROI)

Add a new ROI to configuration data.

getConfigData(self)

Retrieve configuration data for SpatialLocationCalculator

setROIs(self, ROIs)

Set a vector of ROIs as configuration data.

__init__(self: depthai.SpatialLocationCalculatorConfig)None
addROI(self: depthai.SpatialLocationCalculatorConfig, ROI: depthai.SpatialLocationCalculatorConfigData)None

Add a new ROI to configuration data.

Parameter roi:

Configuration parameters for ROI (region of interest)

getConfigData(self: depthai.SpatialLocationCalculatorConfig) → List[depthai.SpatialLocationCalculatorConfigData]

Retrieve configuration data for SpatialLocationCalculator

Returns

Vector of configuration parameters for ROIs (region of interests)

setROIs(self: depthai.SpatialLocationCalculatorConfig, ROIs: List[depthai.SpatialLocationCalculatorConfigData])None

Set a vector of ROIs as configuration data.

Parameter ROIs:

Vector of configuration parameters for ROIs (region of interests)

class depthai.SpatialLocationCalculatorConfigData

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

depthThresholds

roi

__init__(self: depthai.SpatialLocationCalculatorConfigData)None
property depthThresholds
property roi
class depthai.SpatialLocationCalculatorConfigThresholds

Bases: pybind11_builtins.pybind11_object

Spatial location configuration thresholds structure

Contains configuration data for lower and upper threshold in millimeters for ROI. Values outside of threshold range will be ignored when calculating spatial coordinates from depth map.

Methods:

__init__(self)

Attributes:

lowerThreshold

upperThreshold

__init__(self: depthai.SpatialLocationCalculatorConfigThresholds)None
property lowerThreshold
property upperThreshold
class depthai.SpatialLocationCalculatorData

Bases: depthai.Buffer

SpatialLocationCalculatorData message. Carries spatial information (X,Y,Z) and their configuration parameters

Methods:

__init__(self)

getSpatialLocations(self)

Retrieve configuration data for SpatialLocationCalculatorData.

__init__(self: depthai.SpatialLocationCalculatorData)None
getSpatialLocations(self: depthai.SpatialLocationCalculatorData) → List[depthai.SpatialLocations]

Retrieve configuration data for SpatialLocationCalculatorData.

Returns

Vector of spatial location data, carrying spatial information (X,Y,Z)

class depthai.SpatialLocationCalculatorProperties

Bases: pybind11_builtins.pybind11_object

Specify SpatialLocationCalculator options

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

inputConfigSync

roiConfig

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property inputConfigSync
property roiConfig
class depthai.SpatialLocations

Bases: pybind11_builtins.pybind11_object

Spatial location information structure

Contains configuration data, average depth for the calculated ROI on depth map. Together with spatial coordinates: x,y,z. Origin is the center of ROI. Units are in millimeters.

Methods:

__init__(self)

Attributes:

config

depthAverage

spatialCoordinates

__init__(self: depthai.SpatialLocations)None
property config
property depthAverage
property spatialCoordinates
class depthai.StereoDepth

Bases: depthai.Node

StereoDepth node. Compute stereo disparity and depth from left-right image pair.

Classes:

Properties

alias of depthai.StereoDepthProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

loadCalibrationData(self, data)

Specify calibration data as a vector of bytes

loadCalibrationFile(self, path)

Specify local filesystem path to the calibration file

setConfidenceThreshold(self, confThr)

Confidence threshold for disparity calculation

setEmptyCalibration(self)

Specify that a passthrough/dummy calibration should be used, when input frames are already rectified (e.g.

setExtendedDisparity(self, enable)

Disparity range increased from 96 to 192, combined from full resolution and downscaled images.

setInputResolution(self, width, height)

Specify input resolution size

setLeftRightCheck(self, enable)

Computes and combines disparities in both L-R and R-L directions, and combine them.

setMedianFilter(self, median)

Parameter median:

setOutputDepth(self, enable)

Enable outputting ‘depth’ stream (converted from disparity).

setOutputRectified(self, enable)

Enable outputting rectified frames.

setRectifyEdgeFillColor(self, color)

Fill color for missing data at frame edges

setRectifyMirrorFrame(self, enable)

Mirror rectified frames

setSubpixel(self, enable)

Computes disparity with sub-pixel interpolation (5 fractional bits).

Attributes:

depth

Outputs ImgFrame message that carries RAW16 encoded (0..65535) depth data in millimeters.

disparity

Outputs ImgFrame message that carries RAW8 encoded (0..96 or 0..192 for Extended mode) disparity data.

left

Input for left ImgFrame of left-right pair

rectifiedLeft

Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.

rectifiedRight

Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.

right

Input for right ImgFrame of left-right pair

syncedLeft

Passthrough ImgFrame message from ‘left’ Input.

syncedRight

Passthrough ImgFrame message from ‘right’ Input.

Properties

alias of depthai.StereoDepthProperties Classes:

MedianFilter

Median filter config for disparity post-processing

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

calibration

confidenceThreshold

enableExtendedDisparity

enableLeftRightCheck

enableOutputDepth

enableOutputRectified

enableSubpixel

height

median

rectifyEdgeFillColor

rectifyMirrorFrame

width

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property depth

Outputs ImgFrame message that carries RAW16 encoded (0..65535) depth data in millimeters.

property disparity

Outputs ImgFrame message that carries RAW8 encoded (0..96 or 0..192 for Extended mode) disparity data.

property left

Input for left ImgFrame of left-right pair

Default queue is non-blocking with size 8

loadCalibrationData(self: depthai.StereoDepth, data: List[int])None

Specify calibration data as a vector of bytes

Parameter path:

Calibration data. If empty use EEPROM

loadCalibrationFile(self: depthai.StereoDepth, path: str)None

Specify local filesystem path to the calibration file

Parameter path:

Path to calibration file. If empty use EEPROM

property rectifiedLeft

Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.

property rectifiedRight

Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.

property right

Input for right ImgFrame of left-right pair

Default queue is non-blocking with size 8

setConfidenceThreshold(self: depthai.StereoDepth, confThr: int)None

Confidence threshold for disparity calculation

Parameter confThr:

Confidence threshold value 0..255

setEmptyCalibration(self: depthai.StereoDepth)None

Specify that a passthrough/dummy calibration should be used, when input frames are already rectified (e.g. sourced from recordings on the host)

setExtendedDisparity(self: depthai.StereoDepth, enable: bool)None

Disparity range increased from 96 to 192, combined from full resolution and downscaled images.

Suitable for short range objects

setInputResolution(self: depthai.StereoDepth, width: int, height: int)None

Specify input resolution size

Optional if MonoCamera exists, otherwise necessary

setLeftRightCheck(self: depthai.StereoDepth, enable: bool)None

Computes and combines disparities in both L-R and R-L directions, and combine them.

For better occlusion handling

setMedianFilter(self: depthai.StereoDepth, median: dai::StereoDepthProperties::MedianFilter)None
Parameter median:

Set kernel size for disparity/depth median filtering, or disable

setOutputDepth(self: depthai.StereoDepth, enable: bool)None

Enable outputting ‘depth’ stream (converted from disparity). In certain configurations, this will disable ‘disparity’ stream

setOutputRectified(self: depthai.StereoDepth, enable: bool)None

Enable outputting rectified frames. Optimizes computation on device side when disabled

setRectifyEdgeFillColor(self: depthai.StereoDepth, color: int)None

Fill color for missing data at frame edges

Parameter color:

Grayscale 0..255, or -1 to replicate pixels

setRectifyMirrorFrame(self: depthai.StereoDepth, enable: bool)None

Mirror rectified frames

Parameter enable:

True for normal disparity/depth, otherwise mirrored

setSubpixel(self: depthai.StereoDepth, enable: bool)None

Computes disparity with sub-pixel interpolation (5 fractional bits).

Suitable for long range

property syncedLeft

Passthrough ImgFrame message from ‘left’ Input.

property syncedRight

Passthrough ImgFrame message from ‘right’ Input.

class depthai.StereoDepthProperties

Bases: pybind11_builtins.pybind11_object

Specify StereoDepth options

Classes:

MedianFilter

Median filter config for disparity post-processing

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

calibration

confidenceThreshold

enableExtendedDisparity

enableLeftRightCheck

enableOutputDepth

enableOutputRectified

enableSubpixel

height

median

rectifyEdgeFillColor

rectifyMirrorFrame

width

class MedianFilter

Bases: pybind11_builtins.pybind11_object

Median filter config for disparity post-processing

Members:

MEDIAN_OFF

KERNEL_3x3

KERNEL_5x5

KERNEL_7x7

Attributes:

KERNEL_3x3

KERNEL_5x5

KERNEL_7x7

MEDIAN_OFF

name

value

Methods:

__init__(self, value)

KERNEL_3x3 = <MedianFilter.KERNEL_3x3: 3>
KERNEL_5x5 = <MedianFilter.KERNEL_5x5: 5>
KERNEL_7x7 = <MedianFilter.KERNEL_7x7: 7>
MEDIAN_OFF = <MedianFilter.MEDIAN_OFF: 0>
__init__(self: depthai.StereoDepthProperties.MedianFilter, value: int)None
property name
property value
__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property calibration
property confidenceThreshold
property enableExtendedDisparity
property enableLeftRightCheck
property enableOutputDepth
property enableOutputRectified
property enableSubpixel
property height
property median
property rectifyEdgeFillColor
property rectifyMirrorFrame
property width
class depthai.SystemInformation

Bases: depthai.Buffer

SystemInformation message. Carries memory usage, cpu usage and chip temperatures.

Methods:

__init__(self)

Attributes:

chipTemperature

cmxMemoryUsage

ddrMemoryUsage

leonCssCpuUsage

leonCssMemoryUsage

leonMssCpuUsage

leonMssMemoryUsage

__init__(self: depthai.SystemInformation)None
property chipTemperature
property cmxMemoryUsage
property ddrMemoryUsage
property leonCssCpuUsage
property leonCssMemoryUsage
property leonMssCpuUsage
property leonMssMemoryUsage
class depthai.SystemLogger

Bases: depthai.Node

SystemLogger node. Send system information periodically.

Methods:

__init__(*args, **kwargs)

Initialize self.

setRate(self, hz)

Specify logging rate, at which messages will be sent to out output

Attributes:

out

Outputs SystemInformation message that carries various system information like memory and CPU usage, temperatures, …

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property out

Outputs SystemInformation message that carries various system information like memory and CPU usage, temperatures, …

setRate(self: depthai.SystemLogger, hz: float)None

Specify logging rate, at which messages will be sent to out output

Parameter hz:

Sending rate in hertz (messages per second)

class depthai.SystemLoggerProperties

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

rateHz

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property rateHz
class depthai.TensorInfo

Bases: pybind11_builtins.pybind11_object

Classes:

DataType

Members:

StorageOrder

Members:

Methods:

__init__(self)

Attributes:

dataType

dims

name

numDimensions

offset

order

strides

class DataType

Bases: pybind11_builtins.pybind11_object

Members:

FP16

U8F

INT

FP32

I8

Attributes:

FP16

FP32

I8

INT

U8F

name

value

Methods:

__init__(self, value)

FP16 = <DataType.FP16: 0>
FP32 = <DataType.FP32: 3>
I8 = <DataType.I8: 4>
INT = <DataType.INT: 2>
U8F = <DataType.U8F: 1>
__init__(self: depthai.TensorInfo.DataType, value: int)None
property name
property value
class StorageOrder

Bases: pybind11_builtins.pybind11_object

Members:

NHWC

NHCW

NCHW

HWC

CHW

WHC

HCW

WCH

CWH

NC

CN

C

H

W

Attributes:

C

CHW

CN

CWH

H

HCW

HWC

NC

NCHW

NHCW

NHWC

W

WCH

WHC

name

value

Methods:

__init__(self, value)

C = <StorageOrder.C: 3>
CHW = <StorageOrder.CHW: 801>
CN = <StorageOrder.CN: 52>
CWH = <StorageOrder.CWH: 786>
H = <StorageOrder.H: 2>
HCW = <StorageOrder.HCW: 561>
HWC = <StorageOrder.HWC: 531>
NC = <StorageOrder.NC: 67>
NCHW = <StorageOrder.NCHW: 17185>
NHCW = <StorageOrder.NHCW: 16945>
NHWC = <StorageOrder.NHWC: 16915>
W = <StorageOrder.W: 1>
WCH = <StorageOrder.WCH: 306>
WHC = <StorageOrder.WHC: 291>
__init__(self: depthai.TensorInfo.StorageOrder, value: int)None
property name
property value
__init__(self: depthai.TensorInfo)None
property dataType
property dims
property name
property numDimensions
property offset
property order
property strides
class depthai.Timestamp

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

nsec

sec

__init__(self: depthai.Timestamp)None
property nsec
property sec
class depthai.VideoEncoder

Bases: depthai.Node

VideoEncoder node. Encodes frames into MJPEG, H264 or H265.

Classes:

Properties

alias of depthai.VideoEncoderProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getBitrate(self)

Get bitrate in bps

getBitrateKbps(self)

Get bitrate in kbps

getFrameRate(self)

Get frame rate

getHeight(self)

Get input height

getKeyframeFrequency(self)

Get keyframe frequency

getNumBFrames(self)

Get number of B frames

getNumFramesPool(self)

Get number of frames in pool

getProfile(self)

Get profile

getQuality(self)

Get quality

getRateControlMode(self)

Get rate control mode

getSize(self)

Get input size

getWidth(self)

Get input width

setBitrate(self, bitrateKbps)

Set output bitrate in bps.

setBitrateKbps(self, bitrateKbps)

Set output bitrate in kbps.

setDefaultProfilePreset(*args, **kwargs)

Overloaded function.

setFrameRate(self, frameRate)

Sets expected frame rate

setKeyframeFrequency(self, freq)

Set keyframe frequency.

setNumBFrames(self, numBFrames)

Set number of B frames to be inserted

setNumFramesPool(self, frames)

Set number of frames in pool

setProfile(self, width, height, profile)

Set encoding profile

setQuality(self, quality)

Set quality

setRateControlMode(self, mode)

Set rate control mode

Attributes:

bitstream

Outputs ImgFrame message that carries BITSTREAM encoded (MJPEG, H264 or H265) frame data.

input

Input for NV12 ImgFrame to be encoded Default queue is blocking with size set by ‘setNumFramesPool’ (4).

Properties

alias of depthai.VideoEncoderProperties Classes:

Profile

Encoding profile, H264, H265 or MJPEG

RateControlMode

Rate control mode specifies if constant or variable bitrate should be used (H264 / H265)

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

bitrate

height

keyframeFrequency

maxBitrate

numBFrames

numFramesPool

profile

quality

rateCtrlMode

width

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property bitstream

Outputs ImgFrame message that carries BITSTREAM encoded (MJPEG, H264 or H265) frame data.

getBitrate(self: depthai.VideoEncoder)int

Get bitrate in bps

getBitrateKbps(self: depthai.VideoEncoder)int

Get bitrate in kbps

getFrameRate(self: depthai.VideoEncoder)int

Get frame rate

getHeight(self: depthai.VideoEncoder)int

Get input height

getKeyframeFrequency(self: depthai.VideoEncoder)int

Get keyframe frequency

getNumBFrames(self: depthai.VideoEncoder)int

Get number of B frames

getNumFramesPool(self: depthai.VideoEncoder)int

Get number of frames in pool

Returns

Number of pool frames

getProfile(self: depthai.VideoEncoder) → dai::VideoEncoderProperties::Profile

Get profile

getQuality(self: depthai.VideoEncoder)int

Get quality

getRateControlMode(self: depthai.VideoEncoder) → dai::VideoEncoderProperties::RateControlMode

Get rate control mode

getSize(self: depthai.VideoEncoder) → Tuple[int, int]

Get input size

getWidth(self: depthai.VideoEncoder)int

Get input width

property input

Input for NV12 ImgFrame to be encoded Default queue is blocking with size set by ‘setNumFramesPool’ (4).

setBitrate(self: depthai.VideoEncoder, bitrateKbps: int)None

Set output bitrate in bps. Final bitrate depends on rate control mode

setBitrateKbps(self: depthai.VideoEncoder, bitrateKbps: int)None

Set output bitrate in kbps. Final bitrate depends on rate control mode

setDefaultProfilePreset(*args, **kwargs)

Overloaded function.

  1. setDefaultProfilePreset(self: depthai.VideoEncoder, width: int, height: int, fps: float, profile: dai::VideoEncoderProperties::Profile) -> None

Sets a default preset based on specified input size, frame rate and profile

Parameter width:

Input frame width

Parameter height:

Input frame height

Parameter fps:

Frame rate in frames per second

Parameter profile:

Encoding profile

  1. setDefaultProfilePreset(self: depthai.VideoEncoder, size: Tuple[int, int], fps: float, profile: dai::VideoEncoderProperties::Profile) -> None

Sets a default preset based on specified input size, frame rate and profile

Parameter size:

Input frame size

Parameter fps:

Frame rate in frames per second

Parameter profile:

Encoding profile

setFrameRate(self: depthai.VideoEncoder, frameRate: int)None

Sets expected frame rate

Parameter frameRate:

Frame rate in frames per second

setKeyframeFrequency(self: depthai.VideoEncoder, freq: int)None

Set keyframe frequency. Every Nth frame a keyframe is inserted.

Applicable only to H264 and H265 profiles

Examples:

  • 30 FPS video, keyframe frequency: 30. Every 1s a keyframe will be inserted

  • 60 FPS video, keyframe frequency: 180. Every 3s a keyframe will be inserted

setNumBFrames(self: depthai.VideoEncoder, numBFrames: int)None

Set number of B frames to be inserted

setNumFramesPool(self: depthai.VideoEncoder, frames: int)None

Set number of frames in pool

Parameter frames:

Number of pool frames

setProfile(self: depthai.VideoEncoder, width: int, height: int, profile: dai::VideoEncoderProperties::Profile)None

Set encoding profile

setQuality(self: depthai.VideoEncoder, quality: int)None

Set quality

Parameter quality:

Value between 0-100%. Approximates quality

setRateControlMode(self: depthai.VideoEncoder, mode: dai::VideoEncoderProperties::RateControlMode)None

Set rate control mode

class depthai.VideoEncoderProperties

Bases: pybind11_builtins.pybind11_object

Specify VideoEncoder options such as profile, bitrate, …

Classes:

Profile

Encoding profile, H264, H265 or MJPEG

RateControlMode

Rate control mode specifies if constant or variable bitrate should be used (H264 / H265)

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

bitrate

height

keyframeFrequency

maxBitrate

numBFrames

numFramesPool

profile

quality

rateCtrlMode

width

class Profile

Bases: pybind11_builtins.pybind11_object

Encoding profile, H264, H265 or MJPEG

Members:

H264_BASELINE

H264_HIGH

H264_MAIN

H265_MAIN

MJPEG

Attributes:

H264_BASELINE

H264_HIGH

H264_MAIN

H265_MAIN

MJPEG

name

value

Methods:

__init__(self, value)

H264_BASELINE = <Profile.H264_BASELINE: 0>
H264_HIGH = <Profile.H264_HIGH: 1>
H264_MAIN = <Profile.H264_MAIN: 2>
H265_MAIN = <Profile.H265_MAIN: 3>
MJPEG = <Profile.MJPEG: 4>
__init__(self: depthai.VideoEncoderProperties.Profile, value: int)None
property name
property value
class RateControlMode

Bases: pybind11_builtins.pybind11_object

Rate control mode specifies if constant or variable bitrate should be used (H264 / H265)

Members:

CBR

VBR

Attributes:

CBR

VBR

name

value

Methods:

__init__(self, value)

CBR = <RateControlMode.CBR: 0>
VBR = <RateControlMode.VBR: 1>
__init__(self: depthai.VideoEncoderProperties.RateControlMode, value: int)None
property name
property value
__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property bitrate
property height
property keyframeFrequency
property maxBitrate
property numBFrames
property numFramesPool
property profile
property quality
property rateCtrlMode
property width
class depthai.XLinkConnection

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Overloaded function.

getAllConnectedDevices(state)

getDeviceByMxId(mxId, state)

getFirstDevice(state)

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: depthai.XLinkConnection, arg0: depthai.DeviceInfo, arg1: List[int]) -> None

  2. __init__(self: depthai.XLinkConnection, arg0: depthai.DeviceInfo, arg1: str) -> None

  3. __init__(self: depthai.XLinkConnection, arg0: depthai.DeviceInfo) -> None

static getAllConnectedDevices(state: depthai.XLinkDeviceState = <XLinkDeviceState.X_LINK_ANY_STATE: 0>) → List[depthai.DeviceInfo]
static getDeviceByMxId(mxId: str, state: depthai.XLinkDeviceState = <XLinkDeviceState.X_LINK_ANY_STATE: 0>) → Tuple[bool, depthai.DeviceInfo]
static getFirstDevice(state: depthai.XLinkDeviceState = <XLinkDeviceState.X_LINK_ANY_STATE: 0>) → Tuple[bool, depthai.DeviceInfo]
class depthai.XLinkDeviceState

Bases: pybind11_builtins.pybind11_object

Members:

X_LINK_ANY_STATE

X_LINK_BOOTED

X_LINK_UNBOOTED

X_LINK_BOOTLOADER

Attributes:

X_LINK_ANY_STATE

X_LINK_BOOTED

X_LINK_BOOTLOADER

X_LINK_UNBOOTED

name

value

Methods:

__init__(self, value)

__init__(self: depthai.XLinkDeviceState, value: int)None
property name
property value
class depthai.XLinkIn

Bases: depthai.Node

XLinkIn node. Receives messages over XLink.

Methods:

__init__(*args, **kwargs)

Initialize self.

getMaxDataSize(self)

Get maximum messages size in bytes

getNumFrames(self)

Get number of frames in pool

getStreamName(self)

Get stream name

setMaxDataSize(self, maxDataSize)

Set maximum message size it can receive

setNumFrames(self, numFrames)

Set number of frames in pool for sending messages forward

setStreamName(self, streamName)

Specifies XLink stream name to use.

Attributes:

out

Outputs message of same type as send from host.

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getMaxDataSize(self: depthai.XLinkIn)int

Get maximum messages size in bytes

getNumFrames(self: depthai.XLinkIn)int

Get number of frames in pool

getStreamName(self: depthai.XLinkIn)str

Get stream name

property out

Outputs message of same type as send from host.

setMaxDataSize(self: depthai.XLinkIn, maxDataSize: int)None

Set maximum message size it can receive

Parameter maxDataSize:

Maximum size in bytes

setNumFrames(self: depthai.XLinkIn, numFrames: int)None

Set number of frames in pool for sending messages forward

Parameter numFrames:

Maximum number of frames in pool

setStreamName(self: depthai.XLinkIn, streamName: str)None

Specifies XLink stream name to use.

The name should not start with double underscores ‘__’, as those are reserved for internal use.

Parameter name:

Stream name

class depthai.XLinkOut

Bases: depthai.Node

XLinkOut node. Sends messages over XLink.

Methods:

__init__(*args, **kwargs)

Initialize self.

getFpsLimit(self)

Get rate limit in messages per second

getMetadataOnly(self)

Get whether to transfer only messages attributes and not buffer data

getStreamName(self)

Get stream name

setFpsLimit(self, fpsLimit)

Specifies a message sending limit.

setMetadataOnly(self, arg0)

Specify whether to transfer only messages attributes and not buffer data

setStreamName(self, streamName)

Specifies XLink stream name to use.

Attributes:

input

Input for any type of messages to be transfered over XLink stream

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getFpsLimit(self: depthai.XLinkOut)float

Get rate limit in messages per second

getMetadataOnly(self: depthai.XLinkOut)bool

Get whether to transfer only messages attributes and not buffer data

getStreamName(self: depthai.XLinkOut)str

Get stream name

property input

Input for any type of messages to be transfered over XLink stream

Default queue is blocking with size 8

setFpsLimit(self: depthai.XLinkOut, fpsLimit: float)None

Specifies a message sending limit. It’s approximated from specified rate.

Parameter fps:

Approximate rate limit in messages per second

setMetadataOnly(self: depthai.XLinkOut, arg0: bool)None

Specify whether to transfer only messages attributes and not buffer data

setStreamName(self: depthai.XLinkOut, streamName: str)None

Specifies XLink stream name to use.

The name should not start with double underscores ‘__’, as those are reserved for internal use.

Parameter name:

Stream name

class depthai.XLinkPlatform

Bases: pybind11_builtins.pybind11_object

Members:

X_LINK_ANY_PLATFORM

X_LINK_MYRIAD_2

X_LINK_MYRIAD_X

Attributes:

X_LINK_ANY_PLATFORM

X_LINK_MYRIAD_2