Python API Reference

Classes:

ADatatype

Abstract message

AprilTag

AprilTag structure.

AprilTagConfig

AprilTagConfig message.

AprilTagProperties

Specify properties for AprilTag

AprilTags

AprilTags message.

Asset

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

AssetManager

AssetManager can store assets and serialize

BoardConfig

Buffer

Base message - buffer of binary data

CalibrationHandler

CalibrationHandler is an interface to read/load/write structured calibration and device data.

CameraBoardSocket

Which Camera socket to use.

CameraControl

CameraControl message.

CameraExposureOffset

Members:

CameraFeatures

CameraFeatures structure

CameraImageOrientation

Camera sensor image orientation / pixel readout.

CameraInfo

CameraInfo structure

CameraModel

Which CameraModel to initialize the calibration with.

CameraProperties

Specify properties for ColorCamera such as camera ID, …

CameraSensorConfig

Sensor config

CameraSensorType

Camera sensor type

ChipTemperature

Chip temperature information.

Clock

ColorCameraProperties

Specify properties for ColorCamera such as camera ID, …

Colormap

Camera sensor type

CpuUsage

CpuUsage structure

CrashDump

DataInputQueue

Access to send messages through XLink stream

DataOutputQueue

Access to receive messages coming from XLink stream

DatatypeEnum

Members:

DetectionNetworkProperties

Specify properties for DetectionNetwork

DetectionNetworkType

Members:

DetectionParserOptions

Specifies how to parse output of detection networks

DetectionParserProperties

Specify properties for DetectionParser

Device

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

DeviceBase

The core of depthai device for RAII, connects to device and maintains watchdog, timesync, …

DeviceBootloader

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

DeviceDesc

DeviceInfo

Describes a connected device

EdgeDetectorConfig

EdgeDetectorConfig message.

EdgeDetectorConfigData

EdgeDetectorConfigData configuration data structure

EdgeDetectorProperties

Specify properties for EdgeDetector

EepromData

EepromData structure

EncodedFrame

Extrinsics

Extrinsics structure

FeatureTrackerConfig

FeatureTrackerConfig message.

FeatureTrackerProperties

Specify properties for FeatureTracker

FrameEvent

Members:

GlobalProperties

Specify properties which apply for whole pipeline

IMUData

IMUData message.

IMUPacket

IMU output

IMUProperties

IMUReport

IMUReportAccelerometer

Accelerometer

IMUReportGyroscope

Gyroscope

IMUReportMagneticField

Magnetic field

IMUReportRotationVectorWAcc

Rotation Vector with Accuracy

IMUSensor

Available IMU sensors.

IMUSensorConfig

ImageManipConfig

ImageManipConfig message.

ImgDetection

ImgDetection structure

ImgDetections

ImgDetections message.

ImgFrame

ImgFrame message.

Interpolation

Interpolation type

LogLevel

Members:

LogMessage

MedianFilter

Median filter config

MemoryInfo

MemoryInfo structure

MessageDemuxProperties

MessageDemux does not have any properties to set

MessageGroup

MessageGroup message.

MonoCameraProperties

Specify properties for MonoCamera such as camera ID, …

NNData

NNData message.

NeuralNetworkProperties

Specify properties for NeuralNetwork such as blob path, …

Node

Abstract Node

ObjectTrackerProperties

Specify properties for ObjectTracker

OpenVINO

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

Pipeline

Point2f

Point2f structure

Point3f

Point3f structure

PointCloudConfig

PointCloudConfig message.

PointCloudData

PointCloudData message.

PointCloudProperties

Specify properties for PointCloud

ProcessorType

Members:

ProfilingData

Properties

Base Properties structure

RawAprilTagConfig

RawAprilTags configuration structure

RawBuffer

RawBuffer structure

RawCameraControl

RawCameraControl structure

RawEdgeDetectorConfig

RawEdgeDetectorConfig configuration structure

RawEncodedFrame

RawFeatureTrackerConfig

RawFeatureTrackerConfig configuration structure

RawIMUData

RawImageManipConfig

RawImageManipConfig structure

RawImgDetections

RawImgDetections structure

RawImgFrame

RawImgFrame structure

RawMessageGroup

RawNNData

RawNNData structure

RawPointCloudConfig

RawPointCloudConfig configuration structure

RawPointCloudData

RawSpatialImgDetections

RawSpatialImgDetections structure

RawStereoDepthConfig

RawStereoDepthConfig configuration structure

RawSystemInformation

System information of device

RawToFConfig

RawToFConfig configuration structure

RawTrackedFeatures

RawTrackedFeatures structure

RawTracklets

RawTracklets structure

Rect

Rect structure

RotatedRect

RotatedRect structure

SPIInProperties

Properties for SPIIn node

SPIOutProperties

Specify properties for SPIOut node

ScriptProperties

Specify ScriptProperties options such as script uri, script name, …

SerializationType

Members:

Size2f

Size2f structure

SpatialDetectionNetworkProperties

Specify properties for SpatialDetectionNetwork

SpatialImgDetection

SpatialImgDetection structure

SpatialImgDetections

SpatialImgDetections message.

SpatialLocationCalculatorAlgorithm

SpatialLocationCalculatorAlgorithm configuration modes

SpatialLocationCalculatorConfig

SpatialLocationCalculatorConfig message.

SpatialLocationCalculatorConfigData

SpatialLocation configuration data structure

SpatialLocationCalculatorConfigThresholds

SpatialLocation configuration thresholds structure

SpatialLocationCalculatorData

SpatialLocationCalculatorData message.

SpatialLocationCalculatorProperties

Specify properties for SpatialLocationCalculator

SpatialLocations

SpatialLocations structure

StereoDepthConfig

StereoDepthConfig message.

StereoDepthProperties

Specify properties for StereoDepth

StereoPair

Describes which camera sockets can be used for stereo and their baseline.

StereoRectification

StereoRectification structure

SyncProperties

Specify properties for Sync.

SystemInformation

SystemInformation message.

SystemLoggerProperties

SystemLoggerProperties structure

TensorInfo

TensorInfo structure

Timestamp

Timestamp structure

ToFConfig

ToFConfig message.

ToFProperties

Specify properties for ToF

TrackedFeature

TrackedFeature structure

TrackedFeatures

TrackedFeatures message.

TrackerIdAssignmentPolicy

Members:

TrackerType

Members:

Tracklet

Tracklet structure

Tracklets

Tracklets message.

UVCProperties

Properties for UVC node

UsbSpeed

Get USB Speed

Version

Version structure

VideoEncoderProperties

Specify properties for VideoEncoder such as profile, bitrate, …

WarpProperties

Specify properties for Warp

XLinkConnection

Represents connection between host and device over XLink protocol

XLinkDeviceState

Members:

XLinkError_t

Members:

XLinkInProperties

Specify properties for XLinkIn such as stream name, …

XLinkOutProperties

Specify properties for XLinkOut such as stream name, …

XLinkPlatform

Members:

XLinkProtocol

Members:

connectionInterface

Members:

Exceptions:

EepromError

XLinkError

XLinkReadError

XLinkWriteError

Functions:

isDatatypeSubclassOf(arg0, arg1)

class depthai.ADatatype

Bases: pybind11_builtins.pybind11_object

Abstract message

Methods:

__init__(*args, **kwargs)

Initialize self.

getRaw(self)

__init__(*args, **kwargs)

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

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

Bases: pybind11_builtins.pybind11_object

AprilTag structure.

Methods:

__init__(self)

Attributes:

bottomLeft

The detected bottom left coordinates.

bottomRight

The detected bottom right coordinates.

decisionMargin

A measure of the quality of the binary decoding process; the average difference between the intensity of a data bit versus the decision threshold.

hamming

accepting large numbers of corrected errors leads to greatly increased false positive rates.

id

The decoded ID of the tag

topLeft

The detected top left coordinates.

topRight

The detected top right coordinates.

__init__(self: depthai.AprilTag)None
property bottomLeft

The detected bottom left coordinates.

property bottomRight

The detected bottom right coordinates.

property decisionMargin

A measure of the quality of the binary decoding process; the average difference between the intensity of a data bit versus the decision threshold. Higher numbers roughly indicate better decodes. This is a reasonable measure of detection accuracy only for very small tags– not effective for larger tags (where we could have sampled anywhere within a bit cell and still gotten a good detection.

property hamming

accepting large numbers of corrected errors leads to greatly increased false positive rates. As of this implementation, the detector cannot detect tags with a hamming distance greater than 2.

Type

How many error bits were corrected? Note

property id

The decoded ID of the tag

property topLeft

The detected top left coordinates.

property topRight

The detected top right coordinates.

class depthai.AprilTagConfig

Bases: depthai.Buffer

AprilTagConfig message.

Classes:

Family

Supported AprilTag families.

QuadThresholds

AprilTag quad threshold parameters.

Methods:

__init__(self)

get(self)

Retrieve configuration data for AprilTag.

set(self, arg0)

Set explicit configuration.

setFamily(self, family)

Parameter family:

class Family

Bases: pybind11_builtins.pybind11_object

Supported AprilTag families.

Members:

TAG_36H11

TAG_36H10

TAG_25H9

TAG_16H5

TAG_CIR21H7

TAG_STAND41H12

Attributes:

TAG_16H5

TAG_25H9

TAG_36H10

TAG_36H11

TAG_CIR21H7

TAG_STAND41H12

name

value

Methods:

__init__(self, value)

TAG_16H5 = <Family.TAG_16H5: 3>
TAG_25H9 = <Family.TAG_25H9: 2>
TAG_36H10 = <Family.TAG_36H10: 1>
TAG_36H11 = <Family.TAG_36H11: 0>
TAG_CIR21H7 = <Family.TAG_CIR21H7: 4>
TAG_STAND41H12 = <Family.TAG_STAND41H12: 5>
__init__(self: depthai.RawAprilTagConfig.Family, value: int)None
property name
property value
class QuadThresholds

Bases: pybind11_builtins.pybind11_object

AprilTag quad threshold parameters.

Methods:

__init__(self)

Attributes:

criticalDegree

Reject quads where pairs of edges have angles that are close to straight or close to 180 degrees.

deglitch

Should the thresholded image be deglitched? Only useful for very noisy images

maxLineFitMse

When fitting lines to the contours, what is the maximum mean squared error allowed? This is useful in rejecting contours that are far from being quad shaped; rejecting these quads “early” saves expensive decoding processing.

maxNmaxima

How many corner candidates to consider when segmenting a group of pixels into a quad.

minClusterPixels

Reject quads containing too few pixels.

minWhiteBlackDiff

When we build our model of black & white pixels, we add an extra check that the white model must be (overall) brighter than the black model.

__init__(self: depthai.RawAprilTagConfig.QuadThresholds)None
property criticalDegree

Reject quads where pairs of edges have angles that are close to straight or close to 180 degrees. Zero means that no quads are rejected. (In degrees).

property deglitch

Should the thresholded image be deglitched? Only useful for very noisy images

property maxLineFitMse

When fitting lines to the contours, what is the maximum mean squared error allowed? This is useful in rejecting contours that are far from being quad shaped; rejecting these quads “early” saves expensive decoding processing.

property maxNmaxima

How many corner candidates to consider when segmenting a group of pixels into a quad.

property minClusterPixels

Reject quads containing too few pixels.

property minWhiteBlackDiff

When we build our model of black & white pixels, we add an extra check that the white model must be (overall) brighter than the black model. How much brighter? (in pixel values: [0,255]).

__init__(self: depthai.AprilTagConfig)None
get(self: depthai.AprilTagConfig)depthai.RawAprilTagConfig

Retrieve configuration data for AprilTag.

Returns

config for stereo depth algorithm

set(self: depthai.AprilTagConfig, arg0: depthai.RawAprilTagConfig)depthai.AprilTagConfig

Set explicit configuration.

Parameter config:

Explicit configuration

setFamily(self: depthai.AprilTagConfig, family: depthai.RawAprilTagConfig.Family)depthai.AprilTagConfig
Parameter family:

AprilTag family

class depthai.AprilTagProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for AprilTag

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

initialConfig

inputConfigSync

Whether to wait for config at ‘inputConfig’ IO

__init__(*args, **kwargs)

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

property initialConfig
property inputConfigSync

Whether to wait for config at ‘inputConfig’ IO

class depthai.AprilTags

Bases: depthai.Buffer

AprilTags message.

Methods:

__init__(self)

getSequenceNum(self)

Retrieves sequence number

getTimestamp(self)

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self)

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time.

setSequenceNum(self, arg0)

Retrieves image sequence number

setTimestamp(self, arg0)

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self, arg0)

Sets image timestamp related to dai::Clock::now()

Attributes:

aprilTags

__init__(self: depthai.AprilTags)None
property aprilTags
getSequenceNum(self: depthai.AprilTags)int

Retrieves sequence number

getTimestamp(self: depthai.AprilTags)datetime.timedelta

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self: depthai.AprilTags)datetime.timedelta

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

setSequenceNum(self: depthai.AprilTags, arg0: int)depthai.AprilTags

Retrieves image sequence number

setTimestamp(self: depthai.AprilTags, arg0: datetime.timedelta)depthai.AprilTags

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self: depthai.AprilTags, arg0: datetime.timedelta)depthai.AprilTags

Sets image timestamp related to dai::Clock::now()

class depthai.Asset

Bases: pybind11_builtins.pybind11_object

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

Methods:

__init__(*args, **kwargs)

Overloaded function.

Attributes:

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)

addExisting(self, assets)

Adds all assets in an array to the AssetManager

get(*args, **kwargs)

Overloaded function.

getAll(*args, **kwargs)

Overloaded function.

remove(self, key)

Removes asset with key

set(*args, **kwargs)

Overloaded function.

size(self)

returns

Number of asset stored in the AssetManager

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

Adds all assets in an array to the AssetManager

Parameter assets:

Vector of assets to add

get(*args, **kwargs)

Overloaded function.

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

Returns

Asset assigned to the specified key or a nullptr otherwise

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

Returns

Asset assigned to the specified key or a nullptr 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(*args, **kwargs)

Overloaded function.

  1. set(self: depthai.AssetManager, asset: depthai.Asset) -> depthai.Asset

Adds or overwrites an asset object to AssetManager.

Parameter asset:

Asset to add

Returns

Shared pointer to asset

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

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

Parameter key:

Key under which the asset should be stored

Parameter asset:

Asset to store

Returns

Shared pointer to asset

  1. set(self: depthai.AssetManager, key: str, path: Path, alignment: int = 64) -> depthai.Asset

Loads file into asset manager under specified key.

Parameter key:

Key under which the asset should be stored

Parameter path:

Path to file which to load as asset

Parameter alignment:

[Optional] alignment of asset data in asset storage. Default is 64B

  1. set(self: depthai.AssetManager, key: str, data: List[int], alignment: int = 64) -> depthai.Asset

Loads file into asset manager under specified key.

Parameter key:

Key under which the asset should be stored

Parameter data:

Asset data

Parameter alignment:

[Optional] alignment of asset data in asset storage. Default is 64B

Returns

Shared pointer to asset

size(self: depthai.AssetManager)int
Returns

Number of asset stored in the AssetManager

class depthai.BoardConfig

Bases: pybind11_builtins.pybind11_object

Classes:

GPIO

GPIO config

GPIOMap

ItemsView_GPIOMap

ItemsView_UARTMap

KeysView_GPIOMap

KeysView_UARTMap

Network

Network configuration

UART

UART instance config

UARTMap

USB

USB related config

UVC

UVC configuration for USB descriptor

ValuesView_GPIOMap

ValuesView_UARTMap

Methods:

__init__(self)

Attributes:

emmc

eMMC config

gpio

logDevicePrints

log device prints

logPath

log path

logSizeMax

Max log size

logVerbosity

log verbosity

mipi4LaneRgb

MIPI 4Lane RGB config

network

pcieInternalClock

PCIe config

sysctl

Optional list of FreeBSD sysctl parameters to be set (system, network, etc.).

uart

UART instance map

usb

usb3PhyInternalClock

USB3 phy config

uvc

watchdogInitialDelayMs

watchdogTimeoutMs

Watchdog config

class GPIO

Bases: pybind11_builtins.pybind11_object

GPIO config

Attributes:

ALT_MODE_0

ALT_MODE_1

ALT_MODE_2

ALT_MODE_3

ALT_MODE_4

ALT_MODE_5

ALT_MODE_6

BUS_KEEPER

DIRECT

HIGH

INPUT

LOW

MA_12

MA_2

MA_4

MA_8

NO_PULL

OUTPUT

PULL_DOWN

PULL_UP

direction

drive

level

mode

pull

schmitt

slewFast

Classes:

Direction

Members:

Drive

Drive strength in mA (2, 4, 8 and 12mA)

Level

Members:

Mode

Members:

Pull

Members:

Methods:

__init__(*args, **kwargs)

Overloaded function.

ALT_MODE_0 = <Mode.ALT_MODE_0: 0>
ALT_MODE_1 = <Mode.ALT_MODE_1: 1>
ALT_MODE_2 = <Mode.ALT_MODE_2: 2>
ALT_MODE_3 = <Mode.ALT_MODE_3: 3>
ALT_MODE_4 = <Mode.ALT_MODE_4: 4>
ALT_MODE_5 = <Mode.ALT_MODE_5: 5>
ALT_MODE_6 = <Mode.ALT_MODE_6: 6>
BUS_KEEPER = <Pull.BUS_KEEPER: 3>
DIRECT = <Mode.DIRECT: 7>
class Direction

Bases: pybind11_builtins.pybind11_object

Members:

INPUT :

OUTPUT :

Attributes:

INPUT

OUTPUT

name

value

Methods:

__init__(self, value)

INPUT = <Direction.INPUT: 0>
OUTPUT = <Direction.OUTPUT: 1>
__init__(self: depthai.BoardConfig.GPIO.Direction, value: int)None
property name
property value
class Drive

Bases: pybind11_builtins.pybind11_object

Drive strength in mA (2, 4, 8 and 12mA)

Members:

MA_2 :

MA_4 :

MA_8 :

MA_12 :

Attributes:

MA_12

MA_2

MA_4

MA_8

name

value

Methods:

__init__(self, value)

MA_12 = <Drive.MA_12: 12>
MA_2 = <Drive.MA_2: 2>
MA_4 = <Drive.MA_4: 4>
MA_8 = <Drive.MA_8: 8>
__init__(self: depthai.BoardConfig.GPIO.Drive, value: int)None
property name
property value
HIGH = <Level.HIGH: 1>
INPUT = <Direction.INPUT: 0>
LOW = <Level.LOW: 0>
class Level

Bases: pybind11_builtins.pybind11_object

Members:

LOW :

HIGH :

Attributes:

HIGH

LOW

name

value

Methods:

__init__(self, value)

HIGH = <Level.HIGH: 1>
LOW = <Level.LOW: 0>
__init__(self: depthai.BoardConfig.GPIO.Level, value: int)None
property name
property value
MA_12 = <Drive.MA_12: 12>
MA_2 = <Drive.MA_2: 2>
MA_4 = <Drive.MA_4: 4>
MA_8 = <Drive.MA_8: 8>
class Mode

Bases: pybind11_builtins.pybind11_object

Members:

ALT_MODE_0 :

ALT_MODE_1 :

ALT_MODE_2 :

ALT_MODE_3 :

ALT_MODE_4 :

ALT_MODE_5 :

ALT_MODE_6 :

DIRECT :

Attributes:

ALT_MODE_0

ALT_MODE_1

ALT_MODE_2

ALT_MODE_3

ALT_MODE_4

ALT_MODE_5

ALT_MODE_6

DIRECT

name

value

Methods:

__init__(self, value)

ALT_MODE_0 = <Mode.ALT_MODE_0: 0>
ALT_MODE_1 = <Mode.ALT_MODE_1: 1>
ALT_MODE_2 = <Mode.ALT_MODE_2: 2>
ALT_MODE_3 = <Mode.ALT_MODE_3: 3>
ALT_MODE_4 = <Mode.ALT_MODE_4: 4>
ALT_MODE_5 = <Mode.ALT_MODE_5: 5>
ALT_MODE_6 = <Mode.ALT_MODE_6: 6>
DIRECT = <Mode.DIRECT: 7>
__init__(self: depthai.BoardConfig.GPIO.Mode, value: int)None
property name
property value
NO_PULL = <Pull.NO_PULL: 0>
OUTPUT = <Direction.OUTPUT: 1>
PULL_DOWN = <Pull.PULL_DOWN: 2>
PULL_UP = <Pull.PULL_UP: 1>
class Pull

Bases: pybind11_builtins.pybind11_object

Members:

NO_PULL :

PULL_UP :

PULL_DOWN :

BUS_KEEPER :

Attributes:

BUS_KEEPER

NO_PULL

PULL_DOWN

PULL_UP

name

value

Methods:

__init__(self, value)

BUS_KEEPER = <Pull.BUS_KEEPER: 3>
NO_PULL = <Pull.NO_PULL: 0>
PULL_DOWN = <Pull.PULL_DOWN: 2>
PULL_UP = <Pull.PULL_UP: 1>
__init__(self: depthai.BoardConfig.GPIO.Pull, value: int)None
property name
property value
__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: depthai.BoardConfig.GPIO) -> None

  2. __init__(self: depthai.BoardConfig.GPIO, arg0: depthai.BoardConfig.GPIO.Direction) -> None

  3. __init__(self: depthai.BoardConfig.GPIO, arg0: depthai.BoardConfig.GPIO.Direction, arg1: depthai.BoardConfig.GPIO.Level) -> None

  4. __init__(self: depthai.BoardConfig.GPIO, arg0: depthai.BoardConfig.GPIO.Direction, arg1: depthai.BoardConfig.GPIO.Level, arg2: depthai.BoardConfig.GPIO.Pull) -> None

  5. __init__(self: depthai.BoardConfig.GPIO, arg0: depthai.BoardConfig.GPIO.Direction, arg1: depthai.BoardConfig.GPIO.Mode) -> None

  6. __init__(self: depthai.BoardConfig.GPIO, arg0: depthai.BoardConfig.GPIO.Direction, arg1: depthai.BoardConfig.GPIO.Mode, arg2: depthai.BoardConfig.GPIO.Pull) -> None

property direction
property drive
property level
property mode
property pull
property schmitt
property slewFast
class GPIOMap

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

items(self)

keys(self)

values(self)

__init__(self: depthai.BoardConfig.GPIOMap)None
items(self: depthai.BoardConfig.GPIOMap)depthai.BoardConfig.ItemsView_GPIOMap
keys(self: depthai.BoardConfig.GPIOMap)depthai.BoardConfig.KeysView_GPIOMap
values(self: depthai.BoardConfig.GPIOMap)depthai.BoardConfig.ValuesView_GPIOMap
class ItemsView_GPIOMap

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)

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

class ItemsView_UARTMap

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)

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

class KeysView_GPIOMap

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)

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

class KeysView_UARTMap

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)

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

class Network

Bases: pybind11_builtins.pybind11_object

Network configuration

Methods:

__init__(self)

Attributes:

mtu

xlinkTcpNoDelay

__init__(self: depthai.BoardConfig.Network)None
property mtu
property xlinkTcpNoDelay
class UART

Bases: pybind11_builtins.pybind11_object

UART instance config

Methods:

__init__(self)

Attributes:

tmp

__init__(self: depthai.BoardConfig.UART)None
property tmp
class UARTMap

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

items(self)

keys(self)

values(self)

__init__(self: depthai.BoardConfig.UARTMap)None
items(self: depthai.BoardConfig.UARTMap)depthai.BoardConfig.ItemsView_UARTMap
keys(self: depthai.BoardConfig.UARTMap)depthai.BoardConfig.KeysView_UARTMap
values(self: depthai.BoardConfig.UARTMap)depthai.BoardConfig.ValuesView_UARTMap
class USB

Bases: pybind11_builtins.pybind11_object

USB related config

Methods:

__init__(self)

Attributes:

flashBootedPid

flashBootedVid

manufacturer

maxSpeed

pid

productName

vid

__init__(self: depthai.BoardConfig.USB)None
property flashBootedPid
property flashBootedVid
property manufacturer
property maxSpeed
property pid
property productName
property vid
class UVC

Bases: pybind11_builtins.pybind11_object

UVC configuration for USB descriptor

Methods:

__init__(*args, **kwargs)

Overloaded function.

Attributes:

cameraName

enable

frameType

height

width

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: depthai.BoardConfig.UVC) -> None

  2. __init__(self: depthai.BoardConfig.UVC, arg0: int, arg1: int) -> None

property cameraName
property enable
property frameType
property height
property width
class ValuesView_GPIOMap

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)

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

class ValuesView_UARTMap

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)

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

__init__(self: depthai.BoardConfig)None
property emmc

eMMC config

property gpio
property logDevicePrints

log device prints

property logPath

log path

property logSizeMax

Max log size

property logVerbosity

log verbosity

property mipi4LaneRgb

MIPI 4Lane RGB config

property network
property pcieInternalClock

PCIe config

property sysctl

Optional list of FreeBSD sysctl parameters to be set (system, network, etc.). For example: “net.inet.tcp.delayed_ack=0” (this one is also set by default)

property uart

UART instance map

property usb
property usb3PhyInternalClock

USB3 phy config

property uvc
property watchdogInitialDelayMs
property watchdogTimeoutMs

Watchdog config

class depthai.Buffer

Bases: depthai.ADatatype

Base message - buffer of binary data

Methods:

__init__(self)

Creates Buffer message

getData(self)

Get non-owning reference to internal buffer

getSequenceNum(self)

Retrieves sequence number

getTimestamp(self)

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self)

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time.

setData(*args, **kwargs)

Overloaded function.

setSequenceNum(self, arg0)

Retrieves sequence number

setTimestamp(self, arg0)

Sets timestamp related to dai::Clock::now()

setTimestampDevice(self, arg0)

Sets timestamp related to dai::Clock::now()

__init__(self: depthai.Buffer)None

Creates Buffer message

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

Get non-owning reference to internal buffer

Returns

Reference to internal buffer

getSequenceNum(self: depthai.Buffer)int

Retrieves sequence number

getTimestamp(self: depthai.Buffer)datetime.timedelta

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self: depthai.Buffer)datetime.timedelta

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

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

setSequenceNum(self: depthai.Buffer, arg0: int)depthai.Buffer

Retrieves sequence number

setTimestamp(self: depthai.Buffer, arg0: datetime.timedelta)depthai.Buffer

Sets timestamp related to dai::Clock::now()

setTimestampDevice(self: depthai.Buffer, arg0: datetime.timedelta)depthai.Buffer

Sets timestamp related to dai::Clock::now()

class depthai.CalibrationHandler

Bases: pybind11_builtins.pybind11_object

CalibrationHandler is an interface to read/load/write structured calibration and device data. The following fields are protected and aren’t allowed to be overridden by default: - boardName - boardRev - boardConf - hardwareConf - batchName - batchTime - boardOptions - productName

Methods:

__init__(*args, **kwargs)

Overloaded function.

eepromToJson(self)

Get JSON representation of calibration data

eepromToJsonFile(self, destPath)

Write raw calibration/board data to json file.

fromJson(arg0)

Construct a new Calibration Handler object from JSON EepromData.

getBaselineDistance(self, cam1, cam2, …)

Get the baseline distance between two specified cameras.

getCameraExtrinsics(self, srcCamera, …)

Get the Camera Extrinsics object between two cameras from the calibration data if there is a linked connection between any two cameras then the relative rotation and translation (in centimeters) is returned by this function.

getCameraIntrinsics(*args, **kwargs)

Overloaded function.

getCameraToImuExtrinsics(self, cameraId, …)

Get the Camera To Imu Extrinsics object From the data loaded if there is a linked connection between IMU and the given camera then there relative rotation and translation from the camera to IMU is returned.

getCameraTranslationVector(self, srcCamera, …)

Get the Camera translation vector between two cameras from the calibration data.

getDefaultIntrinsics(self, cameraId)

Get the Default Intrinsics object

getDistortionCoefficients(self, cameraId)

Get the Distortion Coefficients object

getDistortionModel(self, cameraId)

Get the distortion model of the given camera

getEepromData(self)

Get the Eeprom Data object

getFov(self, cameraId, useSpec)

Get the Fov of the camera

getImuToCameraExtrinsics(self, cameraId, …)

Get the Imu To Camera Extrinsics object from the data loaded if there is a linked connection between IMU and the given camera then there relative rotation and translation from the IMU to Camera is returned.

getLensPosition(self, cameraId)

Get the lens position of the given camera

getStereoLeftCameraId(self)

Get the camera id of the camera which is used as left camera of the stereo setup

getStereoLeftRectificationRotation(self)

Get the Stereo Left Rectification Rotation object

getStereoRightCameraId(self)

Get the camera id of the camera which is used as right camera of the stereo setup

getStereoRightRectificationRotation(self)

Get the Stereo Right Rectification Rotation object

setBoardInfo(*args, **kwargs)

Overloaded function.

setCameraExtrinsics(self, srcCameraId, …)

Set the Camera Extrinsics object

setCameraIntrinsics(*args, **kwargs)

Overloaded function.

setCameraType(self, cameraId, cameraModel)

Set the Camera Type object

setDeviceName(self, deviceName)

Set the deviceName which responses to getDeviceName of Device

setDistortionCoefficients(self, cameraId, …)

Sets the distortion Coefficients obtained from camera calibration

setFov(self, cameraId, hfov)

Set the Fov of the Camera

setImuExtrinsics(self, destCameraId, …)

Set the Imu to Camera Extrinsics object

setLensPosition(self, cameraId, lensPosition)

Sets the distortion Coefficients obtained from camera calibration

setProductName(self, productName)

Set the productName which acts as alisas for users to identify the device

setStereoLeft(self, cameraId, rectifiedRotation)

Set the Stereo Left Rectification object

setStereoRight(self, cameraId, rectifiedRotation)

Set the Stereo Right Rectification object

__init__(*args, **kwargs)

Overloaded function.

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

  2. __init__(self: depthai.CalibrationHandler, arg0: Path) -> None

Construct a new Calibration Handler object using the eeprom json file created from calibration procedure.

Parameter eepromDataPath:

takes the full path to the json file containing the calibration and device info.

  1. __init__(self: depthai.CalibrationHandler, arg0: Path, arg1: Path) -> None

Construct a new Calibration Handler object using the board config json file and .calib binary files created using gen1 calibration.

Parameter calibrationDataPath:

Full Path to the .calib binary file from the gen1 calibration. (Supports only Version 5)

Parameter boardConfigPath:

Full Path to the board config json file containing device information.

  1. __init__(self: depthai.CalibrationHandler, arg0: depthai.EepromData) -> None

Construct a new Calibration Handler object from EepromData object.

Parameter eepromData:

EepromData data structure containing the calibration data.

eepromToJson(self: depthai.CalibrationHandler) → json

Get JSON representation of calibration data

Returns

JSON structure

eepromToJsonFile(self: depthai.CalibrationHandler, destPath: Path)bool

Write raw calibration/board data to json file.

Parameter destPath:

Full path to the json file in which raw calibration data will be stored

Returns

True on success, false otherwise

static fromJson(arg0: json)depthai.CalibrationHandler

Construct a new Calibration Handler object from JSON EepromData.

Parameter eepromDataJson:

EepromData as JSON

getBaselineDistance(self: depthai.CalibrationHandler, cam1: depthai.CameraBoardSocket = <CameraBoardSocket.???: 2>, cam2: depthai.CameraBoardSocket = <CameraBoardSocket.???: 1>, useSpecTranslation: bool = True)float

Get the baseline distance between two specified cameras. By default it will get the baseline between CameraBoardSocket.CAM_C and CameraBoardSocket.CAM_B.

Parameter cam1:

First camera

Parameter cam2:

Second camera

Parameter useSpecTranslation:

Enabling this bool uses the translation information from the board design data (not the calibration data)

Returns

baseline distance in centimeters

getCameraExtrinsics(self: depthai.CalibrationHandler, srcCamera: depthai.CameraBoardSocket, dstCamera: depthai.CameraBoardSocket, useSpecTranslation: bool = False) → List[List[float]]

Get the Camera Extrinsics object between two cameras from the calibration data if there is a linked connection between any two cameras then the relative rotation and translation (in centimeters) is returned by this function.

Parameter srcCamera:

Camera Id of the camera which will be considered as origin.

Parameter dstCamera:

Camera Id of the destination camera to which we are fetching the rotation and translation from the SrcCamera

Parameter useSpecTranslation:

Enabling this bool uses the translation information from the board design data

Returns

a transformationMatrix which is 4x4 in homogeneous coordinate system

Matrix representation of transformation matrix f[ text{Transformation Matrix} = left [ begin{matrix} r_{00} & r_{01} & r_{02} & T_x \ r_{10} & r_{11} & r_{12} & T_y \ r_{20} & r_{21} & r_{22} & T_z \ 0 & 0 & 0 & 1 end{matrix} right ] f]

getCameraIntrinsics(*args, **kwargs)

Overloaded function.

  1. getCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, resizeWidth: int = -1, resizeHeight: int = -1, topLeftPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f8062484b30>, bottomRightPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f80624db3b0>, keepAspectRatio: bool = True) -> List[List[float]]

Get the Camera Intrinsics object

Parameter cameraId:

Uses the cameraId to identify which camera intrinsics to return

Parameter resizewidth:

resized width of the image for which intrinsics is requested. resizewidth = -1 represents width is same as default intrinsics

Parameter resizeHeight:

resized height of the image for which intrinsics is requested. resizeHeight = -1 represents height is same as default intrinsics

Parameter topLeftPixelId:

(x, y) point represents the top left corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image

Parameter bottomRightPixelId:

(x, y) point represents the bottom right corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image

Parameter keepAspectRatio:

Enabling this will scale on width or height depending on which provides the max resolution and crops the remaining part of the other side

Returns

Represents the 3x3 intrinsics matrix of the respective camera at the requested size and crop dimensions.

Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]

  1. getCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, destShape: depthai.Size2f, topLeftPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f8062484db0>, bottomRightPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f8062484af0>, keepAspectRatio: bool = True) -> List[List[float]]

Get the Camera Intrinsics object

Parameter cameraId:

Uses the cameraId to identify which camera intrinsics to return

Parameter destShape:

resized width and height of the image for which intrinsics is requested.

Parameter topLeftPixelId:

(x, y) point represents the top left corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image

Parameter bottomRightPixelId:

(x, y) point represents the bottom right corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image

Parameter keepAspectRatio:

Enabling this will scale on width or height depending on which provides the max resolution and crops the remaining part of the other side

Returns

Represents the 3x3 intrinsics matrix of the respective camera at the requested size and crop dimensions.

Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]

  1. getCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, destShape: Tuple[int, int], topLeftPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f8062484f30>, bottomRightPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f8062484d30>, keepAspectRatio: bool = True) -> List[List[float]]

Get the Camera Intrinsics object

Parameter cameraId:

Uses the cameraId to identify which camera intrinsics to return

Parameter destShape:

resized width and height of the image for which intrinsics is requested.

Parameter topLeftPixelId:

(x, y) point represents the top left corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image

Parameter bottomRightPixelId:

(x, y) point represents the bottom right corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image

Parameter keepAspectRatio:

Enabling this will scale on width or height depending on which provides the max resolution and crops the remaining part of the other side

Returns

Represents the 3x3 intrinsics matrix of the respective camera at the requested size and crop dimensions.

Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]

getCameraToImuExtrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, useSpecTranslation: bool = False) → List[List[float]]

Get the Camera To Imu Extrinsics object From the data loaded if there is a linked connection between IMU and the given camera then there relative rotation and translation from the camera to IMU is returned.

Parameter cameraId:

Camera Id of the camera which will be considered as origin. from which Transformation matrix to the IMU will be found

Parameter useSpecTranslation:

Enabling this bool uses the translation information from the board design data

Returns

Returns a transformationMatrix which is 4x4 in homogeneous coordinate system

Matrix representation of transformation matrix f[ text{Transformation Matrix} = left [ begin{matrix} r_{00} & r_{01} & r_{02} & T_x \ r_{10} & r_{11} & r_{12} & T_y \ r_{20} & r_{21} & r_{22} & T_z \ 0 & 0 & 0 & 1 end{matrix} right ] f]

getCameraTranslationVector(self: depthai.CalibrationHandler, srcCamera: depthai.CameraBoardSocket, dstCamera: depthai.CameraBoardSocket, useSpecTranslation: bool = True) → List[float]

Get the Camera translation vector between two cameras from the calibration data.

Parameter srcCamera:

Camera Id of the camera which will be considered as origin.

Parameter dstCamera:

Camera Id of the destination camera to which we are fetching the translation vector from the SrcCamera

Parameter useSpecTranslation:

Disabling this bool uses the translation information from the calibration data (not the board design data)

Returns

a translation vector like [x, y, z] in centimeters

getDefaultIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket) → Tuple[List[List[float]], int, int]

Get the Default Intrinsics object

Parameter cameraId:

Uses the cameraId to identify which camera intrinsics to return

Returns

Represents the 3x3 intrinsics matrix of the respective camera along with width and height at which it was calibrated.

Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]

getDistortionCoefficients(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket) → List[float]

Get the Distortion Coefficients object

Parameter cameraId:

Uses the cameraId to identify which distortion Coefficients to return.

Returns

[k1,k2,p1,p2,k3,k4,k5,k6,s1,s2,s3,s4,τx,τy] for CameraModel::Perspective or [k1, k2, k3, k4] for CameraModel::Fisheye see https://docs.opencv.org/4.5.4/d9/d0c/group__calib3d.html for Perspective model (Rational Polynomial Model) see https://docs.opencv.org/4.5.4/db/d58/group__calib3d__fisheye.html for Fisheye model

Return type

the distortion coefficients of the requested camera in this order

getDistortionModel(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket)depthai.CameraModel

Get the distortion model of the given camera

Parameter cameraId:

of the camera with lens position is requested.

Returns

lens position of the camera with given cameraId at which it was calibrated.

getEepromData(self: depthai.CalibrationHandler)depthai.EepromData

Get the Eeprom Data object

Returns

EepromData object which contains the raw calibration data

getFov(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, useSpec: bool = True)float

Get the Fov of the camera

Parameter cameraId:

of the camera of which we are fetching fov.

Parameter useSpec:

Disabling this bool will calculate the fov based on intrinsics (focal length, image width), instead of getting it from the camera specs

Returns

field of view of the camera with given cameraId.

getImuToCameraExtrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, useSpecTranslation: bool = False) → List[List[float]]

Get the Imu To Camera Extrinsics object from the data loaded if there is a linked connection between IMU and the given camera then there relative rotation and translation from the IMU to Camera is returned.

Parameter cameraId:

Camera Id of the camera which will be considered as destination. To which Transformation matrix from the IMU will be found.

Parameter useSpecTranslation:

Enabling this bool uses the translation information from the board design data

Returns

Returns a transformationMatrix which is 4x4 in homogeneous coordinate system

Matrix representation of transformation matrix f[ text{Transformation Matrix} = left [ begin{matrix} r_{00} & r_{01} & r_{02} & T_x \ r_{10} & r_{11} & r_{12} & T_y \ r_{20} & r_{21} & r_{22} & T_z \ 0 & 0 & 0 & 1 end{matrix} right ] f]

getLensPosition(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket)int

Get the lens position of the given camera

Parameter cameraId:

of the camera with lens position is requested.

Returns

lens position of the camera with given cameraId at which it was calibrated.

getStereoLeftCameraId(self: depthai.CalibrationHandler)depthai.CameraBoardSocket

Get the camera id of the camera which is used as left camera of the stereo setup

Returns

cameraID of the camera used as left camera

getStereoLeftRectificationRotation(self: depthai.CalibrationHandler) → List[List[float]]

Get the Stereo Left Rectification Rotation object

Returns

returns a 3x3 rectification rotation matrix

getStereoRightCameraId(self: depthai.CalibrationHandler)depthai.CameraBoardSocket

Get the camera id of the camera which is used as right camera of the stereo setup

Returns

cameraID of the camera used as right camera

getStereoRightRectificationRotation(self: depthai.CalibrationHandler) → List[List[float]]

Get the Stereo Right Rectification Rotation object

Returns

returns a 3x3 rectification rotation matrix

setBoardInfo(*args, **kwargs)

Overloaded function.

  1. setBoardInfo(self: depthai.CalibrationHandler, boardName: str, boardRev: str) -> None

Set the Board Info object

Parameter version:

Sets the version of the Calibration data(Current version is 6)

Parameter boardName:

Sets your board name.

Parameter boardRev:

set your board revision id.

  1. setBoardInfo(self: depthai.CalibrationHandler, productName: str, boardName: str, boardRev: str, boardConf: str, hardwareConf: str, batchName: str, batchTime: int, boardOptions: int, boardCustom: str = ‘’) -> None

Set the Board Info object. Creates version 7 EEPROM data

Parameter productName:

Sets product name (alias).

Parameter boardName:

Sets board name.

Parameter boardRev:

Sets board revision id.

Parameter boardConf:

Sets board configuration id.

Parameter hardwareConf:

Sets hardware configuration id.

Parameter batchName:

Sets batch name.

Parameter batchTime:

Sets batch time (unix timestamp).

Parameter boardCustom:

Sets a custom board (Default empty string).

  1. setBoardInfo(self: depthai.CalibrationHandler, deviceName: str, productName: str, boardName: str, boardRev: str, boardConf: str, hardwareConf: str, batchName: str, batchTime: int, boardOptions: int, boardCustom: str = ‘’) -> None

Set the Board Info object. Creates version 7 EEPROM data

Parameter deviceName:

Sets device name.

Parameter productName:

Sets product name (alias).

Parameter boardName:

Sets board name.

Parameter boardRev:

Sets board revision id.

Parameter boardConf:

Sets board configuration id.

Parameter hardwareConf:

Sets hardware configuration id.

Parameter batchName:

Sets batch name. Not supported anymore

Parameter batchTime:

Sets batch time (unix timestamp).

Parameter boardCustom:

Sets a custom board (Default empty string).

setCameraExtrinsics(self: depthai.CalibrationHandler, srcCameraId: depthai.CameraBoardSocket, destCameraId: depthai.CameraBoardSocket, rotationMatrix: List[List[float]], translation: List[float], specTranslation: List[float] = [0.0, 0.0, 0.0])None

Set the Camera Extrinsics object

Parameter srcCameraId:

Camera Id of the camera which will be considered as relative origin.

Parameter destCameraId:

Camera Id of the camera which will be considered as destination from srcCameraId.

Parameter rotationMatrix:

Rotation between srcCameraId and destCameraId origins.

Parameter translation:

Translation between srcCameraId and destCameraId origins.

Parameter specTranslation:

Translation between srcCameraId and destCameraId origins from the design.

setCameraIntrinsics(*args, **kwargs)

Overloaded function.

  1. setCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, intrinsics: List[List[float]], frameSize: depthai.Size2f) -> None

Set the Camera Intrinsics object

Parameter cameraId:

CameraId of the camera for which Camera intrinsics are being loaded

Parameter intrinsics:

3x3 intrinsics matrix

Parameter frameSize:

Represents the width and height of the image at which intrinsics are calculated.

Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]

  1. setCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, intrinsics: List[List[float]], width: int, height: int) -> None

Set the Camera Intrinsics object

Parameter cameraId:

CameraId of the camera for which Camera intrinsics are being loaded

Parameter intrinsics:

3x3 intrinsics matrix

Parameter width:

Represents the width of the image at which intrinsics are calculated.

Parameter height:

Represents the height of the image at which intrinsics are calculated.

Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]

  1. setCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, intrinsics: List[List[float]], frameSize: Tuple[int, int]) -> None

Set the Camera Intrinsics object

Parameter cameraId:

CameraId of the camera for which Camera intrinsics are being loaded

Parameter intrinsics:

3x3 intrinsics matrix

Parameter frameSize:

Represents the width and height of the image at which intrinsics are calculated.

Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]

setCameraType(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, cameraModel: depthai.CameraModel)None

Set the Camera Type object

Parameter cameraId:

CameraId of the camera for which cameraModel Type is being updated.

Parameter cameraModel:

Type of the model the camera represents

setDeviceName(self: depthai.CalibrationHandler, deviceName: str)None

Set the deviceName which responses to getDeviceName of Device

Parameter deviceName:

Sets device name.

setDistortionCoefficients(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, distortionCoefficients: List[float])None

Sets the distortion Coefficients obtained from camera calibration

Parameter cameraId:

Camera Id of the camera for which distortion coefficients are computed

Parameter distortionCoefficients:

Distortion Coefficients of the respective Camera.

setFov(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, hfov: float)None

Set the Fov of the Camera

Parameter cameraId:

Camera Id of the camera

Parameter hfov:

Horizontal fov of the camera from Camera Datasheet

setImuExtrinsics(self: depthai.CalibrationHandler, destCameraId: depthai.CameraBoardSocket, rotationMatrix: List[List[float]], translation: List[float], specTranslation: List[float] = [0.0, 0.0, 0.0])None

Set the Imu to Camera Extrinsics object

Parameter destCameraId:

Camera Id of the camera which will be considered as destination from IMU.

Parameter rotationMatrix:

Rotation between srcCameraId and destCameraId origins.

Parameter translation:

Translation between IMU and destCameraId origins.

Parameter specTranslation:

Translation between IMU and destCameraId origins from the design.

setLensPosition(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, lensPosition: int)None

Sets the distortion Coefficients obtained from camera calibration

Parameter cameraId:

Camera Id of the camera

Parameter lensPosition:

lens posiotion value of the camera at the time of calibration

setProductName(self: depthai.CalibrationHandler, productName: str)None

Set the productName which acts as alisas for users to identify the device

Parameter productName:

Sets product name (alias).

setStereoLeft(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, rectifiedRotation: List[List[float]])None

Set the Stereo Left Rectification object

Parameter cameraId:

CameraId of the camera which will be used as left Camera of stereo Setup

Parameter rectifiedRotation:

Rectification rotation of the left camera required for feature matching

Homography of the Left Rectification = Intrinsics_right * rectifiedRotation * inv(Intrinsics_left)

setStereoRight(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, rectifiedRotation: List[List[float]])None

Set the Stereo Right Rectification object

Parameter cameraId:

CameraId of the camera which will be used as left Camera of stereo Setup

Parameter rectifiedRotation:

Rectification rotation of the left camera required for feature matching

Homography of the Right Rectification = Intrinsics_right * rectifiedRotation * inv(Intrinsics_right)

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

CAM_A

CAM_B

CAM_C

CAM_D

CAM_E

CAM_F

CAM_G

CAM_H

RGB : Deprecated: Use CAM_A or address camera by name instead

LEFT : Deprecated: Use CAM_B or address camera by name instead

RIGHT : Deprecated: Use CAM_C or address camera by name instead

CENTER : Deprecated: Use CAM_A or address camera by name instead

Attributes:

AUTO

CAM_A

CAM_B

CAM_C

CAM_D

CAM_E

CAM_F

CAM_G

CAM_H

CENTER

LEFT

RGB

RIGHT

name

value

Methods:

__init__(self, value)

AUTO = <CameraBoardSocket.AUTO: -1>
CAM_A = <CameraBoardSocket.CAM_A: 0>
CAM_B = <CameraBoardSocket.CAM_B: 1>
CAM_C = <CameraBoardSocket.CAM_C: 2>
CAM_D = <CameraBoardSocket.CAM_D: 3>
CAM_E = <CameraBoardSocket.CAM_E: 4>
CAM_F = <CameraBoardSocket.CAM_F: 5>
CAM_G = <CameraBoardSocket.CAM_G: 6>
CAM_H = <CameraBoardSocket.CAM_H: 7>
CENTER = <CameraBoardSocket.CAM_A: 0>
LEFT = <CameraBoardSocket.CAM_B: 1>
RGB = <CameraBoardSocket.CAM_A: 0>
RIGHT = <CameraBoardSocket.CAM_C: 2>
__init__(self: depthai.CameraBoardSocket, value: int)None
property name
property value
class depthai.CameraControl

Bases: depthai.Buffer

CameraControl message. Specifies various camera control commands like:

  • Still capture

  • Auto/manual focus

  • Auto/manual white balance

  • Auto/manual exposure

  • Anti banding

By default the camera enables 3A, with auto-focus in CONTINUOUS_VIDEO mode, auto-white-balance in AUTO mode, and auto-exposure with anti-banding for 50Hz mains frequency.

Classes:

AntiBandingMode

Members:

AutoFocusMode

Members:

AutoWhiteBalanceMode

Members:

CaptureIntent

Members:

Command

Members:

ControlMode

Members:

EffectMode

Members:

FrameSyncMode

Members:

SceneMode

Members:

Methods:

__init__(self)

Construct CameraControl message

get(self)

Retrieve configuration data for CameraControl.

getCaptureStill(self)

Check whether command to capture a still is set

getExposureTime(self)

Retrieves exposure time

getLensPosition(self)

Retrieves lens position, range 0..255.

getLensPositionRaw(self)

Retrieves lens position, range 0.0f..1.0f.

getSensitivity(self)

Retrieves sensitivity, as an ISO value

set(self, config)

Set explicit configuration.

setAntiBandingMode(self, mode)

Set a command to specify anti-banding mode.

setAutoExposureCompensation(self, compensation)

Set a command to specify auto exposure compensation

setAutoExposureEnable(self)

Set a command to enable auto exposure

setAutoExposureLimit(*args, **kwargs)

Overloaded function.

setAutoExposureLock(self, lock)

Set a command to specify lock auto exposure

setAutoExposureRegion(self, startX, startY, …)

Set a command to specify auto exposure region in pixels.

setAutoFocusLensRange(self, …)

Set autofocus lens range, infinityPosition < macroPosition, valid values 0..255.

setAutoFocusMode(self, mode)

Set a command to specify autofocus mode.

setAutoFocusRegion(self, startX, startY, …)

Set a command to specify focus region in pixels.

setAutoFocusTrigger(self)

Set a command to trigger autofocus

setAutoWhiteBalanceLock(self, lock)

Set a command to specify auto white balance lock

setAutoWhiteBalanceMode(self, mode)

Set a command to specify auto white balance mode

setBrightness(self, value)

Set a command to adjust image brightness

setCaptureIntent(self, mode)

Set a command to specify capture intent mode

setCaptureStill(self, capture)

Set a command to capture a still image

setChromaDenoise(self, value)

Set a command to adjust chroma denoise amount

setContrast(self, value)

Set a command to adjust image contrast

setControlMode(self, mode)

Set a command to specify control mode

setEffectMode(self, mode)

Set a command to specify effect mode

setExternalTrigger(self, numFramesBurst, …)

Set a command to enable external trigger snapshot mode

setFrameSyncMode(self, mode)

Set the frame sync mode for continuous streaming operation mode, translating to how the camera pin FSIN/FSYNC is used: input/output/disabled

setLumaDenoise(self, value)

Set a command to adjust luma denoise amount

setManualExposure(*args, **kwargs)

Overloaded function.

setManualFocus(self, lensPosition)

Set a command to specify manual focus position

setManualFocusRaw(self, lensPositionRaw)

Set a command to specify manual focus position (more precise control).

setManualWhiteBalance(self, colorTemperatureK)

Set a command to manually specify white-balance color correction

setSaturation(self, value)

Set a command to adjust image saturation

setSceneMode(self, mode)

Set a command to specify scene mode

setSharpness(self, value)

Set a command to adjust image sharpness

setStartStreaming(self)

Set a command to start streaming

setStopStreaming(self)

Set a command to stop streaming

setStrobeDisable(self)

Disable STROBE output

setStrobeExternal(self, gpioNumber, activeLevel)

Enable STROBE output driven by a MyriadX GPIO, optionally configuring the polarity This normally requires a FSIN/FSYNC/trigger input for MyriadX (usually GPIO 41), to generate timings

setStrobeSensor(self, activeLevel)

Enable STROBE output on sensor pin, optionally configuring the polarity.

class AntiBandingMode

Bases: pybind11_builtins.pybind11_object

Members:

OFF

MAINS_50_HZ

MAINS_60_HZ

AUTO

Attributes:

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 CaptureIntent

Bases: pybind11_builtins.pybind11_object

Members:

CUSTOM

PREVIEW

STILL_CAPTURE

VIDEO_RECORD

VIDEO_SNAPSHOT

ZERO_SHUTTER_LAG

Attributes:

CUSTOM

PREVIEW

STILL_CAPTURE

VIDEO_RECORD

VIDEO_SNAPSHOT

ZERO_SHUTTER_LAG

name

value

Methods:

__init__(self, value)

CUSTOM = <CaptureIntent.CUSTOM: 0>
PREVIEW = <CaptureIntent.PREVIEW: 1>
STILL_CAPTURE = <CaptureIntent.STILL_CAPTURE: 2>
VIDEO_RECORD = <CaptureIntent.VIDEO_RECORD: 3>
VIDEO_SNAPSHOT = <CaptureIntent.VIDEO_SNAPSHOT: 4>
ZERO_SHUTTER_LAG = <CaptureIntent.ZERO_SHUTTER_LAG: 5>
__init__(self: depthai.RawCameraControl.CaptureIntent, value: int)None
property name
property value
class Command

Bases: pybind11_builtins.pybind11_object

Members:

START_STREAM

STOP_STREAM

STILL_CAPTURE

MOVE_LENS

AF_TRIGGER

AE_MANUAL

AE_AUTO

AWB_MODE

SCENE_MODE

ANTIBANDING_MODE

EXPOSURE_COMPENSATION

AE_LOCK

AE_TARGET_FPS_RANGE

AWB_LOCK

CAPTURE_INTENT

CONTROL_MODE

FRAME_DURATION

SENSITIVITY

EFFECT_MODE

AF_MODE

NOISE_REDUCTION_STRENGTH

SATURATION

BRIGHTNESS

STREAM_FORMAT

RESOLUTION

SHARPNESS

CUSTOM_USECASE

CUSTOM_CAPT_MODE

CUSTOM_EXP_BRACKETS

CUSTOM_CAPTURE

CONTRAST

AE_REGION

AF_REGION

LUMA_DENOISE

CHROMA_DENOISE

WB_COLOR_TEMP

Attributes:

AE_AUTO

AE_LOCK

AE_MANUAL

AE_REGION

AE_TARGET_FPS_RANGE

AF_MODE

AF_REGION

AF_TRIGGER

ANTIBANDING_MODE

AWB_LOCK

AWB_MODE

BRIGHTNESS

CAPTURE_INTENT

CHROMA_DENOISE

CONTRAST

CONTROL_MODE

CUSTOM_CAPTURE

CUSTOM_CAPT_MODE

CUSTOM_EXP_BRACKETS

CUSTOM_USECASE

EFFECT_MODE

EXPOSURE_COMPENSATION

FRAME_DURATION

LUMA_DENOISE

MOVE_LENS

NOISE_REDUCTION_STRENGTH

RESOLUTION

SATURATION

SCENE_MODE

SENSITIVITY

SHARPNESS

START_STREAM

STILL_CAPTURE

STOP_STREAM

STREAM_FORMAT

WB_COLOR_TEMP

name

value

Methods:

__init__(self, value)

AE_AUTO = <Command.AE_AUTO: 7>
AE_LOCK = <Command.AE_LOCK: 13>
AE_MANUAL = <Command.AE_MANUAL: 6>
AE_REGION = <Command.AE_REGION: 45>
AE_TARGET_FPS_RANGE = <Command.AE_TARGET_FPS_RANGE: 14>
AF_MODE = <Command.AF_MODE: 26>
AF_REGION = <Command.AF_REGION: 46>
AF_TRIGGER = <Command.AF_TRIGGER: 5>
ANTIBANDING_MODE = <Command.ANTIBANDING_MODE: 10>
AWB_LOCK = <Command.AWB_LOCK: 16>
AWB_MODE = <Command.AWB_MODE: 8>
BRIGHTNESS = <Command.BRIGHTNESS: 31>
CAPTURE_INTENT = <Command.CAPTURE_INTENT: 17>
CHROMA_DENOISE = <Command.CHROMA_DENOISE: 48>
CONTRAST = <Command.CONTRAST: 44>
CONTROL_MODE = <Command.CONTROL_MODE: 18>
CUSTOM_CAPTURE = <Command.CUSTOM_CAPTURE: 43>
CUSTOM_CAPT_MODE = <Command.CUSTOM_CAPT_MODE: 41>
CUSTOM_EXP_BRACKETS = <Command.CUSTOM_EXP_BRACKETS: 42>
CUSTOM_USECASE = <Command.CUSTOM_USECASE: 40>
EFFECT_MODE = <Command.EFFECT_MODE: 24>
EXPOSURE_COMPENSATION = <Command.EXPOSURE_COMPENSATION: 11>
FRAME_DURATION = <Command.FRAME_DURATION: 21>
LUMA_DENOISE = <Command.LUMA_DENOISE: 47>
MOVE_LENS = <Command.MOVE_LENS: 4>
NOISE_REDUCTION_STRENGTH = <Command.NOISE_REDUCTION_STRENGTH: 27>
RESOLUTION = <Command.RESOLUTION: 34>
SATURATION = <Command.SATURATION: 28>
SCENE_MODE = <Command.SCENE_MODE: 9>
SENSITIVITY = <Command.SENSITIVITY: 23>
SHARPNESS = <Command.SHARPNESS: 35>
START_STREAM = <Command.START_STREAM: 1>
STILL_CAPTURE = <Command.STILL_CAPTURE: 3>
STOP_STREAM = <Command.STOP_STREAM: 2>
STREAM_FORMAT = <Command.STREAM_FORMAT: 33>
WB_COLOR_TEMP = <Command.WB_COLOR_TEMP: 49>
__init__(self: depthai.RawCameraControl.Command, value: int)None
property name
property value
class ControlMode

Bases: pybind11_builtins.pybind11_object

Members:

OFF

AUTO

USE_SCENE_MODE

Attributes:

AUTO

OFF

USE_SCENE_MODE

name

value

Methods:

__init__(self, value)

AUTO = <ControlMode.AUTO: 1>
OFF = <ControlMode.OFF: 0>
USE_SCENE_MODE = <ControlMode.USE_SCENE_MODE: 2>
__init__(self: depthai.RawCameraControl.ControlMode, 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 FrameSyncMode

Bases: pybind11_builtins.pybind11_object

Members:

OFF

OUTPUT

INPUT

Attributes:

INPUT

OFF

OUTPUT

name

value

Methods:

__init__(self, value)

INPUT = <FrameSyncMode.INPUT: 2>
OFF = <FrameSyncMode.OFF: 0>
OUTPUT = <FrameSyncMode.OUTPUT: 1>
__init__(self: depthai.RawCameraControl.FrameSyncMode, value: int)None
property name
property value
class SceneMode

Bases: pybind11_builtins.pybind11_object

Members:

UNSUPPORTED

FACE_PRIORITY

ACTION

PORTRAIT

LANDSCAPE

NIGHT

NIGHT_PORTRAIT

THEATRE

BEACH

SNOW

SUNSET

STEADYPHOTO

FIREWORKS

SPORTS

PARTY

CANDLELIGHT

BARCODE

Attributes:

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

get(self: depthai.CameraControl)depthai.RawCameraControl

Retrieve configuration data for CameraControl.

Returns

config for CameraControl

getCaptureStill(self: depthai.CameraControl)bool

Check whether command to capture a still is set

Returns

True if capture still command is set

getExposureTime(self: depthai.CameraControl)datetime.timedelta

Retrieves exposure time

getLensPosition(self: depthai.CameraControl)int

Retrieves lens position, range 0..255. Returns -1 if not available

getLensPositionRaw(self: depthai.CameraControl)float

Retrieves lens position, range 0.0f..1.0f.

getSensitivity(self: depthai.CameraControl)int

Retrieves sensitivity, as an ISO value

set(self: depthai.CameraControl, config: depthai.RawCameraControl)depthai.CameraControl

Set explicit configuration.

Parameter config:

Explicit configuration

setAntiBandingMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.AntiBandingMode)depthai.CameraControl

Set a command to specify anti-banding mode. Anti-banding / anti-flicker works in auto-exposure mode, by controlling the exposure time to be applied in multiples of half the mains period, for example in multiple of 10ms for 50Hz (period 20ms) AC-powered illumination sources.

If the scene would be too bright for the smallest exposure step (10ms in the example, with ISO at a minimum of 100), anti-banding is not effective.

Parameter mode:

Anti-banding mode to use. Default: MAINS_50_HZ

setAutoExposureCompensation(self: depthai.CameraControl, compensation: int)depthai.CameraControl

Set a command to specify auto exposure compensation

Parameter compensation:

Compensation value between -9..9, default 0

setAutoExposureEnable(self: depthai.CameraControl)depthai.CameraControl

Set a command to enable auto exposure

setAutoExposureLimit(*args, **kwargs)

Overloaded function.

  1. setAutoExposureLimit(self: depthai.CameraControl, maxExposureTimeUs: int) -> depthai.CameraControl

Set a command to specify the maximum exposure time limit for auto-exposure. By default the AE algorithm prioritizes increasing exposure over ISO, up to around frame-time (subject to further limits imposed by anti-banding)

Parameter maxExposureTimeUs:

Maximum exposure time in microseconds

  1. setAutoExposureLimit(self: depthai.CameraControl, maxExposureTime: datetime.timedelta) -> depthai.CameraControl

Set a command to specify the maximum exposure time limit for auto-exposure. By default the AE algorithm prioritizes increasing exposure over ISO, up to around frame-time (subject to further limits imposed by anti-banding)

Parameter maxExposureTime:

Maximum exposure time

setAutoExposureLock(self: depthai.CameraControl, lock: bool)depthai.CameraControl

Set a command to specify lock auto exposure

Parameter lock:

Auto exposure lock mode enabled or disabled

setAutoExposureRegion(self: depthai.CameraControl, startX: int, startY: int, width: int, height: int)depthai.CameraControl

Set a command to specify auto exposure region in pixels. Note: the region should be mapped to the configured sensor resolution, before ISP scaling

Parameter startX:

X coordinate of top left corner of region

Parameter startY:

Y coordinate of top left corner of region

Parameter width:

Region width

Parameter height:

Region height

setAutoFocusLensRange(self: depthai.CameraControl, infinityPosition: int, macroPosition: int)depthai.CameraControl

Set autofocus lens range, infinityPosition < macroPosition, valid values 0..255. May help to improve autofocus in case the lens adjustment is not typical/tuned

setAutoFocusMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.AutoFocusMode)depthai.CameraControl

Set a command to specify autofocus mode. Default CONTINUOUS_VIDEO

setAutoFocusRegion(self: depthai.CameraControl, startX: int, startY: int, width: int, height: int)depthai.CameraControl

Set a command to specify focus region in pixels. Note: the region should be mapped to the configured sensor resolution, before ISP scaling

Parameter startX:

X coordinate of top left corner of region

Parameter startY:

Y coordinate of top left corner of region

Parameter width:

Region width

Parameter height:

Region height

setAutoFocusTrigger(self: depthai.CameraControl)depthai.CameraControl

Set a command to trigger autofocus

setAutoWhiteBalanceLock(self: depthai.CameraControl, lock: bool)depthai.CameraControl

Set a command to specify auto white balance lock

Parameter lock:

Auto white balance lock mode enabled or disabled

setAutoWhiteBalanceMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.AutoWhiteBalanceMode)depthai.CameraControl

Set a command to specify auto white balance mode

Parameter mode:

Auto white balance mode to use. Default AUTO

setBrightness(self: depthai.CameraControl, value: int)depthai.CameraControl

Set a command to adjust image brightness

Parameter value:

Brightness, range -10..10, default 0

setCaptureIntent(self: depthai.CameraControl, mode: depthai.RawCameraControl.CaptureIntent)depthai.CameraControl

Set a command to specify capture intent mode

Parameter mode:

Capture intent mode

setCaptureStill(self: depthai.CameraControl, capture: bool)depthai.CameraControl

Set a command to capture a still image

setChromaDenoise(self: depthai.CameraControl, value: int)depthai.CameraControl

Set a command to adjust chroma denoise amount

Parameter value:

Chroma denoise amount, range 0..4, default 1

setContrast(self: depthai.CameraControl, value: int)depthai.CameraControl

Set a command to adjust image contrast

Parameter value:

Contrast, range -10..10, default 0

setControlMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.ControlMode)depthai.CameraControl

Set a command to specify control mode

Parameter mode:

Control mode

setEffectMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.EffectMode)depthai.CameraControl

Set a command to specify effect mode

Parameter mode:

Effect mode

setExternalTrigger(self: depthai.CameraControl, numFramesBurst: int, numFramesDiscard: int)depthai.CameraControl

Set a command to enable external trigger snapshot mode

A rising edge on the sensor FSIN pin will make it capture a sequence of numFramesBurst frames. First numFramesDiscard will be skipped as configured (can be set to 0 as well), as they may have degraded quality

setFrameSyncMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.FrameSyncMode)depthai.CameraControl

Set the frame sync mode for continuous streaming operation mode, translating to how the camera pin FSIN/FSYNC is used: input/output/disabled

setLumaDenoise(self: depthai.CameraControl, value: int)depthai.CameraControl

Set a command to adjust luma denoise amount

Parameter value:

Luma denoise amount, range 0..4, default 1

setManualExposure(*args, **kwargs)

Overloaded function.

  1. setManualExposure(self: depthai.CameraControl, exposureTimeUs: int, sensitivityIso: int) -> depthai.CameraControl

Set a command to manually specify exposure

Parameter exposureTimeUs:

Exposure time in microseconds

Parameter sensitivityIso:

Sensitivity as ISO value, usual range 100..1600

  1. setManualExposure(self: depthai.CameraControl, exposureTime: datetime.timedelta, sensitivityIso: int) -> depthai.CameraControl

Set a command to manually specify exposure

Parameter exposureTime:

Exposure time

Parameter sensitivityIso:

Sensitivity as ISO value, usual range 100..1600

setManualFocus(self: depthai.CameraControl, lensPosition: int)depthai.CameraControl

Set a command to specify manual focus position

Parameter lensPosition:

specify lens position 0..255

setManualFocusRaw(self: depthai.CameraControl, lensPositionRaw: float)depthai.CameraControl

Set a command to specify manual focus position (more precise control).

Parameter lensPositionRaw:

specify lens position 0.0f .. 1.0f

Returns

CameraControl&

setManualWhiteBalance(self: depthai.CameraControl, colorTemperatureK: int)depthai.CameraControl

Set a command to manually specify white-balance color correction

Parameter colorTemperatureK:

Light source color temperature in kelvins, range 1000..12000

setSaturation(self: depthai.CameraControl, value: int)depthai.CameraControl

Set a command to adjust image saturation

Parameter value:

Saturation, range -10..10, default 0

setSceneMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.SceneMode)depthai.CameraControl

Set a command to specify scene mode

Parameter mode:

Scene mode

setSharpness(self: depthai.CameraControl, value: int)depthai.CameraControl

Set a command to adjust image sharpness

Parameter value:

Sharpness, range 0..4, default 1

setStartStreaming(self: depthai.CameraControl)depthai.CameraControl

Set a command to start streaming

setStopStreaming(self: depthai.CameraControl)depthai.CameraControl

Set a command to stop streaming

setStrobeDisable(self: depthai.CameraControl)depthai.CameraControl

Disable STROBE output

setStrobeExternal(self: depthai.CameraControl, gpioNumber: int, activeLevel: int)depthai.CameraControl

Enable STROBE output driven by a MyriadX GPIO, optionally configuring the polarity This normally requires a FSIN/FSYNC/trigger input for MyriadX (usually GPIO 41), to generate timings

setStrobeSensor(self: depthai.CameraControl, activeLevel: int)depthai.CameraControl

Enable STROBE output on sensor pin, optionally configuring the polarity. Note: for many sensors the polarity is high-active and not configurable

class depthai.CameraExposureOffset

Bases: pybind11_builtins.pybind11_object

Members:

START

MIDDLE

END

Attributes:

END

MIDDLE

START

name

value

Methods:

__init__(self, value)

END = <CameraExposureOffset.END: 2>
MIDDLE = <CameraExposureOffset.MIDDLE: 1>
START = <CameraExposureOffset.START: 0>
__init__(self: depthai.CameraExposureOffset, value: int)None
property name
property value
class depthai.CameraFeatures

Bases: pybind11_builtins.pybind11_object

CameraFeatures structure

Characterizes detected cameras on board

Methods:

__init__(self)

Attributes:

calibrationResolution

configs

hasAutofocus

hasAutofocusIC

height

name

orientation

sensorName

socket

supportedTypes

width

__init__(self: depthai.CameraFeatures)None
property calibrationResolution
property configs
property hasAutofocus
property hasAutofocusIC
property height
property name
property orientation
property sensorName
property socket
property supportedTypes
property width
class depthai.CameraImageOrientation

Bases: pybind11_builtins.pybind11_object

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

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

Members:

AUTO

NORMAL

HORIZONTAL_MIRROR

VERTICAL_FLIP

ROTATE_180_DEG

Attributes:

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.CameraInfo

Bases: pybind11_builtins.pybind11_object

CameraInfo structure

Methods:

__init__(self)

Attributes:

cameraType

distortionCoeff

extrinsics

height

intrinsicMatrix

specHfovDeg

width

__init__(self: depthai.CameraInfo)None
property cameraType
property distortionCoeff
property extrinsics
property height
property intrinsicMatrix
property specHfovDeg
property width
class depthai.CameraModel

Bases: pybind11_builtins.pybind11_object

Which CameraModel to initialize the calibration with.

Members:

Perspective

Fisheye

Equirectangular

RadialDivision

Attributes:

Equirectangular

Fisheye

Perspective

RadialDivision

name

value

Methods:

__init__(self, value)

Equirectangular = <CameraModel.Equirectangular: 2>
Fisheye = <CameraModel.Fisheye: 1>
Perspective = <CameraModel.Perspective: 0>
RadialDivision = <CameraModel.RadialDivision: 3>
__init__(self: depthai.CameraModel, value: int)None
property name
property value
class depthai.CameraProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for ColorCamera such as camera ID, …

Classes:

ColorOrder

For 24 bit color these can be either RGB or BGR

WarpMeshSource

Warp mesh source

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

boardSocket

calibAlpha

cameraName

colorOrder

fp16

fps

imageOrientation

initialControl

interleaved

isp3aFps

ispScale

numFramesPoolIsp

numFramesPoolPreview

numFramesPoolRaw

numFramesPoolStill

numFramesPoolVideo

previewHeight

previewKeepAspectRatio

previewWidth

rawPacked

resolutionHeight

resolutionWidth

sensorCropX

sensorCropY

sensorType

stillHeight

stillWidth

videoHeight

videoWidth

warpMeshHeight

warpMeshSource

warpMeshStepHeight

warpMeshStepWidth

warpMeshUri

warpMeshWidth

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.CameraProperties.ColorOrder, value: int)None
property name
property value
class WarpMeshSource

Bases: pybind11_builtins.pybind11_object

Warp mesh source

Members:

AUTO

NONE

CALIBRATION

URI

Attributes:

AUTO

CALIBRATION

NONE

URI

name

value

Methods:

__init__(self, value)

AUTO = <WarpMeshSource.AUTO: -1>
CALIBRATION = <WarpMeshSource.CALIBRATION: 1>
NONE = <WarpMeshSource.NONE: 0>
URI = <WarpMeshSource.URI: 2>
__init__(self: depthai.CameraProperties.WarpMeshSource, value: int)None
property name
property value
__init__(*args, **kwargs)

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

property boardSocket
property calibAlpha
property cameraName
property colorOrder
property fp16
property fps
property imageOrientation
property initialControl
property interleaved
property isp3aFps
property ispScale
property numFramesPoolIsp
property numFramesPoolPreview
property numFramesPoolRaw
property numFramesPoolStill
property numFramesPoolVideo
property previewHeight
property previewKeepAspectRatio
property previewWidth
property rawPacked
property resolutionHeight
property resolutionWidth
property sensorCropX
property sensorCropY
property sensorType
property stillHeight
property stillWidth
property videoHeight
property videoWidth
property warpMeshHeight
property warpMeshSource
property warpMeshStepHeight
property warpMeshStepWidth
property warpMeshUri
property warpMeshWidth
class depthai.CameraSensorConfig

Bases: pybind11_builtins.pybind11_object

Sensor config

Methods:

__init__(self)

Attributes:

fov

height

maxFps

minFps

type

width

__init__(self: depthai.CameraSensorConfig)None
property fov
property height
property maxFps
property minFps
property type
property width
class depthai.CameraSensorType

Bases: pybind11_builtins.pybind11_object

Camera sensor type

Members:

COLOR

MONO

TOF

THERMAL

Attributes:

COLOR

MONO

THERMAL

TOF

name

value

Methods:

__init__(self, value)

COLOR = <CameraSensorType.COLOR: 0>
MONO = <CameraSensorType.MONO: 1>
THERMAL = <CameraSensorType.THERMAL: 3>
TOF = <CameraSensorType.TOF: 2>
__init__(self: depthai.CameraSensorType, value: int)None
property name
property value
class depthai.ChipTemperature

Bases: pybind11_builtins.pybind11_object

Chip temperature information.

Multiple temperature measurement points and their average

Methods:

__init__(self)

Attributes:

average

css

dss

mss

upa

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

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

now()

__init__(*args, **kwargs)

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

now()datetime.timedelta
class depthai.ColorCameraProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for ColorCamera such as camera ID, …

Classes:

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

eventFilter

fp16

fps

imageOrientation

initialControl

interleaved

isp3aFps

ispScale

numFramesPoolIsp

numFramesPoolPreview

numFramesPoolRaw

numFramesPoolStill

numFramesPoolVideo

previewHeight

previewKeepAspectRatio

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_1200_P

THE_4_K

THE_5_MP

THE_12_MP

THE_4000X3000

THE_13_MP

THE_5312X6000

THE_48_MP

THE_720_P

THE_800_P

THE_1440X1080

THE_1352X1012

THE_2024X1520

Attributes:

THE_1080_P

THE_1200_P

THE_12_MP

THE_1352X1012

THE_13_MP

THE_1440X1080

THE_2024X1520

THE_4000X3000

THE_48_MP

THE_4_K

THE_5312X6000

THE_5_MP

THE_720_P

THE_800_P

name

value

Methods:

__init__(self, value)

THE_1080_P = <SensorResolution.THE_1080_P: 0>
THE_1200_P = <SensorResolution.THE_1200_P: 6>
THE_12_MP = <SensorResolution.THE_12_MP: 2>
THE_1352X1012 = <SensorResolution.THE_1352X1012: 12>
THE_13_MP = <SensorResolution.THE_13_MP: 3>
THE_1440X1080 = <SensorResolution.THE_1440X1080: 11>
THE_2024X1520 = <SensorResolution.THE_2024X1520: 13>
THE_4000X3000 = <SensorResolution.THE_4000X3000: 8>
THE_48_MP = <SensorResolution.THE_48_MP: 10>
THE_4_K = <SensorResolution.THE_4_K: 1>
THE_5312X6000 = <SensorResolution.THE_5312X6000: 9>
THE_5_MP = <SensorResolution.THE_5_MP: 7>
THE_720_P = <SensorResolution.THE_720_P: 4>
THE_800_P = <SensorResolution.THE_800_P: 5>
__init__(self: depthai.ColorCameraProperties.SensorResolution, value: int)None
property name
property value
__init__(*args, **kwargs)

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

property boardSocket
property colorOrder
property eventFilter
property fp16
property fps
property imageOrientation
property initialControl
property interleaved
property isp3aFps
property ispScale
property numFramesPoolIsp
property numFramesPoolPreview
property numFramesPoolRaw
property numFramesPoolStill
property numFramesPoolVideo
property previewHeight
property previewKeepAspectRatio
property previewWidth
property resolution
property sensorCropX
property sensorCropY
property stillHeight
property stillWidth
property videoHeight
property videoWidth
class depthai.Colormap

Bases: pybind11_builtins.pybind11_object

Camera sensor type

Members:

NONE

JET

TURBO

STEREO_JET

STEREO_TURBO

Attributes:

JET

NONE

STEREO_JET

STEREO_TURBO

TURBO

name

value

Methods:

__init__(self, value)

JET = <Colormap.JET: 2>
NONE = <Colormap.NONE: 0>
STEREO_JET = <Colormap.STEREO_JET: 4>
STEREO_TURBO = <Colormap.STEREO_TURBO: 3>
TURBO = <Colormap.TURBO: 1>
__init__(self: depthai.Colormap, value: int)None
property name
property value
class depthai.CpuUsage

Bases: pybind11_builtins.pybind11_object

CpuUsage structure

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

Methods:

__init__(self)

Attributes:

average

msTime

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

Bases: pybind11_builtins.pybind11_object

Classes:

CrashReport

Methods:

__init__(self)

serializeToJson(self)

Attributes:

crashReports

depthaiCommitHash

deviceId

class CrashReport

Bases: pybind11_builtins.pybind11_object

Classes:

ErrorSourceInfo

ThreadCallstack

Methods:

__init__(self)

Attributes:

crashedThreadId

errorSource

processor

threadCallstack

class ErrorSourceInfo

Bases: pybind11_builtins.pybind11_object

Classes:

AssertContext

TrapContext

Methods:

__init__(self)

Attributes:

assertContext

errorId

trapContext

class AssertContext

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

fileName

functionName

line

__init__(self: depthai.CrashDump.CrashReport.ErrorSourceInfo.AssertContext)None
property fileName
property functionName
property line
class TrapContext

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

trapAddress

trapName

trapNumber

__init__(self: depthai.CrashDump.CrashReport.ErrorSourceInfo.TrapContext)None
property trapAddress
property trapName
property trapNumber
__init__(self: depthai.CrashDump.CrashReport.ErrorSourceInfo)None
property assertContext
property errorId
property trapContext
class ThreadCallstack

Bases: pybind11_builtins.pybind11_object

Classes:

CallstackContext

Methods:

__init__(self)

Attributes:

callStack

instructionPointer

stackBottom

stackPointer

stackTop

threadId

threadName

threadStatus

class CallstackContext

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

callSite

calledTarget

context

framePointer

__init__(self: depthai.CrashDump.CrashReport.ThreadCallstack.CallstackContext)None
property callSite
property calledTarget
property context
property framePointer
__init__(self: depthai.CrashDump.CrashReport.ThreadCallstack)None
property callStack
property instructionPointer
property stackBottom
property stackPointer
property stackTop
property threadId
property threadName
property threadStatus
__init__(self: depthai.CrashDump.CrashReport)None
property crashedThreadId
property errorSource
property processor
property threadCallstack
__init__(self: depthai.CrashDump)None
property crashReports
property depthaiCommitHash
property deviceId
serializeToJson(self: depthai.CrashDump) → json
class depthai.DataInputQueue

Bases: pybind11_builtins.pybind11_object

Access to send messages through XLink stream

Methods:

__init__(*args, **kwargs)

Initialize self.

close(self)

Closes the queue and the underlying thread

getBlocking(self)

Gets current queue behavior when full (maxSize)

getMaxSize(self)

Gets queue maximum size

getName(self)

Gets queues name

isClosed(self)

Check whether queue is closed

send(*args, **kwargs)

Overloaded function.

setBlocking(self, blocking)

Sets queue behavior when full (maxSize)

setMaxSize(self, maxSize)

Sets queue maximum size

__init__(*args, **kwargs)

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

close(self: depthai.DataInputQueue)None

Closes the queue and the underlying thread

getBlocking(self: depthai.DataInputQueue)bool

Gets current queue behavior when full (maxSize)

Returns

True if blocking, false otherwise

getMaxSize(self: depthai.DataInputQueue)int

Gets queue maximum size

Returns

Maximum queue size

getName(self: depthai.DataInputQueue)str

Gets queues name

Returns

Queue name

isClosed(self: depthai.DataInputQueue)bool

Check whether queue is closed

Warning

This function is thread-unsafe and may return outdated incorrect values. It is only meant for use in simple single-threaded code. Well written code should handle exceptions when calling any DepthAI apis to handle hardware events and multithreaded use.

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.

close(self)

Closes the queue and the underlying thread

get(self)

Block until a message is available.

getAll(self)

Block until at least one message in the queue.

getBlocking(self)

Gets current queue behavior when full (maxSize)

getMaxSize(self)

Gets queue maximum size

getName(self)

Gets queues name

has(self)

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

isClosed(self)

Check whether queue is closed

removeCallback(self, callbackId)

Removes a callback

setBlocking(self, blocking)

Sets queue behavior when full (maxSize)

setMaxSize(self, maxSize)

Sets queue maximum size

tryGet(self)

Try to retrieve message from queue.

tryGetAll(self)

Try to retrieve all messages in the queue.

__init__(*args, **kwargs)

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

addCallback(*args, **kwargs)

Overloaded function.

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

Adds a callback on message received

Parameter callback:

Callback function with queue name and message pointer

Returns

Callback id

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

Adds a callback on message received

Parameter callback:

Callback function with message pointer

Returns

Callback id

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

Adds a callback on message received

Parameter callback:

Callback function without any parameters

Returns

Callback id

close(self: depthai.DataOutputQueue)None

Closes the queue and the underlying thread

get(self: depthai.DataOutputQueue)depthai.ADatatype

Block until a message is available.

Returns

Message or nullptr if no message available

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

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

Returns

Vector of messages

getBlocking(self: depthai.DataOutputQueue)bool

Gets current queue behavior when full (maxSize)

Returns

True if blocking, false otherwise

getMaxSize(self: depthai.DataOutputQueue)int

Gets queue maximum size

Returns

Maximum queue size

getName(self: depthai.DataOutputQueue)str

Gets queues name

Returns

Queue name

has(self: depthai.DataOutputQueue)bool

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

Returns

True if queue isn’t empty, false otherwise

isClosed(self: depthai.DataOutputQueue)bool

Check whether queue is closed

Warning

This function is thread-unsafe and may return outdated incorrect values. It is only meant for use in simple single-threaded code. Well written code should handle exceptions when calling any DepthAI apis to handle hardware events and multithreaded use.

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 immediately with nullptr

Returns

Message or nullptr if no message available

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

Try to retrieve all messages in the queue.

Returns

Vector of messages

class depthai.DatatypeEnum

Bases: pybind11_builtins.pybind11_object

Members:

Buffer

ImgFrame

EncodedFrame

NNData

ImageManipConfig

CameraControl

ImgDetections

SpatialImgDetections

SystemInformation

SpatialLocationCalculatorConfig

SpatialLocationCalculatorData

EdgeDetectorConfig

AprilTagConfig

AprilTags

Tracklets

IMUData

StereoDepthConfig

FeatureTrackerConfig

TrackedFeatures

PointCloudConfig

PointCloudData

Attributes:

AprilTagConfig

AprilTags

Buffer

CameraControl

EdgeDetectorConfig

EncodedFrame

FeatureTrackerConfig

IMUData

ImageManipConfig

ImgDetections

ImgFrame

NNData

PointCloudConfig

PointCloudData

SpatialImgDetections

SpatialLocationCalculatorConfig

SpatialLocationCalculatorData

StereoDepthConfig

SystemInformation

TrackedFeatures

Tracklets

name

value

Methods:

__init__(self, value)

AprilTagConfig = <DatatypeEnum.AprilTagConfig: 12>
AprilTags = <DatatypeEnum.AprilTags: 13>
Buffer = <DatatypeEnum.Buffer: 0>
CameraControl = <DatatypeEnum.CameraControl: 5>
EdgeDetectorConfig = <DatatypeEnum.EdgeDetectorConfig: 11>
EncodedFrame = <DatatypeEnum.EncodedFrame: 2>
FeatureTrackerConfig = <DatatypeEnum.FeatureTrackerConfig: 17>
IMUData = <DatatypeEnum.IMUData: 15>
ImageManipConfig = <DatatypeEnum.ImageManipConfig: 4>
ImgDetections = <DatatypeEnum.ImgDetections: 6>
ImgFrame = <DatatypeEnum.ImgFrame: 1>
NNData = <DatatypeEnum.NNData: 3>
PointCloudConfig = <DatatypeEnum.PointCloudConfig: 19>
PointCloudData = <DatatypeEnum.PointCloudData: 20>
SpatialImgDetections = <DatatypeEnum.SpatialImgDetections: 7>
SpatialLocationCalculatorConfig = <DatatypeEnum.SpatialLocationCalculatorConfig: 9>
SpatialLocationCalculatorData = <DatatypeEnum.SpatialLocationCalculatorData: 10>
StereoDepthConfig = <DatatypeEnum.StereoDepthConfig: 16>
SystemInformation = <DatatypeEnum.SystemInformation: 8>
TrackedFeatures = <DatatypeEnum.TrackedFeatures: 21>
Tracklets = <DatatypeEnum.Tracklets: 14>
__init__(self: depthai.DatatypeEnum, value: int)None
property name
property value
class depthai.DetectionNetworkProperties

Bases: depthai.NeuralNetworkProperties

Specify properties for DetectionNetwork

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

parser

__init__(*args, **kwargs)

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

property parser
class depthai.DetectionNetworkType

Bases: pybind11_builtins.pybind11_object

Members:

YOLO

MOBILENET

Attributes:

MOBILENET

YOLO

name

value

Methods:

__init__(self, value)

MOBILENET = <DetectionNetworkType.MOBILENET: 1>
YOLO = <DetectionNetworkType.YOLO: 0>
__init__(self: depthai.DetectionNetworkType, value: int)None
property name
property value
class depthai.DetectionParserOptions

Bases: pybind11_builtins.pybind11_object

Specifies how to parse output of detection networks

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

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.DetectionParserProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for DetectionParser

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

parser

Options for parser

__init__(*args, **kwargs)

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

property parser

Options for parser

class depthai.Device

Bases: depthai.DeviceBase

Represents the DepthAI device with the methods to interact with it. Implements the host-side queues to connect with XLinkIn and XLinkOut nodes

Classes:

Config

Device specific configuration

Methods:

__init__(*args, **kwargs)

Overloaded function.

getInputQueue(*args, **kwargs)

Overloaded function.

getInputQueueNames(self)

Get all available input queue names

getOutputQueue(*args, **kwargs)

Overloaded function.

getOutputQueueNames(self)

Get all available output queue names

getQueueEvent(*args, **kwargs)

Overloaded function.

getQueueEvents(*args, **kwargs)

Overloaded function.

class Config

Bases: pybind11_builtins.pybind11_object

Device specific configuration

Methods:

__init__(self)

Attributes:

board

logLevel

nonExclusiveMode

outputLogLevel

version

__init__(self: depthai.Device.Config)None
property board
property logLevel
property nonExclusiveMode
property outputLogLevel
property version
__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, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:

Pipeline to be executed on the device

Parameter maxUsbSpeed:

Maximum allowed USB speed

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:

Pipeline to be executed on the device

Parameter pathToCmd:

Path to custom device firmware

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

Connects to device specified by devInfo.

Parameter pipeline:

Pipeline to be executed on the device

Parameter devInfo:

DeviceInfo which specifies which device to connect to

Parameter usb2Mode:

Boot device using USB2 mode firmware

  1. __init__(self: depthai.Device, pipeline: depthai.Pipeline, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to device specified by devInfo.

Parameter pipeline:

Pipeline to be executed on the device

Parameter devInfo:

DeviceInfo which specifies which device to connect to

Parameter maxUsbSpeed:

Maximum allowed USB speed

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

Connects to device specified by devInfo.

Parameter pipeline:

Pipeline to be executed on the device

Parameter devInfo:

DeviceInfo which specifies which device to connect to

Parameter pathToCmd:

Path to custom device firmware

  1. __init__(self: depthai.Device, version: depthai.OpenVINO.Version = <Version.???: 7>) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter version:

OpenVINO version which the device will be booted with.

  1. __init__(self: depthai.Device, version: depthai.OpenVINO.Version, usb2Mode: bool = False) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter version:

OpenVINO version which the device will be booted with

Parameter usb2Mode:

Boot device using USB2 mode firmware

  1. __init__(self: depthai.Device, version: depthai.OpenVINO.Version, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to device specified by devInfo.

Parameter version:

OpenVINO version which the device will be booted with

Parameter maxUsbSpeed:

Maximum allowed USB speed

  1. __init__(self: depthai.Device, version: depthai.OpenVINO.Version, pathToCmd: Path) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter version:

OpenVINO version which the device will be booted with

Parameter pathToCmd:

Path to custom device firmware

  1. __init__(self: depthai.Device, version: depthai.OpenVINO.Version, deviceInfo: depthai.DeviceInfo, usb2Mode: bool = False) -> None

Connects to device specified by devInfo.

Parameter version:

OpenVINO version which the device will be booted with

Parameter devInfo:

DeviceInfo which specifies which device to connect to

Parameter usb2Mode:

Boot device using USB2 mode firmware

  1. __init__(self: depthai.Device, version: depthai.OpenVINO.Version, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to device specified by devInfo.

Parameter version:

OpenVINO version which the device will be booted with

Parameter devInfo:

DeviceInfo which specifies which device to connect to

Parameter maxUsbSpeed:

Maximum allowed USB speed

  1. __init__(self: depthai.Device, version: depthai.OpenVINO.Version, deviceDesc: depthai.DeviceInfo, pathToCmd: Path) -> None

Connects to device specified by devInfo.

Parameter version:

OpenVINO version which the device will be booted with

Parameter devInfo:

DeviceInfo which specifies which device to connect to

Parameter pathToCmd:

Path to custom device firmware

  1. __init__(self: depthai.Device, config: depthai.Device.Config) -> None

Connects to any available device with custom config.

Parameter config:

Device custom configuration to boot with

  1. __init__(self: depthai.Device, config: depthai.Device.Config, deviceInfo: depthai.DeviceInfo) -> None

Connects to device ‘devInfo’ with custom config.

Parameter config:

Device custom configuration to boot with

Parameter devInfo:

DeviceInfo which specifies which device to connect to

  1. __init__(self: depthai.Device, deviceInfo: depthai.DeviceInfo) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL

Parameter devInfo:

DeviceInfo which specifies which device to connect to

  1. __init__(self: depthai.Device, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL

Parameter devInfo:

DeviceInfo which specifies which device to connect to

Parameter maxUsbSpeed:

Maximum allowed USB speed

  1. __init__(self: depthai.Device, nameOrDeviceId: str) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL

Parameter nameOrDeviceId:

Creates DeviceInfo with nameOrDeviceId to connect to

  1. __init__(self: depthai.Device, nameOrDeviceId: str, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL

Parameter nameOrDeviceId:

Creates DeviceInfo with nameOrDeviceId to connect to

Parameter maxUsbSpeed:

Maximum allowed USB speed

getInputQueue(*args, **kwargs)

Overloaded function.

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

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

Parameter name:

Queue/stream name, set in XLinkIn node

Returns

Smart pointer to DataInputQueue

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

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

Parameter name:

Queue/stream name, set in XLinkOut node

Parameter maxSize:

Maximum number of messages in queue

Parameter blocking:

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

Returns

Smart pointer to DataInputQueue

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

Get all available input queue names

Returns

Vector of input queue names

getOutputQueue(*args, **kwargs)

Overloaded function.

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

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

Parameter name:

Queue/stream name, created by XLinkOut node

Returns

Smart pointer to DataOutputQueue

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

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

Parameter name:

Queue/stream name, set in XLinkOut node

Parameter maxSize:

Maximum number of messages in queue

Parameter blocking:

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

Returns

Smart pointer to DataOutputQueue

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

Get all available output queue names

Returns

Vector of output queue names

getQueueEvent(*args, **kwargs)

Overloaded function.

  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 queue has received a message

Parameter maxNumEvents:

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

Parameter timeout:

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

Returns

Names of queues which received messages first

class depthai.DeviceBase

Bases: pybind11_builtins.pybind11_object

The core of depthai device for RAII, connects to device and maintains watchdog, timesync, …

Methods:

__init__(*args, **kwargs)

Overloaded function.

addLogCallback(self, callback, None])

Add a callback for device logging.

close(self)

Closes the connection to device.

factoryResetCalibration(self)

Factory reset EEPROM data if factory backup is available.

flashCalibration(self, calibrationDataHandler)

Stores the Calibration and Device information to the Device EEPROM

flashCalibration2(self, arg0)

Stores the Calibration and Device information to the Device EEPROM

flashEepromClear(self)

Destructive action, deletes User area EEPROM contents Requires PROTECTED permissions

flashFactoryCalibration(self, arg0)

Stores the Calibration and Device information to the Device EEPROM in Factory area To perform this action, correct env variable must be set

flashFactoryEepromClear(self)

Destructive action, deletes Factory area EEPROM contents Requires FACTORY PROTECTED permissions

getAllAvailableDevices()

Returns all available devices

getAllConnectedDevices()

Returns information of all connected devices.

getAnyAvailableDevice(*args, **kwargs)

Overloaded function.

getAvailableStereoPairs(self)

Get stereo pairs taking into account the calibration and connected cameras.

getBootloaderVersion(self)

Gets Bootloader version if it was booted through Bootloader

getCameraSensorNames(self)

Get sensor names for cameras that are connected to the device

getChipTemperature(self)

Retrieves current chip temperature as measured by device

getCmxMemoryUsage(self)

Retrieves current CMX memory information from device

getConnectedCameraFeatures(self)

Get cameras that are connected to the device with their features/properties

getConnectedCameras(self)

Get cameras that are connected to the device

getConnectedIMU(self)

Get connected IMU type

getConnectionInterfaces(self)

Get connection interfaces for device

getCrashDump(self, clearCrashDump)

Retrieves crash dump for debugging.

getDdrMemoryUsage(self)

Retrieves current DDR memory information from device

getDeviceByMxId(mxId)

Finds a device by MX ID.

getDeviceInfo(self)

Get the Device Info object o the device which is currently running

getDeviceName(self)

Get device name if available

getEmbeddedDeviceBinary(*args, **kwargs)

Overloaded function.

getEmbeddedIMUFirmwareVersion(self)

Get embedded IMU firmware version to which IMU can be upgraded

getFirstAvailableDevice(skipInvalidDevices)

Gets first available device.

getGlobalProfilingData()

Get current global accumulated profiling data

getIMUFirmwareUpdateStatus(self)

Get IMU firmware update status

getIMUFirmwareVersion(self)

Get connected IMU firmware version

getIrDrivers(self)

Retrieves detected IR laser/LED drivers.

getLeonCssCpuUsage(self)

Retrieves average CSS Leon CPU usage

getLeonCssHeapUsage(self)

Retrieves current CSS Leon CPU heap information from device

getLeonMssCpuUsage(self)

Retrieves average MSS Leon CPU usage

getLeonMssHeapUsage(self)

Retrieves current MSS Leon CPU heap information from device

getLogLevel(self)

Gets current logging severity level of the device.

getLogOutputLevel(self)

Gets logging level which decides printing level to standard output.

getMxId(self)

Get MxId of device

getProductName(self)

Get product name if available

getProfilingData(self)

Get current accumulated profiling data

getStereoPairs(self)

Get stereo pairs based on the device type.

getSystemInformationLoggingRate(self)

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

getUsbSpeed(self)

Retrieves USB connection speed

getXLinkChunkSize(self)

Gets current XLink chunk size.

hasCrashDump(self)

Retrieves whether the is crash dump stored on device or not.

isClosed(self)

Is the device already closed (or disconnected)

isEepromAvailable(self)

Check if EEPROM is available

isPipelineRunning(self)

Checks if devices pipeline is already running

readCalibration(self)

Fetches the EEPROM data from the device and loads it into CalibrationHandler object If no calibration is flashed, it returns default

readCalibration2(self)

Fetches the EEPROM data from the device and loads it into CalibrationHandler object

readCalibrationOrDefault(self)

Fetches the EEPROM data from the device and loads it into CalibrationHandler object If no calibration is flashed, it returns default

readCalibrationRaw(self)

Fetches the raw EEPROM data from User area

readFactoryCalibration(self)

Fetches the EEPROM data from Factory area and loads it into CalibrationHandler object

readFactoryCalibrationOrDefault(self)

Fetches the EEPROM data from Factory area and loads it into CalibrationHandler object If no calibration is flashed, it returns default

readFactoryCalibrationRaw(self)

Fetches the raw EEPROM data from Factory area

removeLogCallback(self, callbackId)

Removes a callback

setIrFloodLightBrightness(self, mA, mask)

Sets the brightness of the IR Flood Light.

setIrFloodLightIntensity(self, intensity, mask)

Sets the intensity of the IR Flood Light.

setIrLaserDotProjectorBrightness(self, mA, mask)

Sets the brightness of the IR Laser Dot Projector.

setIrLaserDotProjectorIntensity(self, …)

Sets the intensity of the IR Laser Dot Projector.

setLogLevel(self, level)

Sets the devices logging severity level.

setLogOutputLevel(self, level)

Sets logging level which decides printing level to standard output.

setSystemInformationLoggingRate(self, rateHz)

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

setTimesync(*args, **kwargs)

Overloaded function.

setXLinkChunkSize(self, sizeBytes)

Sets the chunk size for splitting device-sent XLink packets.

startIMUFirmwareUpdate(self, forceUpdate)

Starts IMU firmware update asynchronously only if IMU node is not running.

startPipeline(*args, **kwargs)

Overloaded function.

__init__(*args, **kwargs)

Overloaded function.

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:

Pipeline to be executed on the device

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:

Pipeline to be executed on the device

Parameter usb2Mode:

Boot device using USB2 mode firmware

  1. __init__(self: depthai.DeviceBase, pipeline: depthai.Pipeline, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:

Pipeline to be executed on the device

Parameter maxUsbSpeed:

Maximum allowed USB speed

  1. __init__(self: depthai.DeviceBase, pipeline: depthai.Pipeline, pathToCmd: Path) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:

Pipeline to be executed on the device

Parameter pathToCmd:

Path to custom device firmware

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

Connects to device specified by devInfo.

Parameter pipeline:

Pipeline to be executed on the device

Parameter devInfo:

DeviceInfo which specifies which device to connect to

Parameter usb2Mode:

Boot device using USB2 mode firmware

  1. __init__(self: depthai.DeviceBase, pipeline: depthai.Pipeline, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to device specified by devInfo.

Parameter pipeline:

Pipeline to be executed on the device

Parameter devInfo:

DeviceInfo which specifies which device to connect to

Parameter maxUsbSpeed:

Maximum allowed USB speed

  1. __init__(self: depthai.DeviceBase, pipeline: depthai.Pipeline, devInfo: depthai.DeviceInfo, pathToCmd: Path) -> None

Connects to device specified by devInfo.

Parameter pipeline:

Pipeline to be executed on the device

Parameter devInfo:

DeviceInfo which specifies which device to connect to

Parameter pathToCmd:

Path to custom device firmware

  1. __init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version = <Version.???: 7>) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter version:

OpenVINO version which the device will be booted with.

  1. __init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, usb2Mode: bool = False) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter version:

OpenVINO version which the device will be booted with

Parameter usb2Mode:

Boot device using USB2 mode firmware

  1. __init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to device specified by devInfo.

Parameter version:

OpenVINO version which the device will be booted with

Parameter maxUsbSpeed:

Maximum allowed USB speed

  1. __init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, pathToCmd: Path) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter version:

OpenVINO version which the device will be booted with

Parameter pathToCmd:

Path to custom device firmware

  1. __init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, deviceInfo: depthai.DeviceInfo, usb2Mode: bool = False) -> None

Connects to device specified by devInfo.

Parameter version:

OpenVINO version which the device will be booted with

Parameter devInfo:

DeviceInfo which specifies which device to connect to

Parameter usb2Mode:

Boot device using USB2 mode firmware

  1. __init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to device specified by devInfo.

Parameter version:

OpenVINO version which the device will be booted with

Parameter devInfo:

DeviceInfo which specifies which device to connect to

Parameter maxUsbSpeed:

Maximum allowed USB speed

  1. __init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, deviceDesc: depthai.DeviceInfo, pathToCmd: Path) -> None

Connects to device specified by devInfo.

Parameter version:

OpenVINO version which the device will be booted with

Parameter devInfo:

DeviceInfo which specifies which device to connect to

Parameter pathToCmd:

Path to custom device firmware

  1. __init__(self: depthai.DeviceBase, config: depthai.Device.Config) -> None

Connects to any available device with custom config.

Parameter config:

Device custom configuration to boot with

  1. __init__(self: depthai.DeviceBase, config: depthai.Device.Config, deviceInfo: depthai.DeviceInfo) -> None

Connects to device ‘devInfo’ with custom config.

Parameter config:

Device custom configuration to boot with

Parameter devInfo:

DeviceInfo which specifies which device to connect to

  1. __init__(self: depthai.DeviceBase, deviceInfo: depthai.DeviceInfo) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL

Parameter devInfo:

DeviceInfo which specifies which device to connect to

  1. __init__(self: depthai.DeviceBase, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL

Parameter devInfo:

DeviceInfo which specifies which device to connect to

Parameter maxUsbSpeed:

Maximum allowed USB speed

  1. __init__(self: depthai.DeviceBase, nameOrDeviceId: str) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL

Parameter nameOrDeviceId:

Creates DeviceInfo with nameOrDeviceId to connect to

  1. __init__(self: depthai.DeviceBase, nameOrDeviceId: str, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout. Uses OpenVINO version OpenVINO::VERSION_UNIVERSAL

Parameter nameOrDeviceId:

Creates DeviceInfo with nameOrDeviceId to connect to

Parameter maxUsbSpeed:

Maximum allowed USB speed

addLogCallback(self: depthai.DeviceBase, callback: Callable[[depthai.LogMessage], None])int

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

Parameter callback:

Callback to call whenever a log message arrives

Returns

Id which can be used to later remove the callback

close(self: depthai.DeviceBase)None

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

factoryResetCalibration(self: depthai.DeviceBase)None

Factory reset EEPROM data if factory backup is available.

Throws:

std::runtime_exception If factory reset was unsuccessful

flashCalibration(self: depthai.DeviceBase, calibrationDataHandler: depthai.CalibrationHandler)bool

Stores the Calibration and Device information to the Device EEPROM

Parameter calibrationObj:

CalibrationHandler object which is loaded with calibration information.

Returns

true on successful flash, false on failure

flashCalibration2(self: depthai.DeviceBase, arg0: depthai.CalibrationHandler)None

Stores the Calibration and Device information to the Device EEPROM

Throws:

std::runtime_exception if failed to flash the calibration

Parameter calibrationObj:

CalibrationHandler object which is loaded with calibration information.

flashEepromClear(self: depthai.DeviceBase)None

Destructive action, deletes User area EEPROM contents Requires PROTECTED permissions

Throws:

std::runtime_exception if failed to flash the calibration

Returns

True on successful flash, false on failure

flashFactoryCalibration(self: depthai.DeviceBase, arg0: depthai.CalibrationHandler)None

Stores the Calibration and Device information to the Device EEPROM in Factory area To perform this action, correct env variable must be set

Throws:

std::runtime_exception if failed to flash the calibration

Returns

True on successful flash, false on failure

flashFactoryEepromClear(self: depthai.DeviceBase)None

Destructive action, deletes Factory area EEPROM contents Requires FACTORY PROTECTED permissions

Throws:

std::runtime_exception if failed to flash the calibration

Returns

True on successful flash, false on failure

static getAllAvailableDevices() → List[depthai.DeviceInfo]

Returns all available devices

Returns

Vector of available devices

static getAllConnectedDevices() → List[depthai.DeviceInfo]

Returns information of all connected devices. The devices could be both connectable as well as already connected to devices.

Returns

Vector of connected device information

static getAnyAvailableDevice(*args, **kwargs)

Overloaded function.

  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

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

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

getAvailableStereoPairs(self: depthai.DeviceBase) → List[depthai.StereoPair]

Get stereo pairs taking into account the calibration and connected cameras.

@note This method will always return a subset of getStereoPairs.

Returns

Vector of stereo pairs

getBootloaderVersion(self: depthai.DeviceBase) → Optional[depthai.Version]

Gets Bootloader version if it was booted through Bootloader

Returns

DeviceBootloader::Version if booted through Bootloader or none otherwise

getCameraSensorNames(self: depthai.DeviceBase) → Dict[depthai.CameraBoardSocket, str]

Get sensor names for cameras that are connected to the device

Returns

Map/dictionary with camera sensor names, indexed by socket

getChipTemperature(self: depthai.DeviceBase)depthai.ChipTemperature

Retrieves current chip temperature as measured by device

Returns

Temperature of various onboard sensors

getCmxMemoryUsage(self: depthai.DeviceBase)depthai.MemoryInfo

Retrieves current CMX memory information from device

Returns

Used, remaining and total cmx memory

getConnectedCameraFeatures(self: depthai.DeviceBase) → List[depthai.CameraFeatures]

Get cameras that are connected to the device with their features/properties

Returns

Vector of connected camera features

getConnectedCameras(self: depthai.DeviceBase) → List[depthai.CameraBoardSocket]

Get cameras that are connected to the device

Returns

Vector of connected cameras

getConnectedIMU(self: depthai.DeviceBase)str

Get connected IMU type

Returns

IMU type

getConnectionInterfaces(self: depthai.DeviceBase) → List[depthai.connectionInterface]

Get connection interfaces for device

Returns

Vector of connection type

getCrashDump(self: depthai.DeviceBase, clearCrashDump: bool = True)depthai.CrashDump

Retrieves crash dump for debugging.

getDdrMemoryUsage(self: depthai.DeviceBase)depthai.MemoryInfo

Retrieves current DDR memory information from device

Returns

Used, remaining and total ddr memory

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

Finds a device by MX ID. Example: 14442C10D13EABCE00

Parameter mxId:

MyraidX ID which uniquely specifies a device

Returns

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

getDeviceInfo(self: depthai.DeviceBase)depthai.DeviceInfo

Get the Device Info object o the device which is currently running

Returns

DeviceInfo of the current device in execution

getDeviceName(self: depthai.DeviceBase)object

Get device name if available

Returns

device name or empty string if not available

static getEmbeddedDeviceBinary(*args, **kwargs)

Overloaded function.

  1. getEmbeddedDeviceBinary(usb2Mode: bool, version: depthai.OpenVINO.Version = <Version.???: 7>) -> List[int]

Gets device firmware binary for a specific OpenVINO version

Parameter usb2Mode:

USB2 mode firmware

Parameter version:

Version of OpenVINO which firmware will support

Returns

Firmware binary

  1. getEmbeddedDeviceBinary(config: depthai.Device.Config) -> List[int]

Gets device firmware binary for a specific configuration

Parameter config:

FW with applied configuration

Returns

Firmware binary

getEmbeddedIMUFirmwareVersion(self: depthai.DeviceBase)depthai.Version

Get embedded IMU firmware version to which IMU can be upgraded

Returns

Get embedded IMU firmware version to which IMU can be upgraded.

static getFirstAvailableDevice(skipInvalidDevices: bool = True) → Tuple[bool, depthai.DeviceInfo]

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

Returns

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

static getGlobalProfilingData()depthai.ProfilingData

Get current global accumulated profiling data

Returns

ProfilingData from all devices

getIMUFirmwareUpdateStatus(self: depthai.DeviceBase) → Tuple[bool, float]

Get IMU firmware update status

Returns

Whether IMU firmware update is done and last firmware update progress as percentage. return value true and 100 means that the update was successful return value true and other than 100 means that the update failed

getIMUFirmwareVersion(self: depthai.DeviceBase)depthai.Version

Get connected IMU firmware version

Returns

IMU firmware version

getIrDrivers(self: depthai.DeviceBase) → List[Tuple[str, int, int]]

Retrieves detected IR laser/LED drivers.

Returns

driver name, I2C bus, I2C address. For OAK-D- Pro it should be [{“LM3644”, 2, 0x63}]

Return type

Vector of tuples containing

getLeonCssCpuUsage(self: depthai.DeviceBase)depthai.CpuUsage

Retrieves average CSS Leon CPU usage

Returns

Average CPU usage and sampling duration

getLeonCssHeapUsage(self: depthai.DeviceBase)depthai.MemoryInfo

Retrieves current CSS Leon CPU heap information from device

Returns

Used, remaining and total heap memory

getLeonMssCpuUsage(self: depthai.DeviceBase)depthai.CpuUsage

Retrieves average MSS Leon CPU usage

Returns

Average CPU usage and sampling duration

getLeonMssHeapUsage(self: depthai.DeviceBase)depthai.MemoryInfo

Retrieves current MSS Leon CPU heap information from device

Returns

Used, remaining and total heap memory

getLogLevel(self: depthai.DeviceBase)depthai.LogLevel

Gets current logging severity level of the device.

Returns

Logging severity level

getLogOutputLevel(self: depthai.DeviceBase)depthai.LogLevel

Gets logging level which decides printing level to standard output.

Returns

Standard output printing severity

getMxId(self: depthai.DeviceBase)str

Get MxId of device

Returns

MxId of connected device

getProductName(self: depthai.DeviceBase)object

Get product name if available

Returns

product name or empty string if not available

getProfilingData(self: depthai.DeviceBase)depthai.ProfilingData

Get current accumulated profiling data

Returns

ProfilingData from the specific device

getStereoPairs(self: depthai.DeviceBase) → List[depthai.StereoPair]

Get stereo pairs based on the device type.

Returns

Vector of stereo pairs

getSystemInformationLoggingRate(self: depthai.DeviceBase)float

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

Returns

Logging rate in Hz

getUsbSpeed(self: depthai.DeviceBase)depthai.UsbSpeed

Retrieves USB connection speed

Returns

USB connection speed of connected device if applicable. Unknown otherwise.

getXLinkChunkSize(self: depthai.DeviceBase)int

Gets current XLink chunk size.

Returns

XLink chunk size in bytes

hasCrashDump(self: depthai.DeviceBase)bool

Retrieves whether the is crash dump stored on device or not.

isClosed(self: depthai.DeviceBase)bool

Is the device already closed (or disconnected)

Warning

This function is thread-unsafe and may return outdated incorrect values. It is only meant for use in simple single-threaded code. Well written code should handle exceptions when calling any DepthAI apis to handle hardware events and multithreaded use.

isEepromAvailable(self: depthai.DeviceBase)bool

Check if EEPROM is available

Returns

True if EEPROM is present on board, false otherwise

isPipelineRunning(self: depthai.DeviceBase)bool

Checks if devices pipeline is already running

Returns

True if running, false otherwise

readCalibration(self: depthai.DeviceBase)depthai.CalibrationHandler

Fetches the EEPROM data from the device and loads it into CalibrationHandler object If no calibration is flashed, it returns default

Returns

The CalibrationHandler object containing the calibration currently flashed on device EEPROM

readCalibration2(self: depthai.DeviceBase)depthai.CalibrationHandler

Fetches the EEPROM data from the device and loads it into CalibrationHandler object

Throws:

std::runtime_exception if no calibration is flashed

Returns

The CalibrationHandler object containing the calibration currently flashed on device EEPROM

readCalibrationOrDefault(self: depthai.DeviceBase)depthai.CalibrationHandler

Fetches the EEPROM data from the device and loads it into CalibrationHandler object If no calibration is flashed, it returns default

Returns

The CalibrationHandler object containing the calibration currently flashed on device EEPROM

readCalibrationRaw(self: depthai.DeviceBase) → List[int]

Fetches the raw EEPROM data from User area

Throws:

std::runtime_exception if any error occurred

Returns

Binary dump of User area EEPROM data

readFactoryCalibration(self: depthai.DeviceBase)depthai.CalibrationHandler

Fetches the EEPROM data from Factory area and loads it into CalibrationHandler object

Throws:

std::runtime_exception if no calibration is flashed

Returns

The CalibrationHandler object containing the calibration currently flashed on device EEPROM in Factory Area

readFactoryCalibrationOrDefault(self: depthai.DeviceBase)depthai.CalibrationHandler

Fetches the EEPROM data from Factory area and loads it into CalibrationHandler object If no calibration is flashed, it returns default

Returns

The CalibrationHandler object containing the calibration currently flashed on device EEPROM in Factory Area

readFactoryCalibrationRaw(self: depthai.DeviceBase) → List[int]

Fetches the raw EEPROM data from Factory area

Throws:

std::runtime_exception if any error occurred

Returns

Binary dump of Factory area EEPROM data

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

Removes a callback

Parameter callbackId:

Id of callback to be removed

Returns

True if callback was removed, false otherwise

setIrFloodLightBrightness(self: depthai.DeviceBase, mA: float, mask: int = - 1)bool

Sets the brightness of the IR Flood Light. Limits: up to 1500mA at 30% duty cycle. The duty cycle is controlled by the left camera STROBE, aligned to start of exposure. If the dot projector is also enabled, its lower duty cycle limits take precedence. The emitter is turned off by default

Parameter mA:

Current in mA that will determine brightness, 0 or negative to turn off

Parameter mask:

Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W- DEV

Returns

True on success, false if not found or other failure

setIrFloodLightIntensity(self: depthai.DeviceBase, intensity: float, mask: int = - 1)bool

Sets the intensity of the IR Flood Light. Limits: Intensity is directly normalized to 0 - 1500mA current. The duty cycle is 30% when exposure time is longer than 30% frame time. Otherwise, duty cycle is 100% of exposure time. The duty cycle is controlled by the left camera STROBE, aligned to start of exposure. The emitter is turned off by default

Parameter intensity:

Intensity on range 0 to 1, that will determine brightness, 0 or negative to turn off

Parameter mask:

Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W- DEV

Returns

True on success, false if not found or other failure

setIrLaserDotProjectorBrightness(self: depthai.DeviceBase, mA: float, mask: int = - 1)bool

Sets the brightness of the IR Laser Dot Projector. Limits: up to 765mA at 30% duty cycle, up to 1200mA at 6% duty cycle. The duty cycle is controlled by left camera STROBE, aligned to start of exposure. The emitter is turned off by default

Parameter mA:

Current in mA that will determine brightness, 0 or negative to turn off

Parameter mask:

Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W- DEV

Returns

True on success, false if not found or other failure

setIrLaserDotProjectorIntensity(self: depthai.DeviceBase, intensity: float, mask: int = - 1)bool

Sets the intensity of the IR Laser Dot Projector. Limits: up to 765mA at 30% frame time duty cycle when exposure time is longer than 30% frame time. Otherwise, duty cycle is 100% of exposure time, with current increased up to max 1200mA to make up for shorter duty cycle. The duty cycle is controlled by left camera STROBE, aligned to start of exposure. The emitter is turned off by default

Parameter intensity:

Intensity on range 0 to 1, that will determine brightness. 0 or negative to turn off

Parameter mask:

Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W- DEV

Returns

True on success, false if not found or other failure

setLogLevel(self: depthai.DeviceBase, level: depthai.LogLevel)None

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

Parameter level:

Logging severity

setLogOutputLevel(self: depthai.DeviceBase, level: depthai.LogLevel)None

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

Parameter level:

Standard output printing severity

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

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

Parameter rateHz:

Logging rate in Hz

setTimesync(*args, **kwargs)

Overloaded function.

  1. setTimesync(self: depthai.DeviceBase, arg0: datetime.timedelta, arg1: int, arg2: bool) -> None

Configures Timesync service on device. It keeps host and device clocks in sync First time timesync is started it waits until the initial sync is completed Afterwards the function changes the following parameters

Parameter period:

Interval between timesync runs

Parameter numSamples:

Number of timesync samples per run which are used to compute a better value. Set to zero to disable timesync

Parameter random:

If true partial timesync requests will be performed at random intervals, otherwise at fixed intervals

  1. setTimesync(self: depthai.DeviceBase, enable: bool) -> None

Enables or disables Timesync service on device. It keeps host and device clocks in sync.

Parameter enable:

Enables or disables consistent timesyncing

setXLinkChunkSize(self: depthai.DeviceBase, sizeBytes: int)None

Sets the chunk size for splitting device-sent XLink packets. A larger value could increase performance, and 0 disables chunking. A negative value is ignored. Device defaults are configured per protocol, currently 64*1024 for both USB and Ethernet.

Parameter sizeBytes:

XLink chunk size in bytes

startIMUFirmwareUpdate(self: depthai.DeviceBase, forceUpdate: bool = False)bool

Starts IMU firmware update asynchronously only if IMU node is not running. If current firmware version is the same as embedded firmware version then it’s no- op. Can be overridden by forceUpdate parameter. State of firmware update can be monitored using getIMUFirmwareUpdateStatus API.

Parameter forceUpdate:

Force firmware update or not. Will perform FW update regardless of current version and embedded firmware version.

Returns

Returns whether firmware update can be started. Returns false if IMU node is started.

startPipeline(*args, **kwargs)

Overloaded function.

  1. startPipeline(self: depthai.DeviceBase) -> None

Starts the execution of the devices pipeline

Returns

True if pipeline started, false otherwise

  1. startPipeline(self: depthai.DeviceBase, arg0: depthai.Pipeline) -> bool

Starts the execution of a given pipeline

Parameter pipeline:

OpenVINO version of the pipeline must match the one which the device was booted with.

Returns

True if pipeline started, false otherwise

class depthai.DeviceBootloader

Bases: pybind11_builtins.pybind11_object

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

Classes:

ApplicationInfo

Config

Memory

Members:

MemoryInfo

NetworkConfig

Section

Members:

Type

Members:

UsbConfig

Methods:

__init__(*args, **kwargs)

Overloaded function.

bootMemory(self, fw)

Boots a custom FW in memory

bootUsbRomBootloader(self)

Boots into integrated ROM bootloader in USB mode

close(self)

Closes the connection to device.

createDepthaiApplicationPackage(*args, **kwargs)

Overloaded function.

flash(*args, **kwargs)

Overloaded function.

flashBootHeader(self, memory, frequency, …)

Flash optimized boot header

flashBootloader(*args, **kwargs)

Overloaded function.

flashClear(self, memory)

Clears flashed application on the device, by removing SBR boot structure Doesn’t remove fast boot header capability to still boot the application

flashConfig(self, config, memory, type)

Flashes configuration to bootloader

flashConfigClear(self, memory, type)

Clears configuration data

flashConfigData(self, configData, memory, type)

Flashes configuration data to bootloader

flashConfigFile(self, configData, memory, type)

Flashes configuration data to bootloader

flashCustom(*args, **kwargs)

Overloaded function.

flashDepthaiApplicationPackage(*args, **kwargs)

Overloaded function.

flashFastBootHeader(self, memory, frequency, …)

Flash fast boot header.

flashGpioModeBootHeader(self, memory, mode)

Flash boot header which boots same as equivalent GPIO mode would

flashUsbRecoveryBootHeader(self, memory)

Flash USB recovery boot header.

flashUserBootloader(self, progressCallback, …)

Flashes user bootloader to the current board.

getAllAvailableDevices()

Searches for connected devices in either UNBOOTED or BOOTLOADER states.

getEmbeddedBootloaderBinary(arg0)

returns

Embedded bootloader binary

getEmbeddedBootloaderVersion()

returns

Embedded bootloader version

getFirstAvailableDevice()

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

getMemoryInfo(self, arg0)

Retrieves information about specified memory

getType(self)

returns

Type of currently connected bootloader

getVersion(self)

returns

Version of current running bootloader

isAllowedFlashingBootloader(self)

returns

True if allowed to flash bootloader

isEmbeddedVersion(self)

returns

True when bootloader was booted using latest bootloader integrated in the

isUserBootloader(self)

Retrieves whether current bootloader is User Bootloader (B out of A/B configuration)

isUserBootloaderSupported(self)

Checks whether User Bootloader is supported with current bootloader

readApplicationInfo(self, memory)

Reads information about flashed application in specified memory from device

readConfig(self, memory, type)

Reads configuration from bootloader

readConfigData(self, memory, type)

Reads configuration data from bootloader

readCustom(*args, **kwargs)

Overloaded function.

saveDepthaiApplicationPackage(*args, **kwargs)

Overloaded function.

class ApplicationInfo

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

applicationName

firmwareVersion

hasApplication

__init__(self: depthai.DeviceBootloader.ApplicationInfo)None
property applicationName
property firmwareVersion
property hasApplication
class Config

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

fromJson(self)

getDnsAltIPv4(self)

getDnsIPv4(self)

getIPv4(self)

getIPv4Gateway(self)

getIPv4Mask(self)

getMacAddress(self)

getNetworkTimeout(self)

getUsbMaxSpeed(self)

getUsbTimeout(self)

isStaticIPV4(self)

setDnsIPv4(self, arg0, arg1)

setDynamicIPv4(self, arg0, arg1, arg2)

setMacAddress(self, arg0)

setNetworkTimeout(self, arg0)

setStaticIPv4(self, arg0, arg1, arg2)

setUsbMaxSpeed(self, arg0)

setUsbTimeout(self, arg0)

toJson(self)

Attributes:

appMem

network

usb

__init__(self: depthai.DeviceBootloader.Config)None
property appMem
fromJson(self: json)depthai.DeviceBootloader.Config
getDnsAltIPv4(self: depthai.DeviceBootloader.Config)str
getDnsIPv4(self: depthai.DeviceBootloader.Config)str
getIPv4(self: depthai.DeviceBootloader.Config)str
getIPv4Gateway(self: depthai.DeviceBootloader.Config)str
getIPv4Mask(self: depthai.DeviceBootloader.Config)str
getMacAddress(self: depthai.DeviceBootloader.Config)str
getNetworkTimeout(self: depthai.DeviceBootloader.Config)datetime.timedelta
getUsbMaxSpeed(self: depthai.DeviceBootloader.Config)depthai.UsbSpeed
getUsbTimeout(self: depthai.DeviceBootloader.Config)datetime.timedelta
isStaticIPV4(self: depthai.DeviceBootloader.Config)bool
property network
setDnsIPv4(self: depthai.DeviceBootloader.Config, arg0: str, arg1: str)None
setDynamicIPv4(self: depthai.DeviceBootloader.Config, arg0: str, arg1: str, arg2: str)None
setMacAddress(self: depthai.DeviceBootloader.Config, arg0: str)None
setNetworkTimeout(self: depthai.DeviceBootloader.Config, arg0: datetime.timedelta)None
setStaticIPv4(self: depthai.DeviceBootloader.Config, arg0: str, arg1: str, arg2: str)None
setUsbMaxSpeed(self: depthai.DeviceBootloader.Config, arg0: depthai.UsbSpeed)None
setUsbTimeout(self: depthai.DeviceBootloader.Config, arg0: datetime.timedelta)None
toJson(self: depthai.DeviceBootloader.Config) → json
property usb
class Memory

Bases: pybind11_builtins.pybind11_object

Members:

AUTO

FLASH

EMMC

Attributes:

AUTO

EMMC

FLASH

name

value

Methods:

__init__(self, value)

AUTO = <Memory.AUTO: -1>
EMMC = <Memory.EMMC: 1>
FLASH = <Memory.FLASH: 0>
__init__(self: depthai.DeviceBootloader.Memory, value: int)None
property name
property value
class MemoryInfo

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

available

info

size

__init__(self: depthai.DeviceBootloader.MemoryInfo)None
property available
property info
property size
class NetworkConfig

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

ipv4

ipv4Dns

ipv4DnsAlt

ipv4Gateway

ipv4Mask

ipv6

ipv6Dns

ipv6DnsAlt

ipv6Gateway

ipv6Prefix

mac

staticIpv4

staticIpv6

timeoutMs

__init__(self: depthai.DeviceBootloader.NetworkConfig)None
property ipv4
property ipv4Dns
property ipv4DnsAlt
property ipv4Gateway
property ipv4Mask
property ipv6
property ipv6Dns
property ipv6DnsAlt
property ipv6Gateway
property ipv6Prefix
property mac
property staticIpv4
property staticIpv6
property timeoutMs
class Section

Bases: pybind11_builtins.pybind11_object

Members:

AUTO

HEADER

BOOTLOADER

BOOTLOADER_CONFIG

APPLICATION

Attributes:

APPLICATION

AUTO

BOOTLOADER

BOOTLOADER_CONFIG

HEADER

name

value

Methods:

__init__(self, value)

APPLICATION = <Section.APPLICATION: 3>
AUTO = <Section.AUTO: -1>
BOOTLOADER = <Section.BOOTLOADER: 1>
BOOTLOADER_CONFIG = <Section.BOOTLOADER_CONFIG: 2>
HEADER = <Section.HEADER: 0>
__init__(self: depthai.DeviceBootloader.Section, value: int)None
property name
property value
class Type

Bases: pybind11_builtins.pybind11_object

Members:

AUTO

USB

NETWORK

Attributes:

AUTO

NETWORK

USB

name

value

Methods:

__init__(self, value)

AUTO = <Type.AUTO: -1>
NETWORK = <Type.NETWORK: 1>
USB = <Type.USB: 0>
__init__(self: depthai.DeviceBootloader.Type, value: int)None
property name
property value
class UsbConfig

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

maxUsbSpeed

pid

timeoutMs

vid

__init__(self: depthai.DeviceBootloader.UsbConfig)None
property maxUsbSpeed
property pid
property timeoutMs
property vid
__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: depthai.DeviceBootloader, devInfo: depthai.DeviceInfo, allowFlashingBootloader: bool = False) -> None

Connects to device in bootloader of specified type. Throws if it wasn’t possible. This constructor will automatically boot into specified bootloader type if not already running

Parameter devInfo:

DeviceInfo of which to boot or connect to

Parameter type:

Type of bootloader to boot/connect to.

Parameter allowFlashingBootloader:

Set to true to allow flashing the devices bootloader. Defaults to false

  1. __init__(self: depthai.DeviceBootloader, devInfo: depthai.DeviceInfo, pathToCmd: Path, allowFlashingBootloader: bool = False) -> None

Connects to or boots device in bootloader mode depending on devInfo state with a custom bootloader firmware.

Parameter devInfo:

DeviceInfo of which to boot or connect to

Parameter pathToBootloader:

Custom bootloader firmware to boot

Parameter allowFlashingBootloader:

Set to true to allow flashing the devices bootloader. Defaults to false

  1. __init__(self: depthai.DeviceBootloader, nameOrDeviceId: str, allowFlashingBootloader: bool = False) -> None

Connects to device with specified name/device id

Parameter nameOrDeviceId:

Creates DeviceInfo with nameOrDeviceId to connect to

Parameter allowFlashingBootloader:

Set to true to allow flashing the devices bootloader. Defaults to false

bootMemory(self: depthai.DeviceBootloader, fw: List[int])None

Boots a custom FW in memory

Parameter fw:

$Throws:

A runtime exception if there are any communication issues

bootUsbRomBootloader(self: depthai.DeviceBootloader)None

Boots into integrated ROM bootloader in USB mode

Throws:

A runtime exception if there are any communication issues

close(self: depthai.DeviceBootloader)None

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

static createDepthaiApplicationPackage(*args, **kwargs)

Overloaded function.

  1. createDepthaiApplicationPackage(pipeline: depthai.Pipeline, pathToCmd: Path = ‘’, compress: bool = False, applicationName: str = ‘’, checkChecksum: bool = False) -> List[int]

Creates application package which can be flashed to depthai device.

Parameter pipeline:

Pipeline from which to create the application package

Parameter pathToCmd:

Optional path to custom device firmware

Parameter compress:

Optional boolean which specifies if contents should be compressed

Parameter applicationName:

Optional name the application that is flashed

Returns

Depthai application package

  1. createDepthaiApplicationPackage(pipeline: depthai.Pipeline, compress: bool, applicationName: str = ‘’, checkChecksum: bool = False) -> List[int]

Creates application package which can be flashed to depthai device.

Parameter pipeline:

Pipeline from which to create the application package

Parameter compress:

Specifies if contents should be compressed

Parameter applicationName:

Name the application that is flashed

Returns

Depthai application package

flash(*args, **kwargs)

Overloaded function.

  1. flash(self: depthai.DeviceBootloader, progressCallback: Callable[[float], None], pipeline: depthai.Pipeline, compress: bool = False, applicationName: str = ‘’, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, checkChecksum: bool = False) -> Tuple[bool, str]

Flashes a given pipeline to the device.

Parameter progressCallback:

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

Parameter pipeline:

Pipeline to flash to the board

Parameter compress:

Compresses application to reduce needed memory size

Parameter applicationName:

Name the application that is flashed

  1. flash(self: depthai.DeviceBootloader, pipeline: depthai.Pipeline, compress: bool = False, applicationName: str = ‘’, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, checkChecksum: bool = False) -> Tuple[bool, str]

Flashes a given pipeline to the device.

Parameter pipeline:

Pipeline to flash to the board

Parameter compress:

Compresses application to reduce needed memory size

Parameter applicationName:

Optional name the application that is flashed

flashBootHeader(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, frequency: int = - 1, location: int = - 1, dummyCycles: int = - 1, offset: int = - 1) → Tuple[bool, str]

Flash optimized boot header

Parameter memory:

Which memory to flasht the header to

Parameter frequency:

SPI specific parameter, frequency in MHz

Parameter location:

Target location the header should boot to. Default to location of bootloader

Parameter dummyCycles:

SPI specific parameter

Parameter offset:

Offset in memory to flash the header to. Defaults to offset of boot header

Returns

status as std::tuple<bool, std::string>

flashBootloader(*args, **kwargs)

Overloaded function.

  1. flashBootloader(self: depthai.DeviceBootloader, progressCallback: Callable[[float], None], path: Path = ‘’) -> Tuple[bool, str]

Flashes bootloader to the current board

Parameter progressCallback:

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

Parameter path:

Optional parameter to custom bootloader to flash

  1. flashBootloader(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, type: depthai.DeviceBootloader.Type, progressCallback: Callable[[float], None], path: Path = ‘’) -> Tuple[bool, str]

Flash selected bootloader to the current board

Parameter memory:

Memory to flash

Parameter type:

Bootloader type to flash

Parameter progressCallback:

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

Parameter path:

Optional parameter to custom bootloader to flash

flashClear(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>) → Tuple[bool, str]

Clears flashed application on the device, by removing SBR boot structure Doesn’t remove fast boot header capability to still boot the application

flashConfig(self: depthai.DeviceBootloader, config: depthai.DeviceBootloader.Config, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → Tuple[bool, str]

Flashes configuration to bootloader

Parameter configData:

Configuration structure

Parameter memory:

Optional - to which memory flash configuration

Parameter type:

Optional - for which type of bootloader to flash configuration

flashConfigClear(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → Tuple[bool, str]

Clears configuration data

Parameter memory:

Optional - on which memory to clear configuration data

Parameter type:

Optional - for which type of bootloader to clear configuration data

flashConfigData(self: depthai.DeviceBootloader, configData: json, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → Tuple[bool, str]

Flashes configuration data to bootloader

Parameter configData:

Unstructured configuration data

Parameter memory:

Optional - to which memory flash configuration

Parameter type:

Optional - for which type of bootloader to flash configuration

flashConfigFile(self: depthai.DeviceBootloader, configData: Path, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → Tuple[bool, str]

Flashes configuration data to bootloader

Parameter configPath:

Unstructured configuration data

Parameter memory:

Optional - to which memory flash configuration

Parameter type:

Optional - for which type of bootloader to flash configuration

flashCustom(*args, **kwargs)

Overloaded function.

  1. flashCustom(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, offset: int, data: List[int], progressCallback: Callable[[float], None] = None) -> Tuple[bool, str]

Flash arbitrary data at custom offset in specified memory

Parameter memory:

Memory to flash

Parameter offset:

Offset at which to flash the given data in bytes

Parameter progressCallback:

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

Parameter data:

Data to flash

  1. flashCustom(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, offset: int, filename: str, progressCallback: Callable[[float], None] = None) -> Tuple[bool, str]

Flash arbitrary data at custom offset in specified memory

Parameter memory:

Memory to flash

Parameter offset:

Offset at which to flash the given data in bytes

Parameter progressCallback:

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

Parameter data:

Data to flash

flashDepthaiApplicationPackage(*args, **kwargs)

Overloaded function.

  1. flashDepthaiApplicationPackage(self: depthai.DeviceBootloader, progressCallback: Callable[[float], None], package: List[int], memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>) -> Tuple[bool, str]

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

Parameter progressCallback:

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

Parameter package:

Depthai application package to flash to the board

  1. flashDepthaiApplicationPackage(self: depthai.DeviceBootloader, package: List[int], memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>) -> Tuple[bool, str]

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

Parameter package:

Depthai application package to flash to the board

flashFastBootHeader(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, frequency: int = - 1, location: int = - 1, dummyCycles: int = - 1, offset: int = - 1) → Tuple[bool, str]

Flash fast boot header. Application must already be present in flash, or location must be specified manually. Note - Can soft brick your device if firmware location changes.

Parameter memory:

Which memory to flash the header to

Parameter frequency:

SPI specific parameter, frequency in MHz

Parameter location:

Target location the header should boot to. Default to location of bootloader

Parameter dummyCycles:

SPI specific parameter

Parameter offset:

Offset in memory to flash the header to. Defaults to offset of boot header

Returns

status as std::tuple<bool, std::string>

flashGpioModeBootHeader(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, mode: int) → Tuple[bool, str]

Flash boot header which boots same as equivalent GPIO mode would

Parameter gpioMode:

GPIO mode equivalent

flashUsbRecoveryBootHeader(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory) → Tuple[bool, str]

Flash USB recovery boot header. Switches to USB ROM Bootloader

Parameter memory:

Which memory to flash the header to

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

Flashes user bootloader to the current board. Available for NETWORK bootloader type

Parameter progressCallback:

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

Parameter path:

Optional parameter to custom bootloader to flash

static getAllAvailableDevices() → List[depthai.DeviceInfo]

Searches for connected devices in either UNBOOTED or BOOTLOADER states.

Returns

Vector of all found devices

static getEmbeddedBootloaderBinary(arg0: depthai.DeviceBootloader.Type) → List[int]
Returns

Embedded bootloader binary

static getEmbeddedBootloaderVersion()depthai.Version
Returns

Embedded bootloader version

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

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

Returns

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

getMemoryInfo(self: depthai.DeviceBootloader, arg0: depthai.DeviceBootloader.Memory)depthai.DeviceBootloader.MemoryInfo

Retrieves information about specified memory

Parameter memory:

Specifies which memory to query

getType(self: depthai.DeviceBootloader)depthai.DeviceBootloader.Type
Returns

Type of currently connected bootloader

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

Version of current running bootloader

isAllowedFlashingBootloader(self: depthai.DeviceBootloader)bool
Returns

True if allowed to flash bootloader

isEmbeddedVersion(self: depthai.DeviceBootloader)bool
Returns

True when bootloader was booted using latest bootloader integrated in the library. False when bootloader is already running on the device and just connected to.

isUserBootloader(self: depthai.DeviceBootloader)bool

Retrieves whether current bootloader is User Bootloader (B out of A/B configuration)

isUserBootloaderSupported(self: depthai.DeviceBootloader)bool

Checks whether User Bootloader is supported with current bootloader

Returns

true of User Bootloader is supported, false otherwise

readApplicationInfo(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory)depthai.DeviceBootloader.ApplicationInfo

Reads information about flashed application in specified memory from device

Parameter memory:

Specifies which memory to query

readConfig(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>)depthai.DeviceBootloader.Config

Reads configuration from bootloader

Parameter memory:

Optional - from which memory to read configuration

Parameter type:

Optional - from which type of bootloader to read configuration

Returns

Configuration structure

readConfigData(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → json

Reads configuration data from bootloader

Returns

Unstructured configuration data

Parameter memory:

Optional - from which memory to read configuration data

Parameter type:

Optional - from which type of bootloader to read configuration data

readCustom(*args, **kwargs)

Overloaded function.

  1. readCustom(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, offset: int, size: int, filename: str, progressCallback: Callable[[float], None] = None) -> Tuple[bool, str]

Reads arbitrary data at custom offset in specified memory

Parameter memory:

Memory to read

Parameter offset:

Offset at which to read the specified bytes

Parameter size:

Number of bytes to read

Parameter data:

Data to read to. Must be at least ‘size’ number of bytes big

Parameter progressCallback:

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

  1. readCustom(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, offset: int, size: int, progressCallback: Callable[[float], None] = None) -> Tuple[bool, str, List[int]]

Reads arbitrary data at custom offset in specified memory

Parameter memory:

Memory to read

Parameter offset:

Offset at which to read the specified bytes

Parameter size:

Number of bytes to read

Parameter data:

Data to read to. Must be at least ‘size’ number of bytes big

Parameter progressCallback:

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

static saveDepthaiApplicationPackage(*args, **kwargs)

Overloaded function.

  1. saveDepthaiApplicationPackage(path: Path, pipeline: depthai.Pipeline, pathToCmd: Path = ‘’, compress: bool = False, applicationName: str = ‘’, checkChecksum: bool = False) -> None

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

Parameter path:

Path where to save the application package

Parameter pipeline:

Pipeline from which to create the application package

Parameter pathToCmd:

Optional path to custom device firmware

Parameter compress:

Optional boolean which specifies if contents should be compressed

Parameter applicationName:

Optional name the application that is flashed

  1. saveDepthaiApplicationPackage(path: Path, pipeline: depthai.Pipeline, compress: bool, applicationName: str = ‘’, checkChecksum: bool = False) -> None

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

Parameter path:

Path where to save the application package

Parameter pipeline:

Pipeline from which to create the application package

Parameter compress:

Specifies if contents should be compressed

Parameter applicationName:

Optional name the application that is flashed

class depthai.DeviceDesc

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

mxid

name

platform

protocol

state

status

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

Bases: pybind11_builtins.pybind11_object

Describes a connected device

Methods:

__init__(*args, **kwargs)

Overloaded function.

getMxId(self)

getXLinkDeviceDesc(self)

Attributes:

desc

mxid

name

platform

protocol

state

status

__init__(*args, **kwargs)

Overloaded function.

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

  2. __init__(self: depthai.DeviceInfo, name: str, mxid: str, state: depthai.XLinkDeviceState, protocol: depthai.XLinkProtocol, platform: depthai.XLinkPlatform, status: depthai.XLinkError_t) -> None

  3. __init__(self: depthai.DeviceInfo, mxidOrName: str) -> None

Creates a DeviceInfo by checking whether supplied parameter is a MXID or IP/USB name

Parameter mxidOrName:

Either MXID, IP Address or USB port name

  1. __init__(self: depthai.DeviceInfo, arg0: depthai.DeviceDesc) -> None

property desc
getMxId(self: depthai.DeviceInfo)str
getXLinkDeviceDesc(self: depthai.DeviceInfo)depthai.DeviceDesc
property mxid
property name
property platform
property protocol
property state
property status
class depthai.EdgeDetectorConfig

Bases: depthai.Buffer

EdgeDetectorConfig message. Carries sobel edge filter config.

Methods:

__init__(self)

get(self)

Retrieve configuration data for EdgeDetector.

getConfigData(self)

Retrieve configuration data for EdgeDetector

set(self, config)

Set explicit configuration.

setSobelFilterKernels(self, …)

Set sobel filter horizontal and vertical 3x3 kernels

__init__(self: depthai.EdgeDetectorConfig)None
get(self: depthai.EdgeDetectorConfig)depthai.RawEdgeDetectorConfig

Retrieve configuration data for EdgeDetector.

Returns

config for EdgeDetector

getConfigData(self: depthai.EdgeDetectorConfig)depthai.EdgeDetectorConfigData

Retrieve configuration data for EdgeDetector

Returns

sobel filter horizontal and vertical 3x3 kernels

Return type

EdgeDetectorConfigData

set(self: depthai.EdgeDetectorConfig, config: depthai.RawEdgeDetectorConfig)depthai.EdgeDetectorConfig

Set explicit configuration.

Parameter config:

Explicit configuration

setSobelFilterKernels(self: depthai.EdgeDetectorConfig, horizontalKernel: List[List[int]], verticalKernel: List[List[int]])None

Set sobel filter horizontal and vertical 3x3 kernels

Parameter horizontalKernel:

Used for horizontal gradient computation in 3x3 Sobel filter

Parameter verticalKernel:

Used for vertical gradient computation in 3x3 Sobel filter

class depthai.EdgeDetectorConfigData

Bases: pybind11_builtins.pybind11_object

EdgeDetectorConfigData configuration data structure

Methods:

__init__(self)

Attributes:

sobelFilterHorizontalKernel

Used for horizontal gradient computation in 3x3 Sobel filter Format - 3x3 matrix, 2nd column must be 0 Default - +1 0 -1; +2 0 -2; +1 0 -1

sobelFilterVerticalKernel

Used for vertical gradient computation in 3x3 Sobel filter Format - 3x3 matrix, 2nd row must be 0 Default - +1 +2 +1; 0 0 0; -1 -2 -1

__init__(self: depthai.EdgeDetectorConfigData)None
property sobelFilterHorizontalKernel

Used for horizontal gradient computation in 3x3 Sobel filter Format - 3x3 matrix, 2nd column must be 0 Default - +1 0 -1; +2 0 -2; +1 0 -1

property sobelFilterVerticalKernel

Used for vertical gradient computation in 3x3 Sobel filter Format - 3x3 matrix, 2nd row must be 0 Default - +1 +2 +1; 0 0 0; -1 -2 -1

class depthai.EdgeDetectorProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for EdgeDetector

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

initialConfig

Initial edge detector config

numFramesPool

Num frames in output pool

outputFrameSize

300x300 BGR image -> 300*300*3 bytes)

__init__(*args, **kwargs)

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

property initialConfig

Initial edge detector config

property numFramesPool

Num frames in output pool

property outputFrameSize

300x300 BGR image -> 300*300*3 bytes)

Type

Maximum output frame size in bytes (eg

class depthai.EepromData

Bases: pybind11_builtins.pybind11_object

EepromData structure

Contains the Calibration and Board data stored on device

Methods:

__init__(self)

Attributes:

batchName

batchTime

boardConf

boardCustom

boardName

boardOptions

boardRev

cameraData

deviceName

hardwareConf

housingExtrinsics

imuExtrinsics

miscellaneousData

productName

stereoEnableDistortionCorrection

stereoRectificationData

stereoUseSpecTranslation

version

verticalCameraSocket

__init__(self: depthai.EepromData)None
property batchName
property batchTime
property boardConf
property boardCustom
property boardName
property boardOptions
property boardRev
property cameraData
property deviceName
property hardwareConf
property housingExtrinsics
property imuExtrinsics
property miscellaneousData
property productName
property stereoEnableDistortionCorrection
property stereoRectificationData
property stereoUseSpecTranslation
property version
property verticalCameraSocket
exception depthai.EepromError

Bases: RuntimeError

class depthai.EncodedFrame

Bases: depthai.Buffer

Classes:

FrameType

Members:

Profile

Members:

Methods:

__init__(self)

getBitrate(self)

Retrieves the encoding bitrate

getColorTemperature(self)

Retrieves white-balance color temperature of the light source, in kelvins

getExposureTime(self)

Retrieves exposure time

getFrameType(self)

Retrieves frame type (H26x only)

getInstanceNum(self)

Retrieves instance number

getLensPosition(self)

Retrieves lens position, range 0..255.

getLensPositionRaw(self)

Retrieves lens position, range 0.0f..1.0f.

getLossless(self)

Returns true if encoding is lossless (JPEG only)

getProfile(self)

Retrieves the encoding profile (JPEG, AVC or HEVC)

getQuality(self)

Retrieves the encoding quality

getSensitivity(self)

Retrieves sensitivity, as an ISO value

getSequenceNum(self)

Retrieves sequence number

getTimestamp(self)

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self)

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time.

setBitrate(self, arg0)

Retrieves the encoding bitrate

setFrameType(self, arg0)

Retrieves frame type (H26x only)

setLossless(self, arg0)

Returns true if encoding is lossless (JPEG only)

setProfile(self, arg0)

Retrieves the encoding profile (JPEG, AVC or HEVC)

setQuality(self, arg0)

Retrieves the encoding quality

setSequenceNum(self, arg0)

Specifies sequence number

setTimestamp(self, arg0)

Retrieves image timestamp related to dai::Clock::now()

setTimestampDevice(self, arg0)

Sets image timestamp related to dai::Clock::now()

class FrameType

Bases: pybind11_builtins.pybind11_object

Members:

I

P

B

Unknown

Attributes:

B

I

P

Unknown

name

value

Methods:

__init__(self, value)

B = <FrameType.B: 2>
I = <FrameType.I: 0>
P = <FrameType.P: 1>
Unknown = <FrameType.Unknown: 3>
__init__(self: depthai.RawEncodedFrame.FrameType, value: int)None
property name
property value
class Profile

Bases: pybind11_builtins.pybind11_object

Members:

JPEG

AVC

HEVC

Attributes:

AVC

HEVC

JPEG

name

value

Methods:

__init__(self, value)

AVC = <Profile.AVC: 1>
HEVC = <Profile.HEVC: 2>
JPEG = <Profile.JPEG: 0>
__init__(self: depthai.RawEncodedFrame.Profile, value: int)None
property name
property value
__init__(self: depthai.EncodedFrame)None
getBitrate(self: depthai.EncodedFrame)int

Retrieves the encoding bitrate

getColorTemperature(self: depthai.EncodedFrame)int

Retrieves white-balance color temperature of the light source, in kelvins

getExposureTime(self: depthai.EncodedFrame)datetime.timedelta

Retrieves exposure time

getFrameType(self: depthai.EncodedFrame)depthai.RawEncodedFrame.FrameType

Retrieves frame type (H26x only)

getInstanceNum(self: depthai.EncodedFrame)int

Retrieves instance number

getLensPosition(self: depthai.EncodedFrame)int

Retrieves lens position, range 0..255. Returns -1 if not available

getLensPositionRaw(self: depthai.EncodedFrame)float

Retrieves lens position, range 0.0f..1.0f. Returns -1 if not available

getLossless(self: depthai.EncodedFrame)bool

Returns true if encoding is lossless (JPEG only)

getProfile(self: depthai.EncodedFrame)depthai.RawEncodedFrame.Profile

Retrieves the encoding profile (JPEG, AVC or HEVC)

getQuality(self: depthai.EncodedFrame)int

Retrieves the encoding quality

getSensitivity(self: depthai.EncodedFrame)int

Retrieves sensitivity, as an ISO value

getSequenceNum(self: depthai.EncodedFrame)int

Retrieves sequence number

getTimestamp(self: depthai.EncodedFrame)datetime.timedelta

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self: depthai.EncodedFrame)datetime.timedelta

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

setBitrate(self: depthai.EncodedFrame, arg0: int)depthai.EncodedFrame

Retrieves the encoding bitrate

setFrameType(self: depthai.EncodedFrame, arg0: depthai.RawEncodedFrame.FrameType)depthai.EncodedFrame

Retrieves frame type (H26x only)

setLossless(self: depthai.EncodedFrame, arg0: bool)depthai.EncodedFrame

Returns true if encoding is lossless (JPEG only)

setProfile(self: depthai.EncodedFrame, arg0: depthai.RawEncodedFrame.Profile)depthai.EncodedFrame

Retrieves the encoding profile (JPEG, AVC or HEVC)

setQuality(self: depthai.EncodedFrame, arg0: int)depthai.EncodedFrame

Retrieves the encoding quality

setSequenceNum(self: depthai.EncodedFrame, arg0: int)depthai.EncodedFrame

Specifies sequence number

Parameter seq:

Sequence number

setTimestamp(self: depthai.EncodedFrame, arg0: datetime.timedelta)depthai.EncodedFrame

Retrieves image timestamp related to dai::Clock::now()

setTimestampDevice(self: depthai.EncodedFrame, arg0: datetime.timedelta)depthai.EncodedFrame

Sets image timestamp related to dai::Clock::now()

class depthai.Extrinsics

Bases: pybind11_builtins.pybind11_object

Extrinsics structure

Methods:

__init__(self)

Attributes:

rotationMatrix

specTranslation

toCameraSocket

translation

__init__(self: depthai.Extrinsics)None
property rotationMatrix
property specTranslation
property toCameraSocket
property translation
class depthai.FeatureTrackerConfig

Bases: depthai.Buffer

FeatureTrackerConfig message. Carries config for feature tracking algorithm

Classes:

CornerDetector

Corner detector configuration structure.

FeatureMaintainer

FeatureMaintainer configuration structure.

MotionEstimator

Used for feature reidentification between current and previous features.

Methods:

__init__(*args, **kwargs)

Overloaded function.

get(self)

Retrieve configuration data for FeatureTracker.

set(self, config)

Set explicit configuration.

setCornerDetector(*args, **kwargs)

Overloaded function.

setFeatureMaintainer(*args, **kwargs)

Overloaded function.

setHwMotionEstimation(self)

Set hardware accelerated motion estimation using block matching.

setMotionEstimator(*args, **kwargs)

Overloaded function.

setNumTargetFeatures(self, numTargetFeatures)

Set number of target features to detect.

setOpticalFlow(*args, **kwargs)

Overloaded function.

class CornerDetector

Bases: pybind11_builtins.pybind11_object

Corner detector configuration structure.

Classes:

Thresholds

Threshold settings structure for corner detector.

Type

Members:

Methods:

__init__(self)

Attributes:

cellGridDimension

Ensures distributed feature detection across the image.

enableSobel

Enable 3x3 Sobel operator to smoothen the image whose gradient is to be computed.

enableSorting

Enable sorting detected features based on their score or not.

numMaxFeatures

Hard limit for the maximum number of features that can be detected.

numTargetFeatures

Target number of features to detect.

thresholds

Threshold settings.

type

Corner detector algorithm type.

class Thresholds

Bases: pybind11_builtins.pybind11_object

Threshold settings structure for corner detector.

Methods:

__init__(self)

Attributes:

decreaseFactor

When detected number of features exceeds the maximum in a cell threshold is lowered by multiplying its value with this factor.

increaseFactor

When detected number of features doesn’t exceed the maximum in a cell, threshold is increased by multiplying its value with this factor.

initialValue

Minimum strength of a feature which will be detected.

max

Maximum limit for threshold.

min

Minimum limit for threshold.

__init__(self: depthai.RawFeatureTrackerConfig.CornerDetector.Thresholds)None
property decreaseFactor

When detected number of features exceeds the maximum in a cell threshold is lowered by multiplying its value with this factor.

property increaseFactor

When detected number of features doesn’t exceed the maximum in a cell, threshold is increased by multiplying its value with this factor.

property initialValue

Minimum strength of a feature which will be detected. 0 means automatic threshold update. Recommended so the tracker can adapt to different scenes/textures. Each cell has its own threshold. Empirical value.

property max

Maximum limit for threshold. Applicable when automatic threshold update is enabled. 0 means auto. Empirical value.

property min

Minimum limit for threshold. Applicable when automatic threshold update is enabled. 0 means auto, 6000000 for HARRIS, 1200 for SHI_THOMASI. Empirical value.

class Type

Bases: pybind11_builtins.pybind11_object

Members:

HARRIS

SHI_THOMASI

Attributes:

HARRIS

SHI_THOMASI

name

value

Methods:

__init__(self, value)

HARRIS = <Type.HARRIS: 0>
SHI_THOMASI = <Type.SHI_THOMASI: 1>
__init__(self: depthai.RawFeatureTrackerConfig.CornerDetector.Type, value: int)None
property name
property value
__init__(self: depthai.RawFeatureTrackerConfig.CornerDetector)None
property cellGridDimension

Ensures distributed feature detection across the image. Image is divided into horizontal and vertical cells, each cell has a target feature count = numTargetFeatures / cellGridDimension. Each cell has its own feature threshold. A value of 4 means that the image is divided into 4x4 cells of equal width/height. Maximum 4, minimum 1.

property enableSobel

Enable 3x3 Sobel operator to smoothen the image whose gradient is to be computed. If disabled, a simple 1D row/column differentiator is used for gradient.

property enableSorting

Enable sorting detected features based on their score or not.

property numMaxFeatures

Hard limit for the maximum number of features that can be detected. 0 means auto, will be set to the maximum value based on memory constraints.

property numTargetFeatures

Target number of features to detect. Maximum number of features is determined at runtime based on algorithm type.

property thresholds

Threshold settings. These are advanced settings, suitable for debugging/special cases.

property type

Corner detector algorithm type.

class FeatureMaintainer

Bases: pybind11_builtins.pybind11_object

FeatureMaintainer configuration structure.

Methods:

__init__(self)

Attributes:

enable

Enable feature maintaining or not.

lostFeatureErrorThreshold

Optical flow measures the tracking error for every feature.

minimumDistanceBetweenFeatures

Used to filter out detected feature points that are too close.

trackedFeatureThreshold

Once a feature was detected and we started tracking it, we need to update its Harris score on each image.

__init__(self: depthai.RawFeatureTrackerConfig.FeatureMaintainer)None
property enable

Enable feature maintaining or not.

property lostFeatureErrorThreshold

Optical flow measures the tracking error for every feature. If the point can’t be tracked or it’s out of the image it will set this error to a maximum value. This threshold defines the level where the tracking accuracy is considered too bad to keep the point.

property minimumDistanceBetweenFeatures

Used to filter out detected feature points that are too close. Requires sorting enabled in detector. Unit of measurement is squared euclidean distance in pixels.

property trackedFeatureThreshold

Once a feature was detected and we started tracking it, we need to update its Harris score on each image. This is needed because a feature point can disappear, or it can become too weak to be tracked. This threshold defines the point where such a feature must be dropped. As the goal of the algorithm is to provide longer tracks, we try to add strong points and track them until they are absolutely untrackable. This is why, this value is usually smaller than the detection threshold.

class MotionEstimator

Bases: pybind11_builtins.pybind11_object

Used for feature reidentification between current and previous features.

Classes:

OpticalFlow

Optical flow configuration structure.

Type

Members:

Methods:

__init__(self)

Attributes:

enable

Enable motion estimation or not.

opticalFlow

Optical flow configuration.

type

Motion estimator algorithm type.

class OpticalFlow

Bases: pybind11_builtins.pybind11_object

Optical flow configuration structure.

Methods:

__init__(self)

Attributes:

epsilon

Feature tracking termination criteria.

maxIterations

Feature tracking termination criteria.

pyramidLevels

Number of pyramid levels, only for optical flow.

searchWindowHeight

Image patch height used to track features.

searchWindowWidth

Image patch width used to track features.

__init__(self: depthai.RawFeatureTrackerConfig.MotionEstimator.OpticalFlow)None
property epsilon

Feature tracking termination criteria. Optical flow will refine the feature position on each pyramid level until the displacement between two refinements is smaller than this value. Decreasing this number increases runtime.

property maxIterations

Feature tracking termination criteria. Optical flow will refine the feature position maximum this many times on each pyramid level. If the Epsilon criteria described in the previous chapter is not met after this number of iterations, the algorithm will continue with the current calculated value. Increasing this number increases runtime.

property pyramidLevels

Number of pyramid levels, only for optical flow. AUTO means it’s decided based on input resolution: 3 if image width <= 640, else 4. Valid values are either 3/4 for VGA, 4 for 720p and above.

property searchWindowHeight

Image patch height used to track features. Must be an odd number, maximum 9. N means the algorithm will be able to track motion at most (N-1)/2 pixels in a direction per pyramid level. Increasing this number increases runtime

property searchWindowWidth

Image patch width used to track features. Must be an odd number, maximum 9. N means the algorithm will be able to track motion at most (N-1)/2 pixels in a direction per pyramid level. Increasing this number increases runtime

class Type

Bases: pybind11_builtins.pybind11_object

Members:

LUCAS_KANADE_OPTICAL_FLOW

HW_MOTION_ESTIMATION

Attributes:

HW_MOTION_ESTIMATION

LUCAS_KANADE_OPTICAL_FLOW

name

value

Methods:

__init__(self, value)

HW_MOTION_ESTIMATION = <Type.HW_MOTION_ESTIMATION: 1>
LUCAS_KANADE_OPTICAL_FLOW = <Type.LUCAS_KANADE_OPTICAL_FLOW: 0>
__init__(self: depthai.RawFeatureTrackerConfig.MotionEstimator.Type, value: int)None
property name
property value
__init__(self: depthai.RawFeatureTrackerConfig.MotionEstimator)None
property enable

Enable motion estimation or not.

property opticalFlow

Optical flow configuration. Takes effect only if MotionEstimator algorithm type set to LUCAS_KANADE_OPTICAL_FLOW.

property type

Motion estimator algorithm type.

__init__(*args, **kwargs)

Overloaded function.

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

  2. __init__(self: depthai.FeatureTrackerConfig, arg0: depthai.RawFeatureTrackerConfig) -> None

get(self: depthai.FeatureTrackerConfig)depthai.RawFeatureTrackerConfig

Retrieve configuration data for FeatureTracker.

Returns

config for feature tracking algorithm

set(self: depthai.FeatureTrackerConfig, config: depthai.RawFeatureTrackerConfig)depthai.FeatureTrackerConfig

Set explicit configuration.

Parameter config:

Explicit configuration

setCornerDetector(*args, **kwargs)

Overloaded function.

  1. setCornerDetector(self: depthai.FeatureTrackerConfig, cornerDetector: depthai.RawFeatureTrackerConfig.CornerDetector.Type) -> depthai.FeatureTrackerConfig

Set corner detector algorithm type.

Parameter cornerDetector:

Corner detector type, HARRIS or SHI_THOMASI

  1. setCornerDetector(self: depthai.FeatureTrackerConfig, config: depthai.RawFeatureTrackerConfig.CornerDetector) -> depthai.FeatureTrackerConfig

Set corner detector full configuration.

Parameter config:

Corner detector configuration

setFeatureMaintainer(*args, **kwargs)

Overloaded function.

  1. setFeatureMaintainer(self: depthai.FeatureTrackerConfig, enable: bool) -> depthai.FeatureTrackerConfig

Enable or disable feature maintainer.

Parameter enable:

  1. setFeatureMaintainer(self: depthai.FeatureTrackerConfig, config: depthai.RawFeatureTrackerConfig.FeatureMaintainer) -> depthai.FeatureTrackerConfig

Set feature maintainer full configuration.

Parameter config:

feature maintainer configuration

setHwMotionEstimation(self: depthai.FeatureTrackerConfig)depthai.FeatureTrackerConfig

Set hardware accelerated motion estimation using block matching. Faster than optical flow (software implementation) but might not be as accurate.

setMotionEstimator(*args, **kwargs)

Overloaded function.

  1. setMotionEstimator(self: depthai.FeatureTrackerConfig, enable: bool) -> depthai.FeatureTrackerConfig

Enable or disable motion estimator.

Parameter enable:

  1. setMotionEstimator(self: depthai.FeatureTrackerConfig, config: depthai.RawFeatureTrackerConfig.MotionEstimator) -> depthai.FeatureTrackerConfig

Set motion estimator full configuration.

Parameter config:

Motion estimator configuration

setNumTargetFeatures(self: depthai.FeatureTrackerConfig, numTargetFeatures: int)depthai.FeatureTrackerConfig

Set number of target features to detect.

Parameter numTargetFeatures:

Number of features

setOpticalFlow(*args, **kwargs)

Overloaded function.

  1. setOpticalFlow(self: depthai.FeatureTrackerConfig) -> depthai.FeatureTrackerConfig

Set optical flow as motion estimation algorithm type.

  1. setOpticalFlow(self: depthai.FeatureTrackerConfig, config: depthai.RawFeatureTrackerConfig.MotionEstimator.OpticalFlow) -> depthai.FeatureTrackerConfig

Set optical flow full configuration.

Parameter config:

Optical flow configuration

class depthai.FeatureTrackerProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for FeatureTracker

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

initialConfig

Initial feature tracker config

numMemorySlices

Number of memory slices reserved for feature tracking.

numShaves

Number of shaves reserved for feature tracking.

__init__(*args, **kwargs)

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

property initialConfig

Initial feature tracker config

property numMemorySlices

Number of memory slices reserved for feature tracking. Optical flow can use 1 or 2 memory slices, while for corner detection only 1 is enough. Maximum number of features depends on the number of allocated memory slices. Hardware motion estimation doesn’t require memory slices. Maximum 2, minimum 1.

property numShaves

Number of shaves reserved for feature tracking. Optical flow can use 1 or 2 shaves, while for corner detection only 1 is enough. Hardware motion estimation doesn’t require shaves. Maximum 2, minimum 1.

class depthai.FrameEvent

Bases: pybind11_builtins.pybind11_object

Members:

NONE

READOUT_START

READOUT_END

Attributes:

NONE

READOUT_END

READOUT_START

name

value

Methods:

__init__(self, value)

NONE = <FrameEvent.NONE: 0>
READOUT_END = <FrameEvent.READOUT_END: 2>
READOUT_START = <FrameEvent.READOUT_START: 1>
__init__(self: depthai.FrameEvent, value: int)None
property name
property value
class depthai.GlobalProperties

Bases: pybind11_builtins.pybind11_object

Specify properties which apply for whole pipeline

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

cameraTuningBlobSize

Camera tuning blob size in bytes

cameraTuningBlobUri

Uri which points to camera tuning blob

leonOsFrequencyHz

leonRtFrequencyHz

pipelineName

pipelineVersion

sippBufferSize

SIPP (Signal Image Processing Pipeline) internal memory pool.

sippDmaBufferSize

SIPP (Signal Image Processing Pipeline) internal DMA memory pool.

xlinkChunkSize

Chunk size for splitting device-sent XLink packets, in bytes.

__init__(*args, **kwargs)

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

property cameraTuningBlobSize

Camera tuning blob size in bytes

property cameraTuningBlobUri

Uri which points to camera tuning blob

property leonOsFrequencyHz
property leonRtFrequencyHz
property pipelineName
property pipelineVersion
property sippBufferSize

SIPP (Signal Image Processing Pipeline) internal memory pool. SIPP is a framework used to schedule HW filters, e.g. ISP, Warp, Median filter etc. Changing the size of this pool is meant for advanced use cases, pushing the limits of the HW. By default memory is allocated in high speed CMX memory. Setting to 0 will allocate in DDR 256 kilobytes. Units are bytes.

property sippDmaBufferSize

SIPP (Signal Image Processing Pipeline) internal DMA memory pool. SIPP is a framework used to schedule HW filters, e.g. ISP, Warp, Median filter etc. Changing the size of this pool is meant for advanced use cases, pushing the limits of the HW. Memory is allocated in high speed CMX memory Units are bytes.

property xlinkChunkSize

Chunk size for splitting device-sent XLink packets, in bytes. A larger value could increase performance, with 0 disabling chunking. A negative value won’t modify the device defaults - configured per protocol, currently 64*1024 for both USB and Ethernet.

class depthai.IMUData

Bases: depthai.Buffer

IMUData message. Carries normalized detection results

Methods:

__init__(self)

Attributes:

packets

Detections

__init__(self: depthai.IMUData)None
property packets

Detections

class depthai.IMUPacket

Bases: pybind11_builtins.pybind11_object

IMU output

Contains combined output for all possible modes. Only the enabled outputs are populated.

Methods:

__init__(self)

Attributes:

acceleroMeter

gyroscope

magneticField

rotationVector

__init__(self: depthai.IMUPacket)None
property acceleroMeter
property gyroscope
property magneticField
property rotationVector
class depthai.IMUProperties

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

batchReportThreshold

enableFirmwareUpdate

imuSensors

maxBatchReports

__init__(*args, **kwargs)

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

property batchReportThreshold
property enableFirmwareUpdate
property imuSensors
property maxBatchReports
class depthai.IMUReport

Bases: pybind11_builtins.pybind11_object

Classes:

Accuracy

Members:

Methods:

__init__(self)

getSequenceNum(self)

Retrieves IMU report sequence number

getTimestamp(self)

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self)

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time.

Attributes:

accuracy

sequence

timestamp

tsDevice

class Accuracy

Bases: pybind11_builtins.pybind11_object

Members:

UNRELIABLE

LOW

MEDIUM

HIGH

Attributes:

HIGH

LOW

MEDIUM

UNRELIABLE

name

value

Methods:

__init__(self, value)

HIGH = <Accuracy.HIGH: 3>
LOW = <Accuracy.LOW: 1>
MEDIUM = <Accuracy.MEDIUM: 2>
UNRELIABLE = <Accuracy.UNRELIABLE: 0>
__init__(self: depthai.IMUReport.Accuracy, value: int)None
property name
property value
__init__(self: depthai.IMUReport)None
property accuracy
getSequenceNum(self: depthai.IMUReport)int

Retrieves IMU report sequence number

getTimestamp(self: depthai.IMUReport)datetime.timedelta

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self: depthai.IMUReport)datetime.timedelta

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

property sequence
property timestamp
property tsDevice
class depthai.IMUReportAccelerometer

Bases: depthai.IMUReport

Accelerometer

Units are [m/s^2]

Methods:

__init__(self)

Attributes:

x

y

z

__init__(self: depthai.IMUReportAccelerometer)None
property x
property y
property z
class depthai.IMUReportGyroscope

Bases: depthai.IMUReport

Gyroscope

Units are [rad/s]

Methods:

__init__(self)

Attributes:

x

y

z

__init__(self: depthai.IMUReportGyroscope)None
property x
property y
property z
class depthai.IMUReportMagneticField

Bases: depthai.IMUReport

Magnetic field

Units are [uTesla]

Methods:

__init__(self)

Attributes:

x

y

z

__init__(self: depthai.IMUReportMagneticField)None
property x
property y
property z
class depthai.IMUReportRotationVectorWAcc

Bases: depthai.IMUReport

Rotation Vector with Accuracy

Contains quaternion components: i,j,k,real

Methods:

__init__(self)

Attributes:

i

j

k

real

rotationVectorAccuracy

__init__(self: depthai.IMUReportRotationVectorWAcc)None
property i
property j
property k
property real
property rotationVectorAccuracy
class depthai.IMUSensor

Bases: pybind11_builtins.pybind11_object

Available IMU sensors. More details about each sensor can be found in the datasheet:

https://www.ceva-dsp.com/wp-content/uploads/2019/10/BNO080_085-Datasheet.pdf

Members:

ACCELEROMETER_RAW : Section 2.1.1

Acceleration of the device without any postprocessing, straight from the sensor. Units are [m/s^2]

ACCELEROMETER : Section 2.1.1

Acceleration of the device including gravity. Units are [m/s^2]

LINEAR_ACCELERATION : Section 2.1.1

Acceleration of the device with gravity removed. Units are [m/s^2]

GRAVITY : Section 2.1.1

Gravity. Units are [m/s^2]

GYROSCOPE_RAW : Section 2.1.2

The angular velocity of the device without any postprocessing, straight from the sensor. Units are [rad/s]

GYROSCOPE_CALIBRATED : Section 2.1.2

The angular velocity of the device. Units are [rad/s]

GYROSCOPE_UNCALIBRATED : Section 2.1.2

Angular velocity without bias compensation. Units are [rad/s]

MAGNETOMETER_RAW : Section 2.1.3

Magnetic field measurement without any postprocessing, straight from the sensor. Units are [uTesla]

MAGNETOMETER_CALIBRATED : Section 2.1.3

The fully calibrated magnetic field measurement. Units are [uTesla]

MAGNETOMETER_UNCALIBRATED : Section 2.1.3

The magnetic field measurement without hard-iron offset applied. Units are [uTesla]

ROTATION_VECTOR : Section 2.2

The rotation vector provides an orientation output that is expressed as a quaternion referenced to magnetic north and gravity. It is produced by fusing the outputs of the accelerometer, gyroscope and magnetometer. The rotation vector is the most accurate orientation estimate available. The magnetometer provides correction in yaw to reduce drift and the gyroscope enables the most responsive performance.

GAME_ROTATION_VECTOR : Section 2.2

The game rotation vector is an orientation output that is expressed as a quaternion with no specific reference for heading, while roll and pitch are referenced against gravity. It is produced by fusing the outputs of the accelerometer and the gyroscope (i.e. no magnetometer). The game rotation vector does not use the magnetometer to correct the gyroscopes drift in yaw. This is a deliberate omission (as specified by Google) to allow gaming applications to use a smoother representation of the orientation without the jumps that an instantaneous correction provided by a magnetic field update could provide. Long term the output will likely drift in yaw due to the characteristics of gyroscopes, but this is seen as preferable for this output versus a corrected output.

GEOMAGNETIC_ROTATION_VECTOR : Section 2.2

The geomagnetic rotation vector is an orientation output that is expressed as a quaternion referenced to magnetic north and gravity. It is produced by fusing the outputs of the accelerometer and magnetometer. The gyroscope is specifically excluded in order to produce a rotation vector output using less power than is required to produce the rotation vector of section 2.2.4. The consequences of removing the gyroscope are: Less responsive output since the highly dynamic outputs of the gyroscope are not used More errors in the presence of varying magnetic fields.

ARVR_STABILIZED_ROTATION_VECTOR : Section 2.2

Estimates of the magnetic field and the roll/pitch of the device can create a potential correction in the rotation vector produced. For applications (typically augmented or virtual reality applications) where a sudden jump can be disturbing, the output is adjusted to prevent these jumps in a manner that takes account of the velocity of the sensor system.

ARVR_STABILIZED_GAME_ROTATION_VECTOR : Section 2.2

While the magnetometer is removed from the calculation of the game rotation vector, the accelerometer itself can create a potential correction in the rotation vector produced (i.e. the estimate of gravity changes). For applications (typically augmented or virtual reality applications) where a sudden jump can be disturbing, the output is adjusted to prevent these jumps in a manner that takes account of the velocity of the sensor system. This process is called AR/VR stabilization.

Attributes:

ACCELEROMETER

ACCELEROMETER_RAW

ARVR_STABILIZED_GAME_ROTATION_VECTOR

ARVR_STABILIZED_ROTATION_VECTOR

GAME_ROTATION_VECTOR

GEOMAGNETIC_ROTATION_VECTOR

GRAVITY

GYROSCOPE_CALIBRATED

GYROSCOPE_RAW

GYROSCOPE_UNCALIBRATED

LINEAR_ACCELERATION

MAGNETOMETER_CALIBRATED

MAGNETOMETER_RAW

MAGNETOMETER_UNCALIBRATED

ROTATION_VECTOR

name

value

Methods:

__init__(self, value)

ACCELEROMETER = <IMUSensor.ACCELEROMETER: 1>
ACCELEROMETER_RAW = <IMUSensor.ACCELEROMETER_RAW: 20>
ARVR_STABILIZED_GAME_ROTATION_VECTOR = <IMUSensor.ARVR_STABILIZED_GAME_ROTATION_VECTOR: 41>
ARVR_STABILIZED_ROTATION_VECTOR = <IMUSensor.ARVR_STABILIZED_ROTATION_VECTOR: 40>
GAME_ROTATION_VECTOR = <IMUSensor.GAME_ROTATION_VECTOR: 8>
GEOMAGNETIC_ROTATION_VECTOR = <IMUSensor.GEOMAGNETIC_ROTATION_VECTOR: 9>
GRAVITY = <IMUSensor.GRAVITY: 6>
GYROSCOPE_CALIBRATED = <IMUSensor.GYROSCOPE_CALIBRATED: 2>
GYROSCOPE_RAW = <IMUSensor.GYROSCOPE_RAW: 21>
GYROSCOPE_UNCALIBRATED = <IMUSensor.GYROSCOPE_UNCALIBRATED: 7>
LINEAR_ACCELERATION = <IMUSensor.LINEAR_ACCELERATION: 4>
MAGNETOMETER_CALIBRATED = <IMUSensor.MAGNETOMETER_CALIBRATED: 3>
MAGNETOMETER_RAW = <IMUSensor.MAGNETOMETER_RAW: 22>
MAGNETOMETER_UNCALIBRATED = <IMUSensor.MAGNETOMETER_UNCALIBRATED: 15>
ROTATION_VECTOR = <IMUSensor.ROTATION_VECTOR: 5>
__init__(self: depthai.IMUSensor, value: int)None
property name
property value
class depthai.IMUSensorConfig

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

changeSensitivity

reportRate

sensitivityEnabled

sensitivityRelative

sensorId

__init__(self: depthai.IMUSensorConfig)None
property changeSensitivity
property reportRate
property sensitivityEnabled
property sensitivityRelative
property sensorId
class depthai.ImageManipConfig

Bases: depthai.Buffer

ImageManipConfig message. Specifies image manipulation options like:

  • Crop

  • Resize

  • Warp

Methods:

__init__(self)

get(self)

Retrieve configuration data for ImageManip.

getColormap(self)

returns

specified colormap

getCropConfig(self)

returns

Crop configuration

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

getFormatConfig(self)

returns

Format configuration

getInterpolation(self)

Retrieve which interpolation method to use

getResizeConfig(self)

returns

Resize configuration

getResizeHeight(self)

returns

Output image height

getResizeWidth(self)

returns

Output image width

isResizeThumbnail(self)

returns

True if resize thumbnail mode is set, false otherwise

set(self, config)

Set explicit configuration.

setCenterCrop(self, ratio, whRatio)

Specifies a centered crop.

setColormap(*args, **kwargs)

Overloaded function.

setCropRect(*args, **kwargs)

Overloaded function.

setCropRotatedRect(self, rr, normalizedCoords)

Specifies crop with rotated rectangle.

setFrameType(self, type)

Specify output frame type.

setHorizontalFlip(self, flip)

Specify horizontal flip

setInterpolation(self, interpolation)

Specify which interpolation method to use

setKeepAspectRatio(self, keep)

Specifies to whether to keep aspect ratio or not

setResize(*args, **kwargs)

Overloaded function.

setResizeThumbnail(*args, **kwargs)

Overloaded function.

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.

setVerticalFlip(self, flip)

Specify vertical flip

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 supplying 4 points in either absolute or normalized coordinates

setWarpTransformMatrix3x3(self, mat)

Specifies warp with a 3x3 matrix

__init__(self: depthai.ImageManipConfig)None
get(self: depthai.ImageManipConfig)depthai.RawImageManipConfig

Retrieve configuration data for ImageManip.

Returns

config for ImageManip

getColormap(self: depthai.ImageManipConfig)depthai.Colormap
Returns

specified colormap

getCropConfig(self: depthai.ImageManipConfig)depthai.RawImageManipConfig.CropConfig
Returns

Crop configuration

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

getFormatConfig(self: depthai.ImageManipConfig)depthai.RawImageManipConfig.FormatConfig
Returns

Format configuration

getInterpolation(self: depthai.ImageManipConfig)depthai.Interpolation

Retrieve which interpolation method to use

getResizeConfig(self: depthai.ImageManipConfig)depthai.RawImageManipConfig.ResizeConfig
Returns

Resize configuration

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

set(self: depthai.ImageManipConfig, config: depthai.RawImageManipConfig)depthai.ImageManipConfig

Set explicit configuration.

Parameter config:

Explicit configuration

setCenterCrop(self: depthai.ImageManipConfig, ratio: float, whRatio: float = 1.0)depthai.ImageManipConfig

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, …

setColormap(*args, **kwargs)

Overloaded function.

  1. setColormap(self: depthai.ImageManipConfig, colormap: depthai.Colormap, min: int, max: int) -> depthai.ImageManipConfig

Specify gray to color conversion map

Parameter colormap:

map from Colormap enum or Colormap::NONE to disable

  1. setColormap(self: depthai.ImageManipConfig, colormap: depthai.Colormap, max: int = 255) -> depthai.ImageManipConfig

Specify gray to color conversion map

Parameter colormap:

map from Colormap enum or Colormap::NONE to disable

  1. setColormap(self: depthai.ImageManipConfig, colormap: depthai.Colormap, max: float = 255.0) -> depthai.ImageManipConfig

Specify gray to color conversion map

Parameter colormap:

map from Colormap enum or Colormap::NONE to disable

setCropRect(*args, **kwargs)

Overloaded function.

  1. setCropRect(self: depthai.ImageManipConfig, xmin: float, ymin: float, xmax: float, ymax: float) -> depthai.ImageManipConfig

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

  1. setCropRect(self: depthai.ImageManipConfig, coordinates: Tuple[float, float, float, float]) -> depthai.ImageManipConfig

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

Parameter coordinates:

Coordinate of rectangle

setCropRotatedRect(self: depthai.ImageManipConfig, rr: depthai.RotatedRect, normalizedCoords: bool = True)depthai.ImageManipConfig

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, type: depthai.RawImgFrame.Type)depthai.ImageManipConfig

Specify output frame type.

Parameter name:

Frame type

setHorizontalFlip(self: depthai.ImageManipConfig, flip: bool)depthai.ImageManipConfig

Specify horizontal flip

Parameter flip:

True to enable flip, false otherwise

setInterpolation(self: depthai.ImageManipConfig, interpolation: depthai.Interpolation)depthai.ImageManipConfig

Specify which interpolation method to use

Parameter interpolation:

type of interpolation

setKeepAspectRatio(self: depthai.ImageManipConfig, keep: bool)depthai.ImageManipConfig

Specifies to whether to keep aspect ratio or not

setResize(*args, **kwargs)

Overloaded function.

  1. setResize(self: depthai.ImageManipConfig, w: int, h: int) -> depthai.ImageManipConfig

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

Parameter w:

Width in pixels

Parameter h:

Height in pixels

  1. setResize(self: depthai.ImageManipConfig, size: Tuple[int, int]) -> depthai.ImageManipConfig

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

Parameter size:

Size in pixels

setResizeThumbnail(*args, **kwargs)

Overloaded function.

  1. setResizeThumbnail(self: depthai.ImageManipConfig, w: int, h: int, bgRed: int = 0, bgGreen: int = 0, bgBlue: int = 0) -> depthai.ImageManipConfig

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

  1. setResizeThumbnail(self: depthai.ImageManipConfig, size: Tuple[int, int], bgRed: int = 0, bgGreen: int = 0, bgBlue: int = 0) -> depthai.ImageManipConfig

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

Parameter size:

Size in pixels

Parameter bgRed:

Red component

Parameter bgGreen:

Green component

Parameter bgBlue:

Blue component

setReusePreviousImage(self: depthai.ImageManipConfig, reuse: bool)depthai.ImageManipConfig

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)depthai.ImageManipConfig

Specifies clockwise rotation in degrees

Parameter deg:

Rotation in degrees

setRotationRadians(self: depthai.ImageManipConfig, rad: float)depthai.ImageManipConfig

Specifies clockwise rotation in radians

Parameter rad:

Rotation in radians

setSkipCurrentImage(self: depthai.ImageManipConfig, skip: bool)depthai.ImageManipConfig

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

Parameter skip:

True to skip current image, false otherwise

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

Specify vertical flip

Parameter flip:

True to enable vertical flip, false otherwise

setWarpBorderFillColor(self: depthai.ImageManipConfig, red: int, green: int, blue: int)depthai.ImageManipConfig

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)depthai.ImageManipConfig

Specifies that warp replicates border pixels

setWarpTransformFourPoints(self: depthai.ImageManipConfig, pt: List[depthai.Point2f], normalizedCoords: bool)depthai.ImageManipConfig

Specifies warp by supplying 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])depthai.ImageManipConfig

Specifies warp with a 3x3 matrix

Parameter mat:

3x3 matrix

class depthai.ImgDetection

Bases: pybind11_builtins.pybind11_object

ImgDetection structure

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

getSequenceNum(self)

Retrieves sequence number

getTimestamp(self)

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self)

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time.

setSequenceNum(self, arg0)

Retrieves image sequence number

setTimestamp(self, arg0)

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self, arg0)

Sets image timestamp related to dai::Clock::now()

Attributes:

detections

Detections

__init__(self: depthai.ImgDetections)None

Construct ImgDetections message

property detections

Detections

getSequenceNum(self: depthai.ImgDetections)int

Retrieves sequence number

getTimestamp(self: depthai.ImgDetections)datetime.timedelta

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self: depthai.ImgDetections)datetime.timedelta

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

setSequenceNum(self: depthai.ImgDetections, arg0: int)depthai.ImgDetections

Retrieves image sequence number

setTimestamp(self: depthai.ImgDetections, arg0: datetime.timedelta)depthai.ImgDetections

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self: depthai.ImgDetections, arg0: datetime.timedelta)depthai.ImgDetections

Sets image timestamp related to dai::Clock::now()

class depthai.ImgFrame

Bases: depthai.Buffer

ImgFrame message. Carries image data and metadata.

Classes:

Specs

Type

Members:

Methods:

__init__(self)

getCategory(self)

Retrieves image category

getColorTemperature(self)

Retrieves white-balance color temperature of the light source, in kelvins

getCvFrame(self)

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

getExposureTime(self)

Retrieves exposure time

getFrame(self, copy)

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

getHeight(self)

Retrieves image height in pixels

getInstanceNum(self)

Retrieves instance number

getLensPosition(self)

Retrieves lens position, range 0..255.

getLensPositionRaw(self)

Retrieves lens position, range 0.0f..1.0f.

getSensitivity(self)

Retrieves sensitivity, as an ISO value

getSequenceNum(self)

Retrieves sequence number

getTimestamp(*args, **kwargs)

Overloaded function.

getTimestampDevice(*args, **kwargs)

Overloaded function.

getType(self)

Retrieves image type

getWidth(self)

Retrieves 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

setSize(*args, **kwargs)

Overloaded function.

setTimestamp(self, timestamp)

Retrieves image timestamp related to dai::Clock::now()

setTimestampDevice(self, arg0)

Sets image timestamp related to dai::Clock::now()

setType(self, type)

Specifies frame type, RGB, BGR, …

setWidth(self, width)

Specifies frame width

class Specs

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

bytesPP

height

p1Offset

p2Offset

p3Offset

stride

type

width

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

Retrieves image category

getColorTemperature(self: depthai.ImgFrame)int

Retrieves white-balance color temperature of the light source, in kelvins

getCvFrame(self: object)object

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

getExposureTime(self: depthai.ImgFrame)datetime.timedelta

Retrieves exposure time

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

Retrieves image height in pixels

getInstanceNum(self: depthai.ImgFrame)int

Retrieves instance number

getLensPosition(self: depthai.ImgFrame)int

Retrieves lens position, range 0..255. Returns -1 if not available

getLensPositionRaw(self: depthai.ImgFrame)float

Retrieves lens position, range 0.0f..1.0f. Returns -1 if not available

getSensitivity(self: depthai.ImgFrame)int

Retrieves sensitivity, as an ISO value

getSequenceNum(self: depthai.ImgFrame)int

Retrieves sequence number

getTimestamp(*args, **kwargs)

Overloaded function.

  1. getTimestamp(self: depthai.ImgFrame) -> datetime.timedelta

Retrieves timestamp related to dai::Clock::now()

  1. getTimestamp(self: depthai.ImgFrame, offset: depthai.CameraExposureOffset) -> datetime.timedelta

Retrieves image timestamp (at the specified offset of exposure) related to dai::Clock::now()

getTimestampDevice(*args, **kwargs)

Overloaded function.

  1. getTimestampDevice(self: depthai.ImgFrame) -> datetime.timedelta

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

  1. getTimestampDevice(self: depthai.ImgFrame, offset: depthai.CameraExposureOffset) -> datetime.timedelta

Retrieves image timestamp (at the specified offset of exposure) directly captured from device’s monotonic clock, not synchronized to host time. Used when monotonicity is required.

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

Retrieves image type

getWidth(self: depthai.ImgFrame)int

Retrieves image width in pixels

setCategory(self: depthai.ImgFrame, category: int)depthai.ImgFrame
Parameter category:

Image category

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

Copies array bytes to ImgFrame buffer

setHeight(self: depthai.ImgFrame, height: int)depthai.ImgFrame

Specifies frame height

Parameter height:

frame height

setInstanceNum(self: depthai.ImgFrame, instance: int)depthai.ImgFrame

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

Parameter instance:

Instance number

setSequenceNum(self: depthai.ImgFrame, seq: int)depthai.ImgFrame

Specifies sequence number

Parameter seq:

Sequence number

setSize(*args, **kwargs)

Overloaded function.

  1. setSize(self: depthai.ImgFrame, width: int, height: int) -> depthai.ImgFrame

Specifies frame size

Parameter height:

frame height

Parameter width:

frame width

  1. setSize(self: depthai.ImgFrame, sizer: Tuple[int, int]) -> depthai.ImgFrame

Specifies frame size

Parameter size:

frame size

setTimestamp(self: depthai.ImgFrame, timestamp: datetime.timedelta)depthai.ImgFrame

Retrieves image timestamp related to dai::Clock::now()

setTimestampDevice(self: depthai.ImgFrame, arg0: datetime.timedelta)depthai.ImgFrame

Sets image timestamp related to dai::Clock::now()

setType(self: depthai.ImgFrame, type: depthai.RawImgFrame.Type)depthai.ImgFrame

Specifies frame type, RGB, BGR, …

Parameter type:

Type of image

setWidth(self: depthai.ImgFrame, width: int)depthai.ImgFrame

Specifies frame width

Parameter width:

frame width

class depthai.Interpolation

Bases: pybind11_builtins.pybind11_object

Interpolation type

Members:

BILINEAR

BICUBIC

NEAREST_NEIGHBOR

BYPASS

DEFAULT

DEFAULT_DISPARITY_DEPTH

Attributes:

BICUBIC

BILINEAR

BYPASS

DEFAULT

DEFAULT_DISPARITY_DEPTH

NEAREST_NEIGHBOR

name

value

Methods:

__init__(self, value)

BICUBIC = <Interpolation.BICUBIC: 1>
BILINEAR = <Interpolation.BILINEAR: 0>
BYPASS = <Interpolation.NEAREST_NEIGHBOR: 2>
DEFAULT = <Interpolation.BICUBIC: 1>
DEFAULT_DISPARITY_DEPTH = <Interpolation.NEAREST_NEIGHBOR: 2>
NEAREST_NEIGHBOR = <Interpolation.NEAREST_NEIGHBOR: 2>
__init__(self: depthai.Interpolation, value: int)None
property name
property value
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.LogMessage

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

colorRangeEnd

colorRangeStart

level

nodeIdName

payload

time

__init__(*args, **kwargs)

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

property colorRangeEnd
property colorRangeStart
property level
property nodeIdName
property payload
property time
class depthai.MedianFilter

Bases: pybind11_builtins.pybind11_object

Median filter config

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.MedianFilter, 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.MessageDemuxProperties

Bases: pybind11_builtins.pybind11_object

MessageDemux does not have any properties to set

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)

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

class depthai.MessageGroup

Bases: depthai.Buffer

MessageGroup message. Carries multiple messages in one.

Methods:

__init__(self)

getIntervalNs(self)

Retrieves interval between the first and the last message in the group.

getMessageNames(self)

Gets the names of messages in the group

getNumMessages(self)

getSequenceNum(self)

Retrieves sequence number

getTimestamp(self)

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self)

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time.

isSynced(self, arg0)

True if all messages in the group are in the interval

setSequenceNum(self, arg0)

Retrieves image sequence number

setTimestamp(self, arg0)

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self, arg0)

Sets image timestamp related to dai::Clock::now()

__init__(self: depthai.MessageGroup)None
getIntervalNs(self: depthai.MessageGroup)int

Retrieves interval between the first and the last message in the group.

getMessageNames(self: depthai.MessageGroup) → List[str]

Gets the names of messages in the group

getNumMessages(self: depthai.MessageGroup)int
getSequenceNum(self: depthai.MessageGroup)int

Retrieves sequence number

getTimestamp(self: depthai.MessageGroup)datetime.timedelta

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self: depthai.MessageGroup)datetime.timedelta

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

isSynced(self: depthai.MessageGroup, arg0: int)bool

True if all messages in the group are in the interval

Parameter thresholdNs:

Maximal interval between messages

setSequenceNum(self: depthai.MessageGroup, arg0: int)depthai.MessageGroup

Retrieves image sequence number

setTimestamp(self: depthai.MessageGroup, arg0: datetime.timedelta)depthai.MessageGroup

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self: depthai.MessageGroup, arg0: datetime.timedelta)depthai.MessageGroup

Sets image timestamp related to dai::Clock::now()

class depthai.MonoCameraProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for MonoCamera such as camera ID, …

Classes:

SensorResolution

Select the camera sensor resolution: 1280×720, 1280×800, 640×400, 640×480, 1920×1200

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

boardSocket

eventFilter

fps

initialControl

isp3aFps

numFramesPool

numFramesPoolRaw

resolution

class SensorResolution

Bases: pybind11_builtins.pybind11_object

Select the camera sensor resolution: 1280×720, 1280×800, 640×400, 640×480, 1920×1200

Members:

THE_720_P

THE_800_P

THE_400_P

THE_480_P

THE_1200_P

Attributes:

THE_1200_P

THE_400_P

THE_480_P

THE_720_P

THE_800_P

name

value

Methods:

__init__(self, value)

THE_1200_P = <SensorResolution.THE_1200_P: 4>
THE_400_P = <SensorResolution.THE_400_P: 2>
THE_480_P = <SensorResolution.THE_480_P: 3>
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 eventFilter
property fps
property initialControl
property isp3aFps
property numFramesPool
property numFramesPoolRaw
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)

Convenience function to retrieve float values from first layers FP16 tensor

getFirstLayerInt32(self)

Convenience function to retrieve INT32 values from first layers tensor

getFirstLayerUInt8(self)

Convenience 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)

Convenience function to retrieve float values from layers FP16 tensor

getLayerInt32(self, name)

Convenience function to retrieve INT32 values from layers tensor

getLayerUInt8(self, name)

Convenience function to retrieve U8 data from layer

getSequenceNum(self)

Retrieves sequence number

getTimestamp(self)

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self)

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time.

hasLayer(self, name)

Checks if given layer exists

setLayer(*args, **kwargs)

Overloaded function.

setSequenceNum(self, arg0)

Retrieves image sequence number

setTimestamp(self, arg0)

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self, arg0)

Sets image timestamp related to dai::Clock::now()

__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]

Convenience function to retrieve float values from first layers FP16 tensor

Returns

Float data

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

Convenience function to retrieve INT32 values from first layers tensor

Returns

INT32 data

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

Convenience 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 information 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]

Convenience 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]

Convenience 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]

Convenience function to retrieve U8 data from layer

Parameter name:

Name of the layer

Returns

U8 binary data

getSequenceNum(self: depthai.NNData)int

Retrieves sequence number

getTimestamp(self: depthai.NNData)datetime.timedelta

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self: depthai.NNData)datetime.timedelta

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

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]) -> depthai.NNData

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

Parameter name:

Name of the layer

Parameter data:

Data to store

  1. setLayer(self: depthai.NNData, name: str, data: List[float]) -> depthai.NNData

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]) -> depthai.NNData

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

Parameter name:

Name of the layer

Parameter data:

Data to store

setSequenceNum(self: depthai.NNData, arg0: int)depthai.NNData

Retrieves image sequence number

setTimestamp(self: depthai.NNData, arg0: datetime.timedelta)depthai.NNData

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self: depthai.NNData, arg0: datetime.timedelta)depthai.NNData

Sets image timestamp related to dai::Clock::now()

class depthai.NeuralNetworkProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for NeuralNetwork 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

DatatypeHierarchy

Id

Node identificator.

Input

InputMap

Output

OutputMap

Methods:

__init__(*args, **kwargs)

Initialize self.

getAssetManager(*args, **kwargs)

Overloaded function.

getInputRefs(*args, **kwargs)

Overloaded function.

getInputs(self)

Retrieves all nodes inputs

getName(self)

Retrieves nodes name

getOutputRefs(*args, **kwargs)

Overloaded function.

getOutputs(self)

Retrieves all nodes outputs

getParentPipeline(*args, **kwargs)

Overloaded function.

Attributes:

id

Id of node

properties

class Connection

Bases: pybind11_builtins.pybind11_object

Connection between an Input and Output

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

inputGroup

inputId

inputName

outputGroup

outputId

outputName

__init__(*args, **kwargs)

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

property inputGroup
property inputId
property inputName
property outputGroup
property outputId
property outputName
class DatatypeHierarchy

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self, arg0, arg1)

Attributes:

datatype

descendants

__init__(self: depthai.Node.DatatypeHierarchy, arg0: depthai.DatatypeEnum, arg1: bool)None
property datatype
property descendants
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

Classes:

Type

Members:

Methods:

__init__(*args, **kwargs)

Initialize self.

getBlocking(self)

Get input queue behavior

getParent(*args, **kwargs)

Overloaded function.

getQueueSize(self)

Get input queue size.

getReusePreviousMessage(self)

Equivalent to getWaitForMessage but with inverted logic.

getWaitForMessage(self)

Get behavior whether to wait for this input when a Node processes certain data or not

setBlocking(self, blocking)

Overrides default input queue behavior.

setQueueSize(self, size)

Overrides default input queue size.

setReusePreviousMessage(self, …)

Equivalent to setWaitForMessage but with inverted logic.

setWaitForMessage(self, waitForMessage)

Overrides default wait for message behavior.

Attributes:

group

name

possibleDatatypes

type

waitForMessage

class Type

Bases: pybind11_builtins.pybind11_object

Members:

SReceiver

MReceiver

Attributes:

MReceiver

SReceiver

name

value

Methods:

__init__(self, value)

MReceiver = <Type.MReceiver: 1>
SReceiver = <Type.SReceiver: 0>
__init__(self: depthai.Node.Input.Type, value: int)None
property name
property value
__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

getParent(*args, **kwargs)

Overloaded function.

  1. getParent(self: depthai.Node.Input) -> depthai.Node

  2. getParent(self: depthai.Node.Input) -> depthai.Node

getQueueSize(self: depthai.Node.Input)int

Get input queue size.

Returns

Maximum input queue size

getReusePreviousMessage(self: depthai.Node.Input)bool

Equivalent to getWaitForMessage but with inverted logic.

getWaitForMessage(self: depthai.Node.Input)bool

Get behavior whether to wait for this input when a Node processes certain data or not

Returns

Whether to wait for message to arrive to this input or not

property group
property name
property possibleDatatypes
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

setReusePreviousMessage(self: depthai.Node.Input, reusePreviousMessage: bool)None

Equivalent to setWaitForMessage but with inverted logic.

setWaitForMessage(self: depthai.Node.Input, waitForMessage: bool)None

Overrides default wait for message behavior. Applicable for nodes with multiple inputs. Specifies behavior whether to wait for this input when a Node processes certain data or not.

Parameter waitForMessage:

Whether to wait for message to arrive to this input or not

property type
property waitForMessage
class InputMap

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

items(self)

__init__(*args, **kwargs)

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

items(self: depthai.Node.InputMap) → Iterator
class Output

Bases: pybind11_builtins.pybind11_object

Classes:

Type

Members:

Methods:

__init__(*args, **kwargs)

Initialize self.

canConnect(self, input)

Check if connection is possible

getConnections(self)

Retrieve all connections from this output

getParent(*args, **kwargs)

Overloaded function.

isSamePipeline(self, input)

Check if this output and given input are on the same pipeline.

link(self, input)

Link current output to input.

unlink(self, input)

Unlink a previously linked connection

Attributes:

group

name

possibleDatatypes

type

class Type

Bases: pybind11_builtins.pybind11_object

Members:

MSender

SSender

Attributes:

MSender

SSender

name

value

Methods:

__init__(self, value)

MSender = <Type.MSender: 0>
SSender = <Type.SSender: 1>
__init__(self: depthai.Node.Output.Type, value: int)None
property name
property value
__init__(*args, **kwargs)

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

canConnect(self: depthai.Node.Output, input: 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[depthai.Node.Connection]

Retrieve all connections from this output

Returns

Vector of connections

getParent(*args, **kwargs)

Overloaded function.

  1. getParent(self: depthai.Node.Output) -> depthai.Node

  2. getParent(self: depthai.Node.Output) -> depthai.Node

property group
isSamePipeline(self: depthai.Node.Output, input: depthai.Node.Input)bool

Check if this output and given input are on the same pipeline.

See also

canConnect for checking if connection is possible

Returns

True if output and input are on the same pipeline

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

property name
property possibleDatatypes
property type

Unlink a previously linked connection

Throws an error if not linked.

Parameter in:

Input from which to unlink from

class OutputMap

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

items(self)

__init__(*args, **kwargs)

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

items(self: depthai.Node.OutputMap) → Iterator
__init__(*args, **kwargs)

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

getAssetManager(*args, **kwargs)

Overloaded function.

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

Get node AssetManager as a const reference

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

Get node AssetManager as a const reference

getInputRefs(*args, **kwargs)

Overloaded function.

  1. getInputRefs(self: depthai.Node) -> List[depthai.Node.Input]

Retrieves reference to node inputs

  1. getInputRefs(self: depthai.Node) -> List[depthai.Node.Input]

Retrieves reference to node inputs

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

Retrieves all nodes inputs

getName(self: depthai.Node)str

Retrieves nodes name

getOutputRefs(*args, **kwargs)

Overloaded function.

  1. getOutputRefs(self: depthai.Node) -> List[depthai.Node.Output]

Retrieves reference to node outputs

  1. getOutputRefs(self: depthai.Node) -> List[depthai.Node.Output]

Retrieves reference to node outputs

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

Retrieves all nodes outputs

getParentPipeline(*args, **kwargs)

Overloaded function.

  1. getParentPipeline(self: depthai.Node) -> depthai.Pipeline

  2. getParentPipeline(self: depthai.Node) -> depthai.Pipeline

property id

Id of node

property properties
class depthai.ObjectTrackerProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for ObjectTracker

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

detectionLabelsToTrack

Which detections labels to track.

maxObjectsToTrack

Maximum number of objects to track.

trackerIdAssignmentPolicy

New ID assignment policy.

trackerThreshold

Confidence threshold for tracklets.

trackerType

Tracking method.

__init__(*args, **kwargs)

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

property detectionLabelsToTrack

Which detections labels to track. Default all labels are tracked.

property maxObjectsToTrack

Maximum number of objects to track. Maximum 60 for SHORT_TERM_KCF, maximum 1000 for other tracking methods. Default 60.

property trackerIdAssignmentPolicy

New ID assignment policy.

property trackerThreshold

Confidence threshold for tracklets. Above this threshold detections will be tracked. Default 0, all detections are tracked.

property trackerType

Tracking method.

class depthai.OpenVINO

Bases: pybind11_builtins.pybind11_object

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

Classes:

Blob

OpenVINO Blob

Version

OpenVINO Version supported version information

Attributes:

DEFAULT_VERSION

VERSION_2020_3

VERSION_2020_4

VERSION_2021_1

VERSION_2021_2

VERSION_2021_3

VERSION_2021_4

VERSION_2022_1

VERSION_UNIVERSAL

Methods:

__init__(*args, **kwargs)

Initialize self.

areVersionsBlobCompatible(v1, v2)

Checks whether two blob versions are compatible

getBlobLatestSupportedVersion(majorVersion, …)

Returns latest potentially supported version by a given blob version.

getBlobSupportedVersions(majorVersion, …)

Returns a list of potentially 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.

class Blob

Bases: pybind11_builtins.pybind11_object

OpenVINO Blob

Methods:

__init__(*args, **kwargs)

Overloaded function.

Attributes:

data

Blob data

networkInputs

Map of input names to additional information

networkOutputs

Map of output names to additional information

numShaves

Number of shaves the blob was compiled for

numSlices

Number of CMX slices the blob was compiled for

stageCount

Number of network stages

version

OpenVINO version

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: depthai.OpenVINO.Blob, arg0: List[int]) -> None

Construct a new Blob from data in memory

Parameter data:

In memory blob

  1. __init__(self: depthai.OpenVINO.Blob, arg0: Path) -> None

Construct a new Blob by loading from a filesystem path

Parameter path:

Filesystem path to the blob

property data

Blob data

property networkInputs

Map of input names to additional information

property networkOutputs

Map of output names to additional information

property numShaves

Number of shaves the blob was compiled for

property numSlices

Number of CMX slices the blob was compiled for

property stageCount

Number of network stages

property version

OpenVINO version

DEFAULT_VERSION = <Version.VERSION_2022_1: 6>
VERSION_2020_3 = <Version.VERSION_2020_3: 0>
VERSION_2020_4 = <Version.VERSION_2020_4: 1>
VERSION_2021_1 = <Version.VERSION_2021_1: 2>
VERSION_2021_2 = <Version.VERSION_2021_2: 3>
VERSION_2021_3 = <Version.VERSION_2021_3: 4>
VERSION_2021_4 = <Version.VERSION_2021_4: 5>
VERSION_2022_1 = <Version.VERSION_2022_1: 6>
VERSION_UNIVERSAL = <Version.VERSION_UNIVERSAL: 7>
class Version

Bases: pybind11_builtins.pybind11_object

OpenVINO Version supported version information

Members:

VERSION_2020_3

VERSION_2020_4

VERSION_2021_1

VERSION_2021_2

VERSION_2021_3

VERSION_2021_4

VERSION_2022_1

VERSION_UNIVERSAL

Attributes:

VERSION_2020_3

VERSION_2020_4

VERSION_2021_1

VERSION_2021_2

VERSION_2021_3

VERSION_2021_4

VERSION_2022_1

VERSION_UNIVERSAL

name

value

Methods:

__init__(self, value)

VERSION_2020_3 = <Version.VERSION_2020_3: 0>
VERSION_2020_4 = <Version.VERSION_2020_4: 1>
VERSION_2021_1 = <Version.VERSION_2021_1: 2>
VERSION_2021_2 = <Version.VERSION_2021_2: 3>
VERSION_2021_3 = <Version.VERSION_2021_3: 4>
VERSION_2021_4 = <Version.VERSION_2021_4: 5>
VERSION_2022_1 = <Version.VERSION_2022_1: 6>
VERSION_UNIVERSAL = <Version.VERSION_UNIVERSAL: 7>
__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: depthai.OpenVINO.Version, v2: depthai.OpenVINO.Version)bool

Checks whether two blob versions are compatible

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

Returns latest potentially supported version by a given blob version.

Parameter majorVersion:

Major version from OpenVINO blob

Parameter minorVersion:

Minor version from OpenVINO blob

Returns

Latest potentially supported version

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

Returns a list of potentially 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 potentially supported versions

static getVersionName(version: depthai.OpenVINO.Version)str

Returns string representation of a given version

Parameter version:

OpenVINO version

Returns

Name of a given version

static getVersions() → List[depthai.OpenVINO.Version]
Returns

Supported versions

static parseVersionName(versionString: str)depthai.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

Methods:

__init__(self)

Constructs a new pipeline

create(self, arg0)

createAprilTag(self)

createCamera(self)

createColorCamera(self)

createDetectionParser(self)

createEdgeDetector(self)

createFeatureTracker(self)

createIMU(self)

createImageManip(self)

createMobileNetDetectionNetwork(self)

createMobileNetSpatialDetectionNetwork(self)

createMonoCamera(self)

createNeuralNetwork(self)

createObjectTracker(self)

createSPIIn(self)

createSPIOut(self)

createScript(self)

createSpatialLocationCalculator(self)

createStereoDepth(self)

createSystemLogger(self)

createUVC(self)

createVideoEncoder(self)

createWarp(self)

createXLinkIn(self)

createXLinkOut(self)

createYoloDetectionNetwork(self)

createYoloSpatialDetectionNetwork(self)

getAllNodes(*args, **kwargs)

Overloaded function.

getAssetManager(*args, **kwargs)

Overloaded function.

getBoardConfig(self)

Gets board configuration

getCalibrationData(self)

gets the calibration data which is set through pipeline

getConnectionMap(self)

Get a reference to internal connection representation

getConnections(self)

Get all connections

getDeviceConfig(self)

Get device configuration needed for this pipeline

getGlobalProperties(self)

returns

Global properties of current pipeline

getNode(*args, **kwargs)

Overloaded function.

getNodeMap(self)

Get a reference to internal node map

getOpenVINOVersion(self)

Get possible OpenVINO version to run this pipeline

getRequiredOpenVINOVersion(self)

Get required OpenVINO version to run this pipeline.

link(self, arg0, arg1)

Link output to an input.

remove(self, node)

Removes a node from pipeline

serializeToJson(self)

Returns whole pipeline represented as JSON

setBoardConfig(self, arg0)

Sets board configuration

setCalibrationData(self, calibrationDataHandler)

Sets the calibration in pipeline which overrides the calibration data in eeprom

setCameraTuningBlobPath(self, path)

Set a camera IQ (Image Quality) tuning blob, used for all cameras

setOpenVINOVersion(self, version)

Set a specific OpenVINO version to use with this pipeline

setSippBufferSize(self, sizeBytes)

SIPP (Signal Image Processing Pipeline) internal memory pool.

setSippDmaBufferSize(self, sizeBytes)

SIPP (Signal Image Processing Pipeline) internal DMA memory pool.

setXLinkChunkSize(self, sizeBytes)

Set chunk size for splitting device-sent XLink packets, in bytes.

unlink(self, arg0, arg1)

Unlink output from an input.

__init__(self: depthai.Pipeline)None

Constructs a new pipeline

create(self: depthai.Pipeline, arg0: object)depthai.Node
createAprilTag(self: depthai.Pipeline)depthai.node.AprilTag
createCamera(self: depthai.Pipeline)depthai.node.Camera
createColorCamera(self: depthai.Pipeline)depthai.node.ColorCamera
createDetectionParser(self: depthai.Pipeline)depthai.node.DetectionParser
createEdgeDetector(self: depthai.Pipeline)depthai.node.EdgeDetector
createFeatureTracker(self: depthai.Pipeline)depthai.node.FeatureTracker
createIMU(self: depthai.Pipeline)depthai.node.IMU
createImageManip(self: depthai.Pipeline)depthai.node.ImageManip
createMobileNetDetectionNetwork(self: depthai.Pipeline)depthai.node.MobileNetDetectionNetwork
createMobileNetSpatialDetectionNetwork(self: depthai.Pipeline)depthai.node.MobileNetSpatialDetectionNetwork
createMonoCamera(self: depthai.Pipeline)depthai.node.MonoCamera
createNeuralNetwork(self: depthai.Pipeline)depthai.node.NeuralNetwork
createObjectTracker(self: depthai.Pipeline)depthai.node.ObjectTracker
createSPIIn(self: depthai.Pipeline)depthai.node.SPIIn
createSPIOut(self: depthai.Pipeline)depthai.node.SPIOut
createScript(self: depthai.Pipeline)depthai.node.Script
createSpatialLocationCalculator(self: depthai.Pipeline)depthai.node.SpatialLocationCalculator
createStereoDepth(self: depthai.Pipeline)depthai.node.StereoDepth
createSystemLogger(self: depthai.Pipeline)depthai.node.SystemLogger
createUVC(self: depthai.Pipeline)depthai.node.UVC
createVideoEncoder(self: depthai.Pipeline)depthai.node.VideoEncoder
createWarp(self: depthai.Pipeline)depthai.node.Warp
createXLinkIn(self: depthai.Pipeline)depthai.node.XLinkIn
createXLinkOut(self: depthai.Pipeline)depthai.node.XLinkOut
createYoloDetectionNetwork(self: depthai.Pipeline)depthai.node.YoloDetectionNetwork
createYoloSpatialDetectionNetwork(self: depthai.Pipeline)depthai.node.YoloSpatialDetectionNetwork
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

getBoardConfig(self: depthai.Pipeline)depthai.BoardConfig

Gets board configuration

getCalibrationData(self: depthai.Pipeline)depthai.CalibrationHandler

gets the calibration data which is set through pipeline

Returns

the calibrationHandler with calib data in the pipeline

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

getDeviceConfig(self: depthai.Pipeline)depthai.Device.Config

Get device configuration needed for this pipeline

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

getOpenVINOVersion(self: depthai.Pipeline)depthai.OpenVINO.Version

Get possible OpenVINO version to run this pipeline

getRequiredOpenVINOVersion(self: depthai.Pipeline) → Optional[depthai.OpenVINO.Version]

Get required OpenVINO version to run this pipeline. Can be none

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

serializeToJson(self: depthai.Pipeline) → json

Returns whole pipeline represented as JSON

setBoardConfig(self: depthai.Pipeline, arg0: depthai.BoardConfig)None

Sets board configuration

setCalibrationData(self: depthai.Pipeline, calibrationDataHandler: depthai.CalibrationHandler)None

Sets the calibration in pipeline which overrides the calibration data in eeprom

Parameter calibrationDataHandler:

CalibrationHandler object which is loaded with calibration information.

setCameraTuningBlobPath(self: depthai.Pipeline, path: Path)None

Set a camera IQ (Image Quality) tuning blob, used for all cameras

setOpenVINOVersion(self: depthai.Pipeline, version: depthai.OpenVINO.Version)None

Set a specific OpenVINO version to use with this pipeline

setSippBufferSize(self: depthai.Pipeline, sizeBytes: int)None

SIPP (Signal Image Processing Pipeline) internal memory pool. SIPP is a framework used to schedule HW filters, e.g. ISP, Warp, Median filter etc. Changing the size of this pool is meant for advanced use cases, pushing the limits of the HW. By default memory is allocated in high speed CMX memory. Setting to 0 will allocate in DDR 256 kilobytes. Units are bytes.

setSippDmaBufferSize(self: depthai.Pipeline, sizeBytes: int)None

SIPP (Signal Image Processing Pipeline) internal DMA memory pool. SIPP is a framework used to schedule HW filters, e.g. ISP, Warp, Median filter etc. Changing the size of this pool is meant for advanced use cases, pushing the limits of the HW. Memory is allocated in high speed CMX memory Units are bytes.

setXLinkChunkSize(self: depthai.Pipeline, sizeBytes: int)None

Set chunk size for splitting device-sent XLink packets, in bytes. A larger value could increase performance, with 0 disabling chunking. A negative value won’t modify the device defaults - configured per protocol, currently 64*1024 for both USB and Ethernet.

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.PointCloudConfig

Bases: depthai.Buffer

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

Methods:

__init__(*args, **kwargs)

Overloaded function.

get(self)

Retrieve configuration data for SpatialLocationCalculator.

getSparse(self)

Retrieve sparse point cloud calculation status.

getTransformationMatrix(self)

Retrieve transformation matrix for point cloud calculation.

set(self, config)

Set explicit configuration.

setSparse(self, arg0)

Enable or disable sparse point cloud calculation.

setTransformationMatrix(*args, **kwargs)

Overloaded function.

__init__(*args, **kwargs)

Overloaded function.

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

  2. __init__(self: depthai.PointCloudConfig, arg0: depthai.RawPointCloudConfig) -> None

get(self: depthai.PointCloudConfig)depthai.RawPointCloudConfig

Retrieve configuration data for SpatialLocationCalculator.

Returns

config for SpatialLocationCalculator

getSparse(self: depthai.PointCloudConfig)bool

Retrieve sparse point cloud calculation status.

Returns

true if sparse point cloud calculation is enabled, false otherwise

getTransformationMatrix(self: depthai.PointCloudConfig) → List[List[float[4]][4]]

Retrieve transformation matrix for point cloud calculation.

Returns

4x4 transformation matrix

set(self: depthai.PointCloudConfig, config: depthai.RawPointCloudConfig)depthai.PointCloudConfig

Set explicit configuration.

Parameter config:

Explicit configuration

setSparse(self: depthai.PointCloudConfig, arg0: bool)depthai.PointCloudConfig

Enable or disable sparse point cloud calculation.

Parameter enable:

setTransformationMatrix(*args, **kwargs)

Overloaded function.

  1. setTransformationMatrix(self: depthai.PointCloudConfig, arg0: List[List[float[3]][3]]) -> depthai.PointCloudConfig

Set 4x4 transformation matrix for point cloud calculation. Default is an identity matrix.

Parameter transformationMatrix:

  1. setTransformationMatrix(self: depthai.PointCloudConfig, arg0: List[List[float[4]][4]]) -> depthai.PointCloudConfig

Set 4x4 transformation matrix for point cloud calculation. Default is an identity matrix.

Parameter transformationMatrix:

class depthai.PointCloudData

Bases: depthai.Buffer

PointCloudData message. Carries point cloud data.

Methods:

__init__(self)

getHeight(self)

Retrieves the height in pixels - in case of a sparse point cloud, this represents the hight of the frame which was used to generate the point cloud

getInstanceNum(self)

Retrieves instance number

getMaxX(self)

Retrieves maximal x coordinate in depth units (millimeter by default)

getMaxY(self)

Retrieves maximal y coordinate in depth units (millimeter by default)

getMaxZ(self)

Retrieves maximal z coordinate in depth units (millimeter by default)

getMinX(self)

Retrieves minimal x coordinate in depth units (millimeter by default)

getMinY(self)

Retrieves minimal y coordinate in depth units (millimeter by default)

getMinZ(self)

Retrieves minimal z coordinate in depth units (millimeter by default)

getPoints(self)

getSequenceNum(self)

Retrieves sequence number

getTimestamp(self)

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self)

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time.

getWidth(self)

Retrieves the height in pixels - in case of a sparse point cloud, this represents the hight of the frame which was used to generate the point cloud

isSparse(self)

Retrieves whether point cloud is sparse

setHeight(self, arg0)

Specifies frame height

setInstanceNum(self, arg0)

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

setMaxX(self, arg0)

Specifies maximal x coordinate in depth units (millimeter by default)

setMaxY(self, arg0)

Specifies maximal y coordinate in depth units (millimeter by default)

setMaxZ(self, arg0)

Specifies maximal z coordinate in depth units (millimeter by default)

setMinX(self, arg0)

Specifies minimal x coordinate in depth units (millimeter by default)

setMinY(self, arg0)

Specifies minimal y coordinate in depth units (millimeter by default)

setMinZ(self, arg0)

Specifies minimal z coordinate in depth units (millimeter by default)

setSequenceNum(self, arg0)

Specifies sequence number

setSize(*args, **kwargs)

Overloaded function.

setTimestamp(self, arg0)

Retrieves image timestamp related to dai::Clock::now()

setTimestampDevice(self, arg0)

Sets image timestamp related to dai::Clock::now()

setWidth(self, arg0)

Specifies frame width

Attributes:

points

__init__(self: depthai.PointCloudData)None
getHeight(self: depthai.PointCloudData)int

Retrieves the height in pixels - in case of a sparse point cloud, this represents the hight of the frame which was used to generate the point cloud

getInstanceNum(self: depthai.PointCloudData)int

Retrieves instance number

getMaxX(self: depthai.PointCloudData)float

Retrieves maximal x coordinate in depth units (millimeter by default)

getMaxY(self: depthai.PointCloudData)float

Retrieves maximal y coordinate in depth units (millimeter by default)

getMaxZ(self: depthai.PointCloudData)float

Retrieves maximal z coordinate in depth units (millimeter by default)

getMinX(self: depthai.PointCloudData)float

Retrieves minimal x coordinate in depth units (millimeter by default)

getMinY(self: depthai.PointCloudData)float

Retrieves minimal y coordinate in depth units (millimeter by default)

getMinZ(self: depthai.PointCloudData)float

Retrieves minimal z coordinate in depth units (millimeter by default)

getPoints(self: object) → numpy.ndarray[numpy.float32]
getSequenceNum(self: depthai.PointCloudData)int

Retrieves sequence number

getTimestamp(self: depthai.PointCloudData)datetime.timedelta

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self: depthai.PointCloudData)datetime.timedelta

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

getWidth(self: depthai.PointCloudData)int

Retrieves the height in pixels - in case of a sparse point cloud, this represents the hight of the frame which was used to generate the point cloud

isSparse(self: depthai.PointCloudData)bool

Retrieves whether point cloud is sparse

property points
setHeight(self: depthai.PointCloudData, arg0: int)depthai.PointCloudData

Specifies frame height

Parameter height:

frame height

setInstanceNum(self: depthai.PointCloudData, arg0: int)depthai.PointCloudData

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

Parameter instance:

Instance number

setMaxX(self: depthai.PointCloudData, arg0: float)depthai.PointCloudData

Specifies maximal x coordinate in depth units (millimeter by default)

Parameter val:

maximal x coordinate in depth units (millimeter by default)

setMaxY(self: depthai.PointCloudData, arg0: float)depthai.PointCloudData

Specifies maximal y coordinate in depth units (millimeter by default)

Parameter val:

maximal y coordinate in depth units (millimeter by default)

setMaxZ(self: depthai.PointCloudData, arg0: float)depthai.PointCloudData

Specifies maximal z coordinate in depth units (millimeter by default)

Parameter val:

maximal z coordinate in depth units (millimeter by default)

setMinX(self: depthai.PointCloudData, arg0: float)depthai.PointCloudData

Specifies minimal x coordinate in depth units (millimeter by default)

Parameter val:

minimal x coordinate in depth units (millimeter by default)

setMinY(self: depthai.PointCloudData, arg0: float)depthai.PointCloudData

Specifies minimal y coordinate in depth units (millimeter by default)

Parameter val:

minimal y coordinate in depth units (millimeter by default)

setMinZ(self: depthai.PointCloudData, arg0: float)depthai.PointCloudData

Specifies minimal z coordinate in depth units (millimeter by default)

Parameter val:

minimal z coordinate in depth units (millimeter by default)

setSequenceNum(self: depthai.PointCloudData, arg0: int)depthai.PointCloudData

Specifies sequence number

Parameter seq:

Sequence number

setSize(*args, **kwargs)

Overloaded function.

  1. setSize(self: depthai.PointCloudData, width: int, height: int) -> depthai.PointCloudData

Specifies frame size

Parameter height:

frame height

Parameter width:

frame width

  1. setSize(self: depthai.PointCloudData, size: Tuple[int, int]) -> depthai.PointCloudData

Specifies frame size

Parameter size:

frame size

setTimestamp(self: depthai.PointCloudData, arg0: datetime.timedelta)depthai.PointCloudData

Retrieves image timestamp related to dai::Clock::now()

setTimestampDevice(self: depthai.PointCloudData, arg0: datetime.timedelta)depthai.PointCloudData

Sets image timestamp related to dai::Clock::now()

setWidth(self: depthai.PointCloudData, arg0: int)depthai.PointCloudData

Specifies frame width

Parameter width:

frame width

class depthai.PointCloudProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for PointCloud

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

initialConfig

numFramesPool

__init__(*args, **kwargs)

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

property initialConfig
property numFramesPool
class depthai.ProcessorType

Bases: pybind11_builtins.pybind11_object

Members:

LEON_CSS

LEON_MSS

Attributes:

LEON_CSS

LEON_MSS

name

value

Methods:

__init__(self, value)

LEON_CSS = <ProcessorType.LEON_CSS: 0>
LEON_MSS = <ProcessorType.LEON_MSS: 1>
__init__(self: depthai.ProcessorType, value: int)None
property name
property value
class depthai.ProfilingData

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

numBytesRead

numBytesWritten

__init__(*args, **kwargs)

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

property numBytesRead
property numBytesWritten
class depthai.Properties

Bases: pybind11_builtins.pybind11_object

Base Properties structure

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)

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

class depthai.RawAprilTagConfig

Bases: depthai.RawBuffer

RawAprilTags configuration structure

Classes:

Family

Supported AprilTag families.

QuadThresholds

AprilTag quad threshold parameters.

Methods:

__init__(self)

Attributes:

decodeSharpening

How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions.

family

AprilTag family.

maxHammingDistance

Max number of error bits that should be corrected.

quadDecimate

Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate.

quadSigma

What Gaussian blur should be applied to the segmented image.

quadThresholds

AprilTag quad threshold parameters.

refineEdges

When non-zero, the edges of the each quad are adjusted to “snap to” strong gradients nearby.

class Family

Bases: pybind11_builtins.pybind11_object

Supported AprilTag families.

Members:

TAG_36H11

TAG_36H10

TAG_25H9

TAG_16H5

TAG_CIR21H7

TAG_STAND41H12

Attributes:

TAG_16H5

TAG_25H9

TAG_36H10

TAG_36H11

TAG_CIR21H7

TAG_STAND41H12

name

value

Methods:

__init__(self, value)

TAG_16H5 = <Family.TAG_16H5: 3>
TAG_25H9 = <Family.TAG_25H9: 2>
TAG_36H10 = <Family.TAG_36H10: 1>
TAG_36H11 = <Family.TAG_36H11: 0>
TAG_CIR21H7 = <Family.TAG_CIR21H7: 4>
TAG_STAND41H12 = <Family.TAG_STAND41H12: 5>
__init__(self: depthai.RawAprilTagConfig.Family, value: int)None
property name
property value
class QuadThresholds

Bases: pybind11_builtins.pybind11_object

AprilTag quad threshold parameters.

Methods:

__init__(self)

Attributes:

criticalDegree

Reject quads where pairs of edges have angles that are close to straight or close to 180 degrees.

deglitch

Should the thresholded image be deglitched? Only useful for very noisy images

maxLineFitMse

When fitting lines to the contours, what is the maximum mean squared error allowed? This is useful in rejecting contours that are far from being quad shaped; rejecting these quads “early” saves expensive decoding processing.

maxNmaxima

How many corner candidates to consider when segmenting a group of pixels into a quad.

minClusterPixels

Reject quads containing too few pixels.

minWhiteBlackDiff

When we build our model of black & white pixels, we add an extra check that the white model must be (overall) brighter than the black model.

__init__(self: depthai.RawAprilTagConfig.QuadThresholds)None
property criticalDegree

Reject quads where pairs of edges have angles that are close to straight or close to 180 degrees. Zero means that no quads are rejected. (In degrees).

property deglitch

Should the thresholded image be deglitched? Only useful for very noisy images

property maxLineFitMse

When fitting lines to the contours, what is the maximum mean squared error allowed? This is useful in rejecting contours that are far from being quad shaped; rejecting these quads “early” saves expensive decoding processing.

property maxNmaxima

How many corner candidates to consider when segmenting a group of pixels into a quad.

property minClusterPixels

Reject quads containing too few pixels.

property minWhiteBlackDiff

When we build our model of black & white pixels, we add an extra check that the white model must be (overall) brighter than the black model. How much brighter? (in pixel values: [0,255]).

__init__(self: depthai.RawAprilTagConfig)None
property decodeSharpening

How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions. The default value is 0.25.

property family

AprilTag family.

property maxHammingDistance

Max number of error bits that should be corrected. Accepting large numbers of corrected errors leads to greatly increased false positive rates. As of this implementation, the detector cannot detect tags with a hamming distance greater than 2.

property quadDecimate

Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution.

property quadSigma

What Gaussian blur should be applied to the segmented image. Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8).

property quadThresholds

AprilTag quad threshold parameters.

property refineEdges

When non-zero, the edges of the each quad are adjusted to “snap to” strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on. Very computationally inexpensive. Option is ignored if quadDecimate = 1.

class depthai.RawBuffer

Bases: pybind11_builtins.pybind11_object

RawBuffer structure

Methods:

__init__(self)

Attributes:

data

sequenceNum

ts

tsDevice

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

Bases: depthai.RawBuffer

RawCameraControl structure

Classes:

AntiBandingMode

Members:

AutoFocusMode

Members:

AutoWhiteBalanceMode

Members:

CaptureIntent

Members:

Command

Members:

ControlMode

Members:

EffectMode

Members:

FrameSyncMode

Members:

SceneMode

Members:

Methods:

__init__(self)

clearCommand(self, arg0)

getCommand(self, arg0)

setCommand(self, arg0, arg1)

Attributes:

aeLockMode

aeMaxExposureTimeUs

afRegion

antiBandingMode

autoFocusMode

awbLockMode

awbMode

brightness

captureIntent

chromaDenoise

cmdMask

contrast

controlMode

effectMode

expCompensation

expManual

lensPosition

lensPositionRaw

lumaDenoise

saturation

sceneMode

sharpness

wbColorTemp

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 CaptureIntent

Bases: pybind11_builtins.pybind11_object

Members:

CUSTOM

PREVIEW

STILL_CAPTURE

VIDEO_RECORD

VIDEO_SNAPSHOT

ZERO_SHUTTER_LAG

Attributes:

CUSTOM

PREVIEW

STILL_CAPTURE

VIDEO_RECORD

VIDEO_SNAPSHOT

ZERO_SHUTTER_LAG

name

value

Methods:

__init__(self, value)

CUSTOM = <CaptureIntent.CUSTOM: 0>
PREVIEW = <CaptureIntent.PREVIEW: 1>
STILL_CAPTURE = <CaptureIntent.STILL_CAPTURE: 2>
VIDEO_RECORD = <CaptureIntent.VIDEO_RECORD: 3>
VIDEO_SNAPSHOT = <CaptureIntent.VIDEO_SNAPSHOT: 4>
ZERO_SHUTTER_LAG = <CaptureIntent.ZERO_SHUTTER_LAG: 5>
__init__(self: depthai.RawCameraControl.CaptureIntent, value: int)None
property name
property value
class Command

Bases: pybind11_builtins.pybind11_object

Members:

START_STREAM

STOP_STREAM

STILL_CAPTURE

MOVE_LENS

AF_TRIGGER

AE_MANUAL

AE_AUTO

AWB_MODE

SCENE_MODE

ANTIBANDING_MODE

EXPOSURE_COMPENSATION

AE_LOCK

AE_TARGET_FPS_RANGE

AWB_LOCK

CAPTURE_INTENT

CONTROL_MODE

FRAME_DURATION

SENSITIVITY

EFFECT_MODE

AF_MODE

NOISE_REDUCTION_STRENGTH

SATURATION

BRIGHTNESS

STREAM_FORMAT

RESOLUTION

SHARPNESS

CUSTOM_USECASE

CUSTOM_CAPT_MODE

CUSTOM_EXP_BRACKETS

CUSTOM_CAPTURE

CONTRAST

AE_REGION

AF_REGION

LUMA_DENOISE

CHROMA_DENOISE

WB_COLOR_TEMP

Attributes:

AE_AUTO

AE_LOCK

AE_MANUAL

AE_REGION

AE_TARGET_FPS_RANGE

AF_MODE

AF_REGION

AF_TRIGGER

ANTIBANDING_MODE

AWB_LOCK

AWB_MODE

BRIGHTNESS

CAPTURE_INTENT

CHROMA_DENOISE

CONTRAST

CONTROL_MODE

CUSTOM_CAPTURE

CUSTOM_CAPT_MODE

CUSTOM_EXP_BRACKETS

CUSTOM_USECASE

EFFECT_MODE

EXPOSURE_COMPENSATION

FRAME_DURATION

LUMA_DENOISE

MOVE_LENS

NOISE_REDUCTION_STRENGTH

RESOLUTION

SATURATION

SCENE_MODE

SENSITIVITY

SHARPNESS

START_STREAM

STILL_CAPTURE

STOP_STREAM

STREAM_FORMAT

WB_COLOR_TEMP

name

value

Methods:

__init__(self, value)

AE_AUTO = <Command.AE_AUTO: 7>
AE_LOCK = <Command.AE_LOCK: 13>
AE_MANUAL = <Command.AE_MANUAL: 6>
AE_REGION = <Command.AE_REGION: 45>
AE_TARGET_FPS_RANGE = <Command.AE_TARGET_FPS_RANGE: 14>
AF_MODE = <Command.AF_MODE: 26>
AF_REGION = <Command.AF_REGION: 46>
AF_TRIGGER = <Command.AF_TRIGGER: 5>
ANTIBANDING_MODE = <Command.ANTIBANDING_MODE: 10>
AWB_LOCK = <Command.AWB_LOCK: 16>
AWB_MODE = <Command.AWB_MODE: 8>
BRIGHTNESS = <Command.BRIGHTNESS: 31>
CAPTURE_INTENT = <Command.CAPTURE_INTENT: 17>
CHROMA_DENOISE = <Command.CHROMA_DENOISE: 48>
CONTRAST = <Command.CONTRAST: 44>
CONTROL_MODE = <Command.CONTROL_MODE: 18>
CUSTOM_CAPTURE = <Command.CUSTOM_CAPTURE: 43>
CUSTOM_CAPT_MODE = <Command.CUSTOM_CAPT_MODE: 41>
CUSTOM_EXP_BRACKETS = <Command.CUSTOM_EXP_BRACKETS: 42>
CUSTOM_USECASE = <Command.CUSTOM_USECASE: 40>
EFFECT_MODE = <Command.EFFECT_MODE: 24>
EXPOSURE_COMPENSATION = <Command.EXPOSURE_COMPENSATION: 11>
FRAME_DURATION = <Command.FRAME_DURATION: 21>
LUMA_DENOISE = <Command.LUMA_DENOISE: 47>
MOVE_LENS = <Command.MOVE_LENS: 4>
NOISE_REDUCTION_STRENGTH = <Command.NOISE_REDUCTION_STRENGTH: 27>
RESOLUTION = <Command.RESOLUTION: 34>
SATURATION = <Command.SATURATION: 28>
SCENE_MODE = <Command.SCENE_MODE: 9>
SENSITIVITY = <Command.SENSITIVITY: 23>
SHARPNESS = <Command.SHARPNESS: 35>
START_STREAM = <Command.START_STREAM: 1>
STILL_CAPTURE = <Command.STILL_CAPTURE: 3>
STOP_STREAM = <Command.STOP_STREAM: 2>
STREAM_FORMAT = <Command.STREAM_FORMAT: 33>
WB_COLOR_TEMP = <Command.WB_COLOR_TEMP: 49>
__init__(self: depthai.RawCameraControl.Command, value: int)None
property name
property value
class ControlMode

Bases: pybind11_builtins.pybind11_object

Members:

OFF

AUTO

USE_SCENE_MODE

Attributes:

AUTO

OFF

USE_SCENE_MODE

name

value

Methods:

__init__(self, value)

AUTO = <ControlMode.AUTO: 1>
OFF = <ControlMode.OFF: 0>
USE_SCENE_MODE = <ControlMode.USE_SCENE_MODE: 2>
__init__(self: depthai.RawCameraControl.ControlMode, 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 FrameSyncMode

Bases: pybind11_builtins.pybind11_object

Members:

OFF

OUTPUT

INPUT

Attributes:

INPUT

OFF

OUTPUT

name

value

Methods:

__init__(self, value)

INPUT = <FrameSyncMode.INPUT: 2>
OFF = <FrameSyncMode.OFF: 0>
OUTPUT = <FrameSyncMode.OUTPUT: 1>
__init__(self: depthai.RawCameraControl.FrameSyncMode, value: int)None
property name
property value
class SceneMode

Bases: pybind11_builtins.pybind11_object

Members:

UNSUPPORTED

FACE_PRIORITY

ACTION

PORTRAIT

LANDSCAPE

NIGHT

NIGHT_PORTRAIT

THEATRE

BEACH

SNOW

SUNSET

STEADYPHOTO

FIREWORKS

SPORTS

PARTY

CANDLELIGHT

BARCODE

Attributes:

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.RawCameraControl)None
property aeLockMode
property aeMaxExposureTimeUs
property afRegion
property antiBandingMode
property autoFocusMode
property awbLockMode
property awbMode
property brightness
property captureIntent
property chromaDenoise
clearCommand(self: depthai.RawCameraControl, arg0: depthai.RawCameraControl.Command)None
property cmdMask
property contrast
property controlMode
property effectMode
property expCompensation
property expManual
getCommand(self: depthai.RawCameraControl, arg0: depthai.RawCameraControl.Command)bool
property lensPosition
property lensPositionRaw
property lumaDenoise
property saturation
property sceneMode
setCommand(self: depthai.RawCameraControl, arg0: depthai.RawCameraControl.Command, arg1: bool)None
property sharpness
property wbColorTemp
class depthai.RawEdgeDetectorConfig

Bases: depthai.RawBuffer

RawEdgeDetectorConfig configuration structure

Methods:

__init__(self)

Attributes:

config

__init__(self: depthai.RawEdgeDetectorConfig)None
property config
class depthai.RawEncodedFrame

Bases: depthai.RawBuffer

Classes:

FrameType

Members:

Profile

Members:

Methods:

__init__(self)

Attributes:

bitrate

instanceNum

lossless

profile

quality

sequenceNum

ts

tsDevice

type

class FrameType

Bases: pybind11_builtins.pybind11_object

Members:

I

P

B

Unknown

Attributes:

B

I

P

Unknown

name

value

Methods:

__init__(self, value)

B = <FrameType.B: 2>
I = <FrameType.I: 0>
P = <FrameType.P: 1>
Unknown = <FrameType.Unknown: 3>
__init__(self: depthai.RawEncodedFrame.FrameType, value: int)None
property name
property value
class Profile

Bases: pybind11_builtins.pybind11_object

Members:

JPEG

AVC

HEVC

Attributes:

AVC

HEVC

JPEG

name

value

Methods:

__init__(self, value)

AVC = <Profile.AVC: 1>
HEVC = <Profile.HEVC: 2>
JPEG = <Profile.JPEG: 0>
__init__(self: depthai.RawEncodedFrame.Profile, value: int)None
property name
property value
__init__(self: depthai.RawEncodedFrame)None
property bitrate
property instanceNum
property lossless
property profile
property quality
property sequenceNum
property ts
property tsDevice
property type
class depthai.RawFeatureTrackerConfig

Bases: depthai.RawBuffer

RawFeatureTrackerConfig configuration structure

Classes:

CornerDetector

Corner detector configuration structure.

FeatureMaintainer

FeatureMaintainer configuration structure.

MotionEstimator

Used for feature reidentification between current and previous features.

Methods:

__init__(self)

Attributes:

cornerDetector

Corner detector configuration.

featureMaintainer

FeatureMaintainer configuration.

motionEstimator

Motion estimator configuration.

class CornerDetector

Bases: pybind11_builtins.pybind11_object

Corner detector configuration structure.

Classes:

Thresholds

Threshold settings structure for corner detector.

Type

Members:

Methods:

__init__(self)

Attributes:

cellGridDimension

Ensures distributed feature detection across the image.

enableSobel

Enable 3x3 Sobel operator to smoothen the image whose gradient is to be computed.

enableSorting

Enable sorting detected features based on their score or not.

numMaxFeatures

Hard limit for the maximum number of features that can be detected.

numTargetFeatures

Target number of features to detect.

thresholds

Threshold settings.

type

Corner detector algorithm type.

class Thresholds

Bases: pybind11_builtins.pybind11_object

Threshold settings structure for corner detector.

Methods:

__init__(self)

Attributes:

decreaseFactor

When detected number of features exceeds the maximum in a cell threshold is lowered by multiplying its value with this factor.

increaseFactor

When detected number of features doesn’t exceed the maximum in a cell, threshold is increased by multiplying its value with this factor.

initialValue

Minimum strength of a feature which will be detected.

max

Maximum limit for threshold.

min

Minimum limit for threshold.

__init__(self: depthai.RawFeatureTrackerConfig.CornerDetector.Thresholds)None
property decreaseFactor

When detected number of features exceeds the maximum in a cell threshold is lowered by multiplying its value with this factor.

property increaseFactor

When detected number of features doesn’t exceed the maximum in a cell, threshold is increased by multiplying its value with this factor.

property initialValue

Minimum strength of a feature which will be detected. 0 means automatic threshold update. Recommended so the tracker can adapt to different scenes/textures. Each cell has its own threshold. Empirical value.

property max

Maximum limit for threshold. Applicable when automatic threshold update is enabled. 0 means auto. Empirical value.

property min

Minimum limit for threshold. Applicable when automatic threshold update is enabled. 0 means auto, 6000000 for HARRIS, 1200 for SHI_THOMASI. Empirical value.

class Type

Bases: pybind11_builtins.pybind11_object

Members:

HARRIS

SHI_THOMASI

Attributes:

HARRIS

SHI_THOMASI

name

value

Methods:

__init__(self, value)

HARRIS = <Type.HARRIS: 0>
SHI_THOMASI = <Type.SHI_THOMASI: 1>
__init__(self: depthai.RawFeatureTrackerConfig.CornerDetector.Type, value: int)None
property name
property value
__init__(self: depthai.RawFeatureTrackerConfig.CornerDetector)None
property cellGridDimension

Ensures distributed feature detection across the image. Image is divided into horizontal and vertical cells, each cell has a target feature count = numTargetFeatures / cellGridDimension. Each cell has its own feature threshold. A value of 4 means that the image is divided into 4x4 cells of equal width/height. Maximum 4, minimum 1.

property enableSobel

Enable 3x3 Sobel operator to smoothen the image whose gradient is to be computed. If disabled, a simple 1D row/column differentiator is used for gradient.

property enableSorting

Enable sorting detected features based on their score or not.

property numMaxFeatures

Hard limit for the maximum number of features that can be detected. 0 means auto, will be set to the maximum value based on memory constraints.

property numTargetFeatures

Target number of features to detect. Maximum number of features is determined at runtime based on algorithm type.

property thresholds

Threshold settings. These are advanced settings, suitable for debugging/special cases.

property type

Corner detector algorithm type.

class FeatureMaintainer

Bases: pybind11_builtins.pybind11_object

FeatureMaintainer configuration structure.

Methods:

__init__(self)

Attributes:

enable

Enable feature maintaining or not.

lostFeatureErrorThreshold

Optical flow measures the tracking error for every feature.

minimumDistanceBetweenFeatures

Used to filter out detected feature points that are too close.

trackedFeatureThreshold

Once a feature was detected and we started tracking it, we need to update its Harris score on each image.

__init__(self: depthai.RawFeatureTrackerConfig.FeatureMaintainer)None
property enable

Enable feature maintaining or not.

property lostFeatureErrorThreshold

Optical flow measures the tracking error for every feature. If the point can’t be tracked or it’s out of the image it will set this error to a maximum value. This threshold defines the level where the tracking accuracy is considered too bad to keep the point.

property minimumDistanceBetweenFeatures

Used to filter out detected feature points that are too close. Requires sorting enabled in detector. Unit of measurement is squared euclidean distance in pixels.

property trackedFeatureThreshold

Once a feature was detected and we started tracking it, we need to update its Harris score on each image. This is needed because a feature point can disappear, or it can become too weak to be tracked. This threshold defines the point where such a feature must be dropped. As the goal of the algorithm is to provide longer tracks, we try to add strong points and track them until they are absolutely untrackable. This is why, this value is usually smaller than the detection threshold.

class MotionEstimator

Bases: pybind11_builtins.pybind11_object

Used for feature reidentification between current and previous features.

Classes:

OpticalFlow

Optical flow configuration structure.

Type

Members:

Methods:

__init__(self)

Attributes:

enable

Enable motion estimation or not.

opticalFlow

Optical flow configuration.

type

Motion estimator algorithm type.

class OpticalFlow

Bases: pybind11_builtins.pybind11_object

Optical flow configuration structure.

Methods:

__init__(self)

Attributes:

epsilon

Feature tracking termination criteria.

maxIterations

Feature tracking termination criteria.

pyramidLevels

Number of pyramid levels, only for optical flow.

searchWindowHeight

Image patch height used to track features.

searchWindowWidth

Image patch width used to track features.

__init__(self: depthai.RawFeatureTrackerConfig.MotionEstimator.OpticalFlow)None
property epsilon

Feature tracking termination criteria. Optical flow will refine the feature position on each pyramid level until the displacement between two refinements is smaller than this value. Decreasing this number increases runtime.

property maxIterations

Feature tracking termination criteria. Optical flow will refine the feature position maximum this many times on each pyramid level. If the Epsilon criteria described in the previous chapter is not met after this number of iterations, the algorithm will continue with the current calculated value. Increasing this number increases runtime.

property pyramidLevels

Number of pyramid levels, only for optical flow. AUTO means it’s decided based on input resolution: 3 if image width <= 640, else 4. Valid values are either 3/4 for VGA, 4 for 720p and above.

property searchWindowHeight

Image patch height used to track features. Must be an odd number, maximum 9. N means the algorithm will be able to track motion at most (N-1)/2 pixels in a direction per pyramid level. Increasing this number increases runtime

property searchWindowWidth

Image patch width used to track features. Must be an odd number, maximum 9. N means the algorithm will be able to track motion at most (N-1)/2 pixels in a direction per pyramid level. Increasing this number increases runtime

class Type

Bases: pybind11_builtins.pybind11_object

Members:

LUCAS_KANADE_OPTICAL_FLOW

HW_MOTION_ESTIMATION

Attributes:

HW_MOTION_ESTIMATION

LUCAS_KANADE_OPTICAL_FLOW

name

value

Methods:

__init__(self, value)

HW_MOTION_ESTIMATION = <Type.HW_MOTION_ESTIMATION: 1>
LUCAS_KANADE_OPTICAL_FLOW = <Type.LUCAS_KANADE_OPTICAL_FLOW: 0>
__init__(self: depthai.RawFeatureTrackerConfig.MotionEstimator.Type, value: int)None
property name
property value
__init__(self: depthai.RawFeatureTrackerConfig.MotionEstimator)None
property enable

Enable motion estimation or not.

property opticalFlow

Optical flow configuration. Takes effect only if MotionEstimator algorithm type set to LUCAS_KANADE_OPTICAL_FLOW.

property type

Motion estimator algorithm type.

__init__(self: depthai.RawFeatureTrackerConfig)None
property cornerDetector

Corner detector configuration. Used for feature detection.

property featureMaintainer

FeatureMaintainer configuration. Used for feature maintaining.

property motionEstimator

Motion estimator configuration. Used for feature reidentification between current and previous features.

class depthai.RawIMUData

Bases: depthai.RawBuffer

Methods:

__init__(self)

Attributes:

packets

__init__(self: depthai.RawIMUData)None
property packets
class depthai.RawImageManipConfig

Bases: depthai.RawBuffer

RawImageManipConfig structure

Classes:

CropConfig

CropRect

FormatConfig

ResizeConfig

Methods:

__init__(self)

Attributes:

cropConfig

enableCrop

enableFormat

enableResize

formatConfig

interpolation

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

flipVertical

type

__init__(self: depthai.RawImageManipConfig.FormatConfig)None
property flipHorizontal
property flipVertical
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 interpolation
property resizeConfig
class depthai.RawImgDetections

Bases: depthai.RawBuffer

RawImgDetections structure

Methods:

__init__(self)

Attributes:

detections

sequenceNum

ts

tsDevice

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

Bases: depthai.RawBuffer

RawImgFrame structure

Classes:

Specs

Type

Members:

Methods:

__init__(self)

Attributes:

category

fb

instanceNum

sequenceNum

ts

tsDevice

class Specs

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

bytesPP

height

p1Offset

p2Offset

p3Offset

stride

type

width

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

Bases: depthai.RawBuffer

Methods:

__init__(self)

Attributes:

group

__init__(self: depthai.RawMessageGroup)None
property group
class depthai.RawNNData

Bases: depthai.RawBuffer

RawNNData structure

Methods:

__init__(self)

Attributes:

batchSize

sequenceNum

tensors

ts

tsDevice

__init__(self: depthai.RawNNData)None
property batchSize
property sequenceNum
property tensors
property ts
property tsDevice
class depthai.RawPointCloudConfig

Bases: depthai.RawBuffer

RawPointCloudConfig configuration structure

Methods:

__init__(self)

Attributes:

sparse

transformationMatrix

__init__(self: depthai.RawPointCloudConfig)None
property sparse
property transformationMatrix
class depthai.RawPointCloudData

Bases: depthai.RawBuffer

Methods:

__init__(self)

Attributes:

height

instanceNum

maxx

maxy

maxz

minx

miny

minz

sparse

width

__init__(self: depthai.RawPointCloudData)None
property height
property instanceNum
property maxx
property maxy
property maxz
property minx
property miny
property minz
property sparse
property width
class depthai.RawSpatialImgDetections

Bases: depthai.RawBuffer

RawSpatialImgDetections structure

Methods:

__init__(self)

Attributes:

detections

sequenceNum

ts

tsDevice

__init__(self: depthai.RawSpatialImgDetections)None
property detections
property sequenceNum
property ts
property tsDevice
class depthai.RawStereoDepthConfig

Bases: depthai.RawBuffer

RawStereoDepthConfig configuration structure

Classes:

AlgorithmControl

CensusTransform

The basic cost function used by the Stereo Accelerator for matching the left and right images is the Census Transform.

CostAggregation

Cost Aggregation is based on Semi Global Block Matching (SGBM).

CostMatching

The matching cost is way of measuring the similarity of image locations in stereo correspondence algorithm.

MedianFilter

Median filter config

PostProcessing

Post-processing filters, all the filters are applied in disparity domain.

Methods:

__init__(self)

Attributes:

algorithmControl

Controls the flow of stereo algorithm - left-right check, subpixel etc.

censusTransform

Census transform settings.

costAggregation

Cost aggregation settings.

costMatching

Cost matching settings.

postProcessing

Controls the postprocessing of disparity and/or depth map.

class AlgorithmControl

Bases: pybind11_builtins.pybind11_object

Classes:

DepthAlign

Align the disparity/depth to the perspective of a rectified output, or center it

DepthUnit

Measurement unit for depth data

Methods:

__init__(self)

Attributes:

centerAlignmentShiftFactor

Used only for debug purposes.

customDepthUnitMultiplier

Custom depth unit multiplier, if custom depth unit is enabled, relative to 1 meter.

depthAlign

Set the disparity/depth alignment to the perspective of a rectified output, or center it

depthUnit

Measurement unit for depth data.

disparityShift

Shift input frame by a number of pixels to increase minimum depth.

enableExtended

Disparity range increased from 95 to 190, combined from full resolution and downscaled images.

enableLeftRightCheck

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

enableSubpixel

Computes disparity with sub-pixel interpolation (5 fractional bits), suitable for long range

leftRightCheckThreshold

Left-right check threshold for left-right, right-left disparity map combine, 0..128 Used only when left-right check mode is enabled.

numInvalidateEdgePixels

Invalidate X amount of pixels at the edge of disparity frame.

subpixelFractionalBits

Number of fractional bits for subpixel mode

class DepthAlign

Bases: pybind11_builtins.pybind11_object

Align the disparity/depth to the perspective of a rectified output, or center it

Members:

RECTIFIED_RIGHT :

RECTIFIED_LEFT :

CENTER :

Attributes:

CENTER

RECTIFIED_LEFT

RECTIFIED_RIGHT

name

value

Methods:

__init__(self, value)

CENTER = <DepthAlign.CENTER: 2>
RECTIFIED_LEFT = <DepthAlign.RECTIFIED_LEFT: 1>
RECTIFIED_RIGHT = <DepthAlign.RECTIFIED_RIGHT: 0>
__init__(self: depthai.RawStereoDepthConfig.AlgorithmControl.DepthAlign, value: int)None
property name
property value
class DepthUnit

Bases: pybind11_builtins.pybind11_object

Measurement unit for depth data

Members:

METER :

CENTIMETER :

MILLIMETER :

INCH :

FOOT :

CUSTOM :

Attributes:

CENTIMETER

CUSTOM

FOOT

INCH

METER

MILLIMETER

name

value

Methods:

__init__(self, value)

CENTIMETER = <DepthUnit.CENTIMETER: 1>
CUSTOM = <DepthUnit.CUSTOM: 5>
FOOT = <DepthUnit.FOOT: 4>
INCH = <DepthUnit.INCH: 3>
METER = <DepthUnit.METER: 0>
MILLIMETER = <DepthUnit.MILLIMETER: 2>
__init__(self: depthai.RawStereoDepthConfig.AlgorithmControl.DepthUnit, value: int)None
property name
property value
__init__(self: depthai.RawStereoDepthConfig.AlgorithmControl)None
property centerAlignmentShiftFactor

Used only for debug purposes. centerAlignmentShiftFactor is set automatically in firmware, from camera extrinsics when depth alignment to camera is enabled. Center alignment is achieved by shifting the obtained disparity map by a scale factor. It’s used to align to a different camera that is on the same horizontal baseline as the two stereo cameras. E.g. if we have a device with 10 cm stereo baseline, and we have another camera inbetween, 9cm from the LEFT camera and 1 cm from the RIGHT camera we can align the obtained disparity map using a scale factor of 0.9. Note that aligning disparity map to a different camera involves 2 steps: 1. Shifting obtained disparity map. 2. Warping the image to counter rotate and scaling to match the FOV. Center alignment factor 1 is equivalent to RECTIFIED_RIGHT Center alignment factor 0 is equivalent to RECTIFIED_LEFT

property customDepthUnitMultiplier

Custom depth unit multiplier, if custom depth unit is enabled, relative to 1 meter. A multiplier of 1000 effectively means depth unit in millimeter.

property depthAlign

Set the disparity/depth alignment to the perspective of a rectified output, or center it

property depthUnit

Measurement unit for depth data. Depth data is integer value, multiple of depth unit.

property disparityShift

Shift input frame by a number of pixels to increase minimum depth. For example shifting by 48 will change effective disparity search range from (0,95] to [48,143]. An alternative approach to reducing the minZ. We normally only recommend doing this when it is known that there will be no objects farther away than MaxZ, such as having a depth camera mounted above a table pointing down at the table surface.

property enableExtended

Disparity range increased from 95 to 190, combined from full resolution and downscaled images. Suitable for short range objects

property enableLeftRightCheck

Computes and combines disparities in both L-R and R-L directions, and combine them. For better occlusion handling

property enableSubpixel

Computes disparity with sub-pixel interpolation (5 fractional bits), suitable for long range

property leftRightCheckThreshold

Left-right check threshold for left-right, right-left disparity map combine, 0..128 Used only when left-right check mode is enabled. Defines the maximum difference between the confidence of pixels from left-right and right-left confidence maps

property numInvalidateEdgePixels

Invalidate X amount of pixels at the edge of disparity frame. For right and center alignment X pixels will be invalidated from the right edge, for left alignment from the left edge.

property subpixelFractionalBits

Number of fractional bits for subpixel mode

Valid values: 3,4,5

Defines the number of fractional disparities: 2^x

Median filter postprocessing is supported only for 3 fractional bits

class CensusTransform

Bases: pybind11_builtins.pybind11_object

The basic cost function used by the Stereo Accelerator for matching the left and right images is the Census Transform. It works on a block of pixels and computes a bit vector which represents the structure of the image in that block. There are two types of Census Transform based on how the middle pixel is used: Classic Approach and Modified Census. The comparisons that are made between pixels can be or not thresholded. In some cases a mask can be applied to filter out only specific bits from the entire bit stream. All these approaches are: Classic Approach: Uses middle pixel to compare against all its neighbors over a defined window. Each comparison results in a new bit, that is 0 if central pixel is smaller, or 1 if is it bigger than its neighbor. Modified Census Transform: same as classic Census Transform, but instead of comparing central pixel with its neighbors, the window mean will be compared with each pixel over the window. Thresholding Census Transform: same as classic Census Transform, but it is not enough that a neighbor pixel to be bigger than the central pixel, it must be significant bigger (based on a threshold). Census Transform with Mask: same as classic Census Transform, but in this case not all of the pixel from the support window are part of the binary descriptor. We use a ma sk “M” to define which pixels are part of the binary descriptor (1), and which pixels should be skipped (0).

Classes:

KernelSize

Census transform kernel size possible values.

Methods:

__init__(self)

Attributes:

enableMeanMode

If enabled, each pixel in the window is compared with the mean window value instead of the central pixel.

kernelMask

Census transform mask, default - auto, mask is set based on resolution and kernel size.

kernelSize

Census transform kernel size.

threshold

Census transform comparison threshold value.

class KernelSize

Bases: pybind11_builtins.pybind11_object

Census transform kernel size possible values.

Members:

AUTO :

KERNEL_5x5 :

KERNEL_7x7 :

KERNEL_7x9 :

Attributes:

AUTO

KERNEL_5x5

KERNEL_7x7

KERNEL_7x9

name

value

Methods:

__init__(self, value)

AUTO = <KernelSize.AUTO: -1>
KERNEL_5x5 = <KernelSize.KERNEL_5x5: 0>
KERNEL_7x7 = <KernelSize.KERNEL_7x7: 1>
KERNEL_7x9 = <KernelSize.KERNEL_7x9: 2>
__init__(self: depthai.RawStereoDepthConfig.CensusTransform.KernelSize, value: int)None
property name
property value
__init__(self: depthai.RawStereoDepthConfig.CensusTransform)None
property enableMeanMode

If enabled, each pixel in the window is compared with the mean window value instead of the central pixel.

property kernelMask

Census transform mask, default - auto, mask is set based on resolution and kernel size. Disabled for 400p input resolution. Enabled for 720p. 0XA82415 for 5x5 census transform kernel. 0XAA02A8154055 for 7x7 census transform kernel. 0X2AA00AA805540155 for 7x9 census transform kernel. Empirical values.

property kernelSize

Census transform kernel size.

property threshold

Census transform comparison threshold value.

class CostAggregation

Bases: pybind11_builtins.pybind11_object

Cost Aggregation is based on Semi Global Block Matching (SGBM). This algorithm uses a semi global technique to aggregate the cost map. Ultimately the idea is to build inertia into the stereo algorithm. If a pixel has very little texture information, then odds are the correct disparity for this pixel is close to that of the previous pixel considered. This means that we get improved results in areas with low texture.

Methods:

__init__(self)

Attributes:

divisionFactor

Cost calculation linear equation parameters.

horizontalPenaltyCostP1

Horizontal P1 penalty cost parameter.

horizontalPenaltyCostP2

Horizontal P2 penalty cost parameter.

verticalPenaltyCostP1

Vertical P1 penalty cost parameter.

verticalPenaltyCostP2

Vertical P2 penalty cost parameter.

__init__(self: depthai.RawStereoDepthConfig.CostAggregation)None
property divisionFactor

Cost calculation linear equation parameters.

property horizontalPenaltyCostP1

Horizontal P1 penalty cost parameter.

property horizontalPenaltyCostP2

Horizontal P2 penalty cost parameter.

property verticalPenaltyCostP1

Vertical P1 penalty cost parameter.

property verticalPenaltyCostP2

Vertical P2 penalty cost parameter.

class CostMatching

Bases: pybind11_builtins.pybind11_object

The matching cost is way of measuring the similarity of image locations in stereo correspondence algorithm. Based on the configuration parameters and based on the descriptor type, a linear equation is applied to computing the cost for each candidate disparity at each pixel.

Classes:

DisparityWidth

Disparity search range: 64 or 96 pixels are supported by the HW.

LinearEquationParameters

The linear equation applied for computing the cost is: COMB_COST = α*AD + β*(CTC<<3).

Methods:

__init__(self)

Attributes:

confidenceThreshold

Disparities with confidence value under this threshold are accepted.

disparityWidth

Disparity search range, default 96 pixels.

enableCompanding

Disparity companding using sparse matching.

invalidDisparityValue

Used only for debug purposes, SW postprocessing handled only invalid value of 0 properly.

linearEquationParameters

Cost calculation linear equation parameters.

class DisparityWidth

Bases: pybind11_builtins.pybind11_object

Disparity search range: 64 or 96 pixels are supported by the HW.

Members:

DISPARITY_64 :

DISPARITY_96 :

Attributes:

DISPARITY_64

DISPARITY_96

name

value

Methods:

__init__(self, value)

DISPARITY_64 = <DisparityWidth.DISPARITY_64: 0>
DISPARITY_96 = <DisparityWidth.DISPARITY_96: 1>
__init__(self: depthai.RawStereoDepthConfig.CostMatching.DisparityWidth, value: int)None
property name
property value
class LinearEquationParameters

Bases: pybind11_builtins.pybind11_object

The linear equation applied for computing the cost is: COMB_COST = α*AD + β*(CTC<<3). CLAMP(COMB_COST >> 5, threshold). Where AD is the Absolute Difference between 2 pixels values. CTC is the Census Transform Cost between 2 pixels, based on Hamming distance (xor). The α and β parameters are subject to fine tuning by the user.

Methods:

__init__(self)

Attributes:

alpha

beta

threshold

__init__(self: depthai.RawStereoDepthConfig.CostMatching.LinearEquationParameters)None
property alpha
property beta
property threshold
__init__(self: depthai.RawStereoDepthConfig.CostMatching)None
property confidenceThreshold

Disparities with confidence value under this threshold are accepted. Higher confidence threshold means disparities with less confidence are accepted too.

property disparityWidth

Disparity search range, default 96 pixels.

property enableCompanding

Disparity companding using sparse matching. Matching pixel by pixel for N disparities. Matching every 2nd pixel for M disparitites. Matching every 4th pixel for T disparities. In case of 96 disparities: N=48, M=32, T=16. This way the search range is extended to 176 disparities, by sparse matching. Note: when enabling this flag only depth map will be affected, disparity map is not.

property invalidDisparityValue

Used only for debug purposes, SW postprocessing handled only invalid value of 0 properly.

property linearEquationParameters

Cost calculation linear equation parameters.

class MedianFilter

Bases: pybind11_builtins.pybind11_object

Median filter config

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.MedianFilter, value: int)None
property name
property value
class PostProcessing

Bases: pybind11_builtins.pybind11_object

Post-processing filters, all the filters are applied in disparity domain.

Classes:

BrightnessFilter

Brightness filtering.

DecimationFilter

Decimation filter.

SpatialFilter

1D edge-preserving spatial filter using high-order domain transform.

SpeckleFilter

Speckle filtering.

TemporalFilter

Temporal filtering with optional persistence.

ThresholdFilter

Threshold filtering.

Methods:

__init__(self)

Attributes:

bilateralSigmaValue

Sigma value for bilateral filter.

brightnessFilter

Brightness filtering.

decimationFilter

Decimation filter.

median

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

spatialFilter

This type of filter will smooth the depth noise while attempting to preserve edges.

speckleFilter

Speckle filtering.

temporalFilter

Temporal filtering with optional persistence.

thresholdFilter

Threshold filtering.

class BrightnessFilter

Bases: pybind11_builtins.pybind11_object

Brightness filtering. If input frame pixel is too dark or too bright, disparity will be invalidated. The idea is that for too dark/too bright pixels we have low confidence, since that area was under/over exposed and details were lost.

Methods:

__init__(self)

Attributes:

maxBrightness

Maximum range in depth units.

minBrightness

Minimum pixel brightness.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.BrightnessFilter)None
property maxBrightness

Maximum range in depth units. If input pixel is less or equal than this value the depth value is invalidated.

property minBrightness

Minimum pixel brightness. If input pixel is less or equal than this value the depth value is invalidated.

class DecimationFilter

Bases: pybind11_builtins.pybind11_object

Decimation filter. Reduces the depth scene complexity. The filter runs on kernel sizes [2x2] to [8x8] pixels.

Classes:

DecimationMode

Decimation algorithm type.

Methods:

__init__(self)

Attributes:

decimationFactor

Decimation factor.

decimationMode

Decimation algorithm type.

class DecimationMode

Bases: pybind11_builtins.pybind11_object

Decimation algorithm type.

Members:

PIXEL_SKIPPING :

NON_ZERO_MEDIAN :

NON_ZERO_MEAN :

Attributes:

NON_ZERO_MEAN

NON_ZERO_MEDIAN

PIXEL_SKIPPING

name

value

Methods:

__init__(self, value)

NON_ZERO_MEAN = <DecimationMode.NON_ZERO_MEAN: 2>
NON_ZERO_MEDIAN = <DecimationMode.NON_ZERO_MEDIAN: 1>
PIXEL_SKIPPING = <DecimationMode.PIXEL_SKIPPING: 0>
__init__(self: depthai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode, value: int)None
property name
property value
__init__(self: depthai.RawStereoDepthConfig.PostProcessing.DecimationFilter)None
property decimationFactor

Decimation factor. Valid values are 1,2,3,4. Disparity/depth map x/y resolution will be decimated with this value.

property decimationMode

Decimation algorithm type.

class SpatialFilter

Bases: pybind11_builtins.pybind11_object

1D edge-preserving spatial filter using high-order domain transform.

Methods:

__init__(self)

Attributes:

alpha

The Alpha factor in an exponential moving average with Alpha=1 - no filter.

delta

Step-size boundary.

enable

Whether to enable or disable the filter.

holeFillingRadius

An in-place heuristic symmetric hole-filling mode applied horizontally during the filter passes.

numIterations

Number of iterations over the image in both horizontal and vertical direction.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.SpatialFilter)None
property alpha

The Alpha factor in an exponential moving average with Alpha=1 - no filter. Alpha = 0 - infinite filter. Determines the amount of smoothing.

property delta

Step-size boundary. Establishes the threshold used to preserve “edges”. If the disparity value between neighboring pixels exceed the disparity threshold set by this delta parameter, then filtering will be temporarily disabled. Default value 0 means auto: 3 disparity integer levels. In case of subpixel mode it’s 3*number of subpixel levels.

property enable

Whether to enable or disable the filter.

property holeFillingRadius

An in-place heuristic symmetric hole-filling mode applied horizontally during the filter passes. Intended to rectify minor artefacts with minimal performance impact. Search radius for hole filling.

property numIterations

Number of iterations over the image in both horizontal and vertical direction.

class SpeckleFilter

Bases: pybind11_builtins.pybind11_object

Speckle filtering. Removes speckle noise.

Methods:

__init__(self)

Attributes:

enable

Whether to enable or disable the filter.

speckleRange

Speckle search range.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.SpeckleFilter)None
property enable

Whether to enable or disable the filter.

property speckleRange

Speckle search range.

class TemporalFilter

Bases: pybind11_builtins.pybind11_object

Temporal filtering with optional persistence.

Classes:

PersistencyMode

Persistency algorithm type.

Methods:

__init__(self)

Attributes:

alpha

The Alpha factor in an exponential moving average with Alpha=1 - no filter.

delta

Step-size boundary.

enable

Whether to enable or disable the filter.

persistencyMode

Persistency mode.

class PersistencyMode

Bases: pybind11_builtins.pybind11_object

Persistency algorithm type.

Members:

PERSISTENCY_OFF :

VALID_8_OUT_OF_8 :

VALID_2_IN_LAST_3 :

VALID_2_IN_LAST_4 :

VALID_2_OUT_OF_8 :

VALID_1_IN_LAST_2 :

VALID_1_IN_LAST_5 :

VALID_1_IN_LAST_8 :

PERSISTENCY_INDEFINITELY :

Attributes:

PERSISTENCY_INDEFINITELY

PERSISTENCY_OFF

VALID_1_IN_LAST_2

VALID_1_IN_LAST_5

VALID_1_IN_LAST_8

VALID_2_IN_LAST_3

VALID_2_IN_LAST_4

VALID_2_OUT_OF_8

VALID_8_OUT_OF_8

name

value

Methods:

__init__(self, value)

PERSISTENCY_INDEFINITELY = <PersistencyMode.PERSISTENCY_INDEFINITELY: 8>
PERSISTENCY_OFF = <PersistencyMode.PERSISTENCY_OFF: 0>
VALID_1_IN_LAST_2 = <PersistencyMode.VALID_1_IN_LAST_2: 5>
VALID_1_IN_LAST_5 = <PersistencyMode.VALID_1_IN_LAST_5: 6>
VALID_1_IN_LAST_8 = <PersistencyMode.VALID_1_IN_LAST_8: 7>
VALID_2_IN_LAST_3 = <PersistencyMode.VALID_2_IN_LAST_3: 2>
VALID_2_IN_LAST_4 = <PersistencyMode.VALID_2_IN_LAST_4: 3>
VALID_2_OUT_OF_8 = <PersistencyMode.VALID_2_OUT_OF_8: 4>
VALID_8_OUT_OF_8 = <PersistencyMode.VALID_8_OUT_OF_8: 1>
__init__(self: depthai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode, value: int)None
property name
property value
__init__(self: depthai.RawStereoDepthConfig.PostProcessing.TemporalFilter)None
property alpha

The Alpha factor in an exponential moving average with Alpha=1 - no filter. Alpha = 0 - infinite filter. Determines the extent of the temporal history that should be averaged.

property delta

Step-size boundary. Establishes the threshold used to preserve surfaces (edges). If the disparity value between neighboring pixels exceed the disparity threshold set by this delta parameter, then filtering will be temporarily disabled. Default value 0 means auto: 3 disparity integer levels. In case of subpixel mode it’s 3*number of subpixel levels.

property enable

Whether to enable or disable the filter.

property persistencyMode

Persistency mode. If the current disparity/depth value is invalid, it will be replaced by an older value, based on persistency mode.

class ThresholdFilter

Bases: pybind11_builtins.pybind11_object

Threshold filtering. Filters out distances outside of a given interval.

Methods:

__init__(self)

Attributes:

maxRange

Maximum range in depth units.

minRange

Minimum range in depth units.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.ThresholdFilter)None
property maxRange

Maximum range in depth units. Depth values over this value are invalidated.

property minRange

Minimum range in depth units. Depth values under this value are invalidated.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing)None
property bilateralSigmaValue

Sigma value for bilateral filter. 0 means disabled. A larger value of the parameter means that farther colors within the pixel neighborhood will be mixed together.

property brightnessFilter

Brightness filtering. If input frame pixel is too dark or too bright, disparity will be invalidated. The idea is that for too dark/too bright pixels we have low confidence, since that area was under/over exposed and details were lost.

property decimationFilter

Decimation filter. Reduces disparity/depth map x/y complexity, reducing runtime complexity for other filters.

property median

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

property spatialFilter

This type of filter will smooth the depth noise while attempting to preserve edges.

Type

Edge-preserving filtering

property speckleFilter

Speckle filtering. Removes speckle noise.

property temporalFilter

Temporal filtering with optional persistence.

property thresholdFilter

Threshold filtering. Filters out distances outside of a given interval.

__init__(self: depthai.RawStereoDepthConfig)None
property algorithmControl

Controls the flow of stereo algorithm - left-right check, subpixel etc.

property censusTransform

Census transform settings.

property costAggregation

Cost aggregation settings.

property costMatching

Cost matching settings.

property postProcessing

Controls the postprocessing of disparity and/or depth map.

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.RawToFConfig

Bases: depthai.RawBuffer

RawToFConfig configuration structure

Classes:

DepthParams

DepthParams configuration structure.

Methods:

__init__(self)

Attributes:

depthParams

DepthParams configuration.

class DepthParams

Bases: pybind11_builtins.pybind11_object

DepthParams configuration structure.

Classes:

TypeFMod

Frequency modulation frames used for depth calculation.

Methods:

__init__(self)

Attributes:

avgPhaseShuffle

Enable averaging between phases with same modulation frequency(e.g.

freqModUsed

median

Set kernel size for depth median filtering, or disable

minimumAmplitude

Perform depth calculation only for pixels with amplitude greater than provided value

class TypeFMod

Bases: pybind11_builtins.pybind11_object

Frequency modulation frames used for depth calculation. If the ToF sensor supports multiple modulation frequencies, all will be used for depth calculation.

Members:

ALL

MIN

MAX

Attributes:

ALL

MAX

MIN

name

value

Methods:

__init__(self, value)

ALL = <TypeFMod.ALL: 0>
MAX = <TypeFMod.MAX: 2>
MIN = <TypeFMod.MIN: 1>
__init__(self: depthai.RawToFConfig.DepthParams.TypeFMod, value: int)None
property name
property value
__init__(self: depthai.RawToFConfig.DepthParams)None
property avgPhaseShuffle

Enable averaging between phases with same modulation frequency(e.g. for ToF cameras with phase shuffle). The depth frame rate will be half if this is enabled

property freqModUsed
property median

Set kernel size for depth median filtering, or disable

property minimumAmplitude

Perform depth calculation only for pixels with amplitude greater than provided value

__init__(self: depthai.RawToFConfig)None
property depthParams

DepthParams configuration. Used for configuring the ToF.

class depthai.RawTrackedFeatures

Bases: depthai.RawBuffer

RawTrackedFeatures structure

Methods:

__init__(self)

Attributes:

trackedFeatures

__init__(self: depthai.RawTrackedFeatures)None
property trackedFeatures
class depthai.RawTracklets

Bases: depthai.RawBuffer

RawTracklets structure

Methods:

__init__(self)

Attributes:

tracklets

__init__(self: depthai.RawTracklets)None
property tracklets
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 destWidth:

Destination frame width.

Parameter destHeight:

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 srcWidth:

Source frame width.

Parameter srcHeight:

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

RotatedRect structure

Methods:

__init__(self)

Attributes:

angle

center

size

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

Bases: pybind11_builtins.pybind11_object

Properties for SPIIn node

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

busId

maxDataSize

numFrames

streamName

__init__(*args, **kwargs)

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

property busId
property maxDataSize
property numFrames
property streamName
class depthai.SPIOutProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for SPIOut node

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

busId

streamName

__init__(*args, **kwargs)

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

property busId
property streamName
class depthai.ScriptProperties

Bases: pybind11_builtins.pybind11_object

Specify ScriptProperties options such as script uri, script name, …

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

processor

Which processor should execute the script

scriptName

Name of script

scriptUri

Uri which points to actual script

__init__(*args, **kwargs)

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

property processor

Which processor should execute the script

property scriptName

Name of script

property scriptUri

Uri which points to actual script

class depthai.SerializationType

Bases: pybind11_builtins.pybind11_object

Members:

LIBNOP

JSON

JSON_MSGPACK

Attributes:

JSON

JSON_MSGPACK

LIBNOP

name

value

Methods:

__init__(self, value)

JSON = <SerializationType.JSON: 1>
JSON_MSGPACK = <SerializationType.JSON_MSGPACK: 2>
LIBNOP = <SerializationType.LIBNOP: 0>
__init__(self: depthai.SerializationType, value: int)None
property name
property value
class depthai.Size2f

Bases: pybind11_builtins.pybind11_object

Size2f structure

width, height values define the size of the shape/frame

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.SpatialDetectionNetworkProperties

Bases: depthai.DetectionNetworkProperties

Specify 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

SpatialImgDetection structure

Contains image detection results together with spatial location data.

Methods:

__init__(self)

Attributes:

boundingBoxMapping

spatialCoordinates

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

Bases: depthai.Buffer

SpatialImgDetections message. Carries detection results together with spatial location data

Methods:

__init__(self)

getSequenceNum(self)

Retrieves sequence number

getTimestamp(self)

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self)

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time.

setSequenceNum(self, arg0)

Retrieves image sequence number

setTimestamp(self, arg0)

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self, arg0)

Sets image timestamp related to dai::Clock::now()

Attributes:

detections

__init__(self: depthai.SpatialImgDetections)None
property detections
getSequenceNum(self: depthai.SpatialImgDetections)int

Retrieves sequence number

getTimestamp(self: depthai.SpatialImgDetections)datetime.timedelta

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self: depthai.SpatialImgDetections)datetime.timedelta

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

setSequenceNum(self: depthai.SpatialImgDetections, arg0: int)depthai.SpatialImgDetections

Retrieves image sequence number

setTimestamp(self: depthai.SpatialImgDetections, arg0: datetime.timedelta)depthai.SpatialImgDetections

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self: depthai.SpatialImgDetections, arg0: datetime.timedelta)depthai.SpatialImgDetections

Sets image timestamp related to dai::Clock::now()

class depthai.SpatialLocationCalculatorAlgorithm

Bases: pybind11_builtins.pybind11_object

SpatialLocationCalculatorAlgorithm configuration modes

Contains calculation method used to obtain spatial locations.

Members:

AVERAGE

MEAN

MIN

MAX

MODE

MEDIAN

Attributes:

AVERAGE

MAX

MEAN

MEDIAN

MIN

MODE

name

value

Methods:

__init__(self, value)

AVERAGE = <SpatialLocationCalculatorAlgorithm.AVERAGE: 0>
MAX = <SpatialLocationCalculatorAlgorithm.MAX: 2>
MEAN = <SpatialLocationCalculatorAlgorithm.AVERAGE: 0>
MEDIAN = <SpatialLocationCalculatorAlgorithm.MEDIAN: 4>
MIN = <SpatialLocationCalculatorAlgorithm.MIN: 1>
MODE = <SpatialLocationCalculatorAlgorithm.MODE: 3>
__init__(self: depthai.SpatialLocationCalculatorAlgorithm, value: int)None
property name
property value
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.

get(self)

Retrieve configuration data for SpatialLocationCalculator.

getConfigData(self)

Retrieve configuration data for SpatialLocationCalculator

set(self, config)

Set explicit configuration.

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)

get(self: depthai.SpatialLocationCalculatorConfig) → dai::RawSpatialLocationCalculatorConfig

Retrieve configuration data for SpatialLocationCalculator.

Returns

config for SpatialLocationCalculator

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

Retrieve configuration data for SpatialLocationCalculator

Returns

Vector of configuration parameters for ROIs (region of interests)

set(self: depthai.SpatialLocationCalculatorConfig, config: dai::RawSpatialLocationCalculatorConfig)depthai.SpatialLocationCalculatorConfig

Set explicit configuration.

Parameter config:

Explicit configuration

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

SpatialLocation configuration data structure

Methods:

__init__(self)

Attributes:

calculationAlgorithm

the average of ROI is used for calculation.

depthThresholds

Upper and lower thresholds for depth values to take into consideration.

roi

Region of interest for spatial location calculation.

__init__(self: depthai.SpatialLocationCalculatorConfigData)None
property calculationAlgorithm

the average of ROI is used for calculation. Min: the minimum value inside ROI is used for calculation. Max: the maximum value inside ROI is used for calculation. Mode: the most frequent value inside ROI is used for calculation. Median: the median value inside ROI is used for calculation. Default: median.

Type

Calculation method used to obtain spatial locations Average/mean

property depthThresholds

Upper and lower thresholds for depth values to take into consideration.

property roi

Region of interest for spatial location calculation.

class depthai.SpatialLocationCalculatorConfigThresholds

Bases: pybind11_builtins.pybind11_object

SpatialLocation configuration thresholds structure

Contains configuration data for lower and upper threshold in depth units (millimeter by default) 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)

getSequenceNum(self)

Retrieves sequence number

getSpatialLocations(self)

Retrieve configuration data for SpatialLocationCalculatorData.

getTimestamp(self)

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self)

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time.

setSequenceNum(self, arg0)

Retrieves image sequence number

setTimestamp(self, arg0)

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self, arg0)

Sets image timestamp related to dai::Clock::now()

Attributes:

spatialLocations

__init__(self: depthai.SpatialLocationCalculatorData)None
getSequenceNum(self: depthai.SpatialLocationCalculatorData)int

Retrieves sequence number

getSpatialLocations(self: depthai.SpatialLocationCalculatorData) → List[depthai.SpatialLocations]

Retrieve configuration data for SpatialLocationCalculatorData.

Returns

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

getTimestamp(self: depthai.SpatialLocationCalculatorData)datetime.timedelta

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self: depthai.SpatialLocationCalculatorData)datetime.timedelta

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

setSequenceNum(self: depthai.SpatialLocationCalculatorData, arg0: int)depthai.SpatialLocationCalculatorData

Retrieves image sequence number

setTimestamp(self: depthai.SpatialLocationCalculatorData, arg0: datetime.timedelta)depthai.SpatialLocationCalculatorData

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self: depthai.SpatialLocationCalculatorData, arg0: datetime.timedelta)depthai.SpatialLocationCalculatorData

Sets image timestamp related to dai::Clock::now()

property spatialLocations
class depthai.SpatialLocationCalculatorProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for SpatialLocationCalculator

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

roiConfig

__init__(*args, **kwargs)

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

property roiConfig
class depthai.SpatialLocations

Bases: pybind11_builtins.pybind11_object

SpatialLocations structure

Contains configuration data, average depth for the calculated ROI on depth map. Together with spatial coordinates: x,y,z relative to the center of depth map. Units are in depth units (millimeter by default).

Methods:

__init__(self)

Attributes:

config

Configuration for selected ROI

depthAverage

Average of depth values inside the ROI between the specified thresholds in config.

depthAveragePixelCount

Number of depth values used in calculations.

depthMax

Maximum of depth values inside the ROI between the specified thresholds in config.

depthMedian

Median of depth values inside the ROI between the specified thresholds in config.

depthMin

Minimum of depth values inside the ROI between the specified thresholds in config.

depthMode

Most frequent of depth values inside the ROI between the specified thresholds in config.

spatialCoordinates

Spatial coordinates - x,y,z; x,y are the relative positions of the center of ROI to the center of depth map

__init__(self: depthai.SpatialLocations)None
property config

Configuration for selected ROI

property depthAverage

Average of depth values inside the ROI between the specified thresholds in config. Calculated only if calculation method is set to AVERAGE or MIN oR MAX.

property depthAveragePixelCount

Number of depth values used in calculations.

property depthMax

Maximum of depth values inside the ROI between the specified thresholds in config. Calculated only if calculation method is set to AVERAGE or MIN oR MAX.

property depthMedian

Median of depth values inside the ROI between the specified thresholds in config. Calculated only if calculation method is set to MEDIAN.

property depthMin

Minimum of depth values inside the ROI between the specified thresholds in config. Calculated only if calculation method is set to AVERAGE or MIN oR MAX.

property depthMode

Most frequent of depth values inside the ROI between the specified thresholds in config. Calculated only if calculation method is set to MODE.

property spatialCoordinates

Spatial coordinates - x,y,z; x,y are the relative positions of the center of ROI to the center of depth map

class depthai.StereoDepthConfig

Bases: depthai.Buffer

StereoDepthConfig message.

Classes:

AlgorithmControl

CensusTransform

The basic cost function used by the Stereo Accelerator for matching the left and right images is the Census Transform.

CostAggregation

Cost Aggregation is based on Semi Global Block Matching (SGBM).

CostMatching

The matching cost is way of measuring the similarity of image locations in stereo correspondence algorithm.

MedianFilter

Median filter config

PostProcessing

Post-processing filters, all the filters are applied in disparity domain.

Methods:

__init__(self)

get(self)

Retrieve configuration data for StereoDepth.

getBilateralFilterSigma(self)

Get sigma value for 5x5 bilateral filter

getConfidenceThreshold(self)

Get confidence threshold for disparity calculation

getDepthUnit(self)

Get depth unit of depth map.

getLeftRightCheckThreshold(self)

Get threshold for left-right check combine

getMaxDisparity(self)

Useful for normalization of the disparity map.

getMedianFilter(self)

Get median filter setting

set(self, config)

Set explicit configuration.

setBilateralFilterSigma(self, sigma)

A larger value of the parameter means that farther colors within the pixel neighborhood will be mixed together, resulting in larger areas of semi-equal color.

setConfidenceThreshold(self, confThr)

Confidence threshold for disparity calculation

setDepthAlign(self, align)

Parameter align:

setDepthUnit(self, arg0)

Set depth unit of depth map.

setDisparityShift(self, arg0)

Shift input frame by a number of pixels to increase minimum depth.

setExtendedDisparity(self, enable)

Disparity range increased from 95 to 190, combined from full resolution and downscaled images.

setLeftRightCheck(self, enable)

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

setLeftRightCheckThreshold(self, sigma)

Parameter threshold:

setMedianFilter(self, median)

Parameter median:

setNumInvalidateEdgePixels(self, arg0)

Invalidate X amount of pixels at the edge of disparity frame.

setSubpixel(self, enable)

Computes disparity with sub-pixel interpolation (3 fractional bits by default).

setSubpixelFractionalBits(self, …)

Number of fractional bits for subpixel mode.

class AlgorithmControl

Bases: pybind11_builtins.pybind11_object

Classes:

DepthAlign

Align the disparity/depth to the perspective of a rectified output, or center it

DepthUnit

Measurement unit for depth data

Methods:

__init__(self)

Attributes:

centerAlignmentShiftFactor

Used only for debug purposes.

customDepthUnitMultiplier

Custom depth unit multiplier, if custom depth unit is enabled, relative to 1 meter.

depthAlign

Set the disparity/depth alignment to the perspective of a rectified output, or center it

depthUnit

Measurement unit for depth data.

disparityShift

Shift input frame by a number of pixels to increase minimum depth.

enableExtended

Disparity range increased from 95 to 190, combined from full resolution and downscaled images.

enableLeftRightCheck

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

enableSubpixel

Computes disparity with sub-pixel interpolation (5 fractional bits), suitable for long range

leftRightCheckThreshold

Left-right check threshold for left-right, right-left disparity map combine, 0..128 Used only when left-right check mode is enabled.

numInvalidateEdgePixels

Invalidate X amount of pixels at the edge of disparity frame.

subpixelFractionalBits

Number of fractional bits for subpixel mode

class DepthAlign

Bases: pybind11_builtins.pybind11_object

Align the disparity/depth to the perspective of a rectified output, or center it

Members:

RECTIFIED_RIGHT :

RECTIFIED_LEFT :

CENTER :

Attributes:

CENTER

RECTIFIED_LEFT

RECTIFIED_RIGHT

name

value

Methods:

__init__(self, value)

CENTER = <DepthAlign.CENTER: 2>
RECTIFIED_LEFT = <DepthAlign.RECTIFIED_LEFT: 1>
RECTIFIED_RIGHT = <DepthAlign.RECTIFIED_RIGHT: 0>
__init__(self: depthai.RawStereoDepthConfig.AlgorithmControl.DepthAlign, value: int)None
property name
property value
class DepthUnit

Bases: pybind11_builtins.pybind11_object

Measurement unit for depth data

Members:

METER :

CENTIMETER :

MILLIMETER :

INCH :

FOOT :

CUSTOM :

Attributes:

CENTIMETER

CUSTOM

FOOT

INCH

METER

MILLIMETER

name

value

Methods:

__init__(self, value)

CENTIMETER = <DepthUnit.CENTIMETER: 1>
CUSTOM = <DepthUnit.CUSTOM: 5>
FOOT = <DepthUnit.FOOT: 4>
INCH = <DepthUnit.INCH: 3>
METER = <DepthUnit.METER: 0>
MILLIMETER = <DepthUnit.MILLIMETER: 2>
__init__(self: depthai.RawStereoDepthConfig.AlgorithmControl.DepthUnit, value: int)None
property name
property value
__init__(self: depthai.RawStereoDepthConfig.AlgorithmControl)None
property centerAlignmentShiftFactor

Used only for debug purposes. centerAlignmentShiftFactor is set automatically in firmware, from camera extrinsics when depth alignment to camera is enabled. Center alignment is achieved by shifting the obtained disparity map by a scale factor. It’s used to align to a different camera that is on the same horizontal baseline as the two stereo cameras. E.g. if we have a device with 10 cm stereo baseline, and we have another camera inbetween, 9cm from the LEFT camera and 1 cm from the RIGHT camera we can align the obtained disparity map using a scale factor of 0.9. Note that aligning disparity map to a different camera involves 2 steps: 1. Shifting obtained disparity map. 2. Warping the image to counter rotate and scaling to match the FOV. Center alignment factor 1 is equivalent to RECTIFIED_RIGHT Center alignment factor 0 is equivalent to RECTIFIED_LEFT

property customDepthUnitMultiplier

Custom depth unit multiplier, if custom depth unit is enabled, relative to 1 meter. A multiplier of 1000 effectively means depth unit in millimeter.

property depthAlign

Set the disparity/depth alignment to the perspective of a rectified output, or center it

property depthUnit

Measurement unit for depth data. Depth data is integer value, multiple of depth unit.

property disparityShift

Shift input frame by a number of pixels to increase minimum depth. For example shifting by 48 will change effective disparity search range from (0,95] to [48,143]. An alternative approach to reducing the minZ. We normally only recommend doing this when it is known that there will be no objects farther away than MaxZ, such as having a depth camera mounted above a table pointing down at the table surface.

property enableExtended

Disparity range increased from 95 to 190, combined from full resolution and downscaled images. Suitable for short range objects

property enableLeftRightCheck

Computes and combines disparities in both L-R and R-L directions, and combine them. For better occlusion handling

property enableSubpixel

Computes disparity with sub-pixel interpolation (5 fractional bits), suitable for long range

property leftRightCheckThreshold

Left-right check threshold for left-right, right-left disparity map combine, 0..128 Used only when left-right check mode is enabled. Defines the maximum difference between the confidence of pixels from left-right and right-left confidence maps

property numInvalidateEdgePixels

Invalidate X amount of pixels at the edge of disparity frame. For right and center alignment X pixels will be invalidated from the right edge, for left alignment from the left edge.

property subpixelFractionalBits

Number of fractional bits for subpixel mode

Valid values: 3,4,5

Defines the number of fractional disparities: 2^x

Median filter postprocessing is supported only for 3 fractional bits

class CensusTransform

Bases: pybind11_builtins.pybind11_object

The basic cost function used by the Stereo Accelerator for matching the left and right images is the Census Transform. It works on a block of pixels and computes a bit vector which represents the structure of the image in that block. There are two types of Census Transform based on how the middle pixel is used: Classic Approach and Modified Census. The comparisons that are made between pixels can be or not thresholded. In some cases a mask can be applied to filter out only specific bits from the entire bit stream. All these approaches are: Classic Approach: Uses middle pixel to compare against all its neighbors over a defined window. Each comparison results in a new bit, that is 0 if central pixel is smaller, or 1 if is it bigger than its neighbor. Modified Census Transform: same as classic Census Transform, but instead of comparing central pixel with its neighbors, the window mean will be compared with each pixel over the window. Thresholding Census Transform: same as classic Census Transform, but it is not enough that a neighbor pixel to be bigger than the central pixel, it must be significant bigger (based on a threshold). Census Transform with Mask: same as classic Census Transform, but in this case not all of the pixel from the support window are part of the binary descriptor. We use a ma sk “M” to define which pixels are part of the binary descriptor (1), and which pixels should be skipped (0).

Classes:

KernelSize

Census transform kernel size possible values.

Methods:

__init__(self)

Attributes:

enableMeanMode

If enabled, each pixel in the window is compared with the mean window value instead of the central pixel.

kernelMask

Census transform mask, default - auto, mask is set based on resolution and kernel size.

kernelSize

Census transform kernel size.

threshold

Census transform comparison threshold value.

class KernelSize

Bases: pybind11_builtins.pybind11_object

Census transform kernel size possible values.

Members:

AUTO :

KERNEL_5x5 :

KERNEL_7x7 :

KERNEL_7x9 :

Attributes:

AUTO

KERNEL_5x5

KERNEL_7x7

KERNEL_7x9

name

value

Methods:

__init__(self, value)

AUTO = <KernelSize.AUTO: -1>
KERNEL_5x5 = <KernelSize.KERNEL_5x5: 0>
KERNEL_7x7 = <KernelSize.KERNEL_7x7: 1>
KERNEL_7x9 = <KernelSize.KERNEL_7x9: 2>
__init__(self: depthai.RawStereoDepthConfig.CensusTransform.KernelSize, value: int)None
property name
property value
__init__(self: depthai.RawStereoDepthConfig.CensusTransform)None
property enableMeanMode

If enabled, each pixel in the window is compared with the mean window value instead of the central pixel.

property kernelMask

Census transform mask, default - auto, mask is set based on resolution and kernel size. Disabled for 400p input resolution. Enabled for 720p. 0XA82415 for 5x5 census transform kernel. 0XAA02A8154055 for 7x7 census transform kernel. 0X2AA00AA805540155 for 7x9 census transform kernel. Empirical values.

property kernelSize

Census transform kernel size.

property threshold

Census transform comparison threshold value.

class CostAggregation

Bases: pybind11_builtins.pybind11_object

Cost Aggregation is based on Semi Global Block Matching (SGBM). This algorithm uses a semi global technique to aggregate the cost map. Ultimately the idea is to build inertia into the stereo algorithm. If a pixel has very little texture information, then odds are the correct disparity for this pixel is close to that of the previous pixel considered. This means that we get improved results in areas with low texture.

Methods:

__init__(self)

Attributes:

divisionFactor

Cost calculation linear equation parameters.

horizontalPenaltyCostP1

Horizontal P1 penalty cost parameter.

horizontalPenaltyCostP2

Horizontal P2 penalty cost parameter.

verticalPenaltyCostP1

Vertical P1 penalty cost parameter.

verticalPenaltyCostP2

Vertical P2 penalty cost parameter.

__init__(self: depthai.RawStereoDepthConfig.CostAggregation)None
property divisionFactor

Cost calculation linear equation parameters.

property horizontalPenaltyCostP1

Horizontal P1 penalty cost parameter.

property horizontalPenaltyCostP2

Horizontal P2 penalty cost parameter.

property verticalPenaltyCostP1

Vertical P1 penalty cost parameter.

property verticalPenaltyCostP2

Vertical P2 penalty cost parameter.

class CostMatching

Bases: pybind11_builtins.pybind11_object

The matching cost is way of measuring the similarity of image locations in stereo correspondence algorithm. Based on the configuration parameters and based on the descriptor type, a linear equation is applied to computing the cost for each candidate disparity at each pixel.

Classes:

DisparityWidth

Disparity search range: 64 or 96 pixels are supported by the HW.

LinearEquationParameters

The linear equation applied for computing the cost is: COMB_COST = α*AD + β*(CTC<<3).

Methods:

__init__(self)

Attributes:

confidenceThreshold

Disparities with confidence value under this threshold are accepted.

disparityWidth

Disparity search range, default 96 pixels.

enableCompanding

Disparity companding using sparse matching.

invalidDisparityValue

Used only for debug purposes, SW postprocessing handled only invalid value of 0 properly.

linearEquationParameters

Cost calculation linear equation parameters.

class DisparityWidth

Bases: pybind11_builtins.pybind11_object

Disparity search range: 64 or 96 pixels are supported by the HW.

Members:

DISPARITY_64 :

DISPARITY_96 :

Attributes:

DISPARITY_64

DISPARITY_96

name

value

Methods:

__init__(self, value)

DISPARITY_64 = <DisparityWidth.DISPARITY_64: 0>
DISPARITY_96 = <DisparityWidth.DISPARITY_96: 1>
__init__(self: depthai.RawStereoDepthConfig.CostMatching.DisparityWidth, value: int)None
property name
property value
class LinearEquationParameters

Bases: pybind11_builtins.pybind11_object

The linear equation applied for computing the cost is: COMB_COST = α*AD + β*(CTC<<3). CLAMP(COMB_COST >> 5, threshold). Where AD is the Absolute Difference between 2 pixels values. CTC is the Census Transform Cost between 2 pixels, based on Hamming distance (xor). The α and β parameters are subject to fine tuning by the user.

Methods:

__init__(self)

Attributes:

alpha

beta

threshold

__init__(self: depthai.RawStereoDepthConfig.CostMatching.LinearEquationParameters)None
property alpha
property beta
property threshold
__init__(self: depthai.RawStereoDepthConfig.CostMatching)None
property confidenceThreshold

Disparities with confidence value under this threshold are accepted. Higher confidence threshold means disparities with less confidence are accepted too.

property disparityWidth

Disparity search range, default 96 pixels.

property enableCompanding

Disparity companding using sparse matching. Matching pixel by pixel for N disparities. Matching every 2nd pixel for M disparitites. Matching every 4th pixel for T disparities. In case of 96 disparities: N=48, M=32, T=16. This way the search range is extended to 176 disparities, by sparse matching. Note: when enabling this flag only depth map will be affected, disparity map is not.

property invalidDisparityValue

Used only for debug purposes, SW postprocessing handled only invalid value of 0 properly.

property linearEquationParameters

Cost calculation linear equation parameters.

class MedianFilter

Bases: pybind11_builtins.pybind11_object

Median filter config

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.MedianFilter, value: int)None
property name
property value
class PostProcessing

Bases: pybind11_builtins.pybind11_object

Post-processing filters, all the filters are applied in disparity domain.

Classes:

BrightnessFilter

Brightness filtering.

DecimationFilter

Decimation filter.

SpatialFilter

1D edge-preserving spatial filter using high-order domain transform.

SpeckleFilter

Speckle filtering.

TemporalFilter

Temporal filtering with optional persistence.

ThresholdFilter

Threshold filtering.

Methods:

__init__(self)

Attributes:

bilateralSigmaValue

Sigma value for bilateral filter.

brightnessFilter

Brightness filtering.

decimationFilter

Decimation filter.

median

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

spatialFilter

This type of filter will smooth the depth noise while attempting to preserve edges.

speckleFilter

Speckle filtering.

temporalFilter

Temporal filtering with optional persistence.

thresholdFilter

Threshold filtering.

class BrightnessFilter

Bases: pybind11_builtins.pybind11_object

Brightness filtering. If input frame pixel is too dark or too bright, disparity will be invalidated. The idea is that for too dark/too bright pixels we have low confidence, since that area was under/over exposed and details were lost.

Methods:

__init__(self)

Attributes:

maxBrightness

Maximum range in depth units.

minBrightness

Minimum pixel brightness.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.BrightnessFilter)None
property maxBrightness

Maximum range in depth units. If input pixel is less or equal than this value the depth value is invalidated.

property minBrightness

Minimum pixel brightness. If input pixel is less or equal than this value the depth value is invalidated.

class DecimationFilter

Bases: pybind11_builtins.pybind11_object

Decimation filter. Reduces the depth scene complexity. The filter runs on kernel sizes [2x2] to [8x8] pixels.

Classes:

DecimationMode

Decimation algorithm type.

Methods:

__init__(self)

Attributes:

decimationFactor

Decimation factor.

decimationMode

Decimation algorithm type.

class DecimationMode

Bases: pybind11_builtins.pybind11_object

Decimation algorithm type.

Members:

PIXEL_SKIPPING :

NON_ZERO_MEDIAN :

NON_ZERO_MEAN :

Attributes:

NON_ZERO_MEAN

NON_ZERO_MEDIAN

PIXEL_SKIPPING

name

value

Methods:

__init__(self, value)

NON_ZERO_MEAN = <DecimationMode.NON_ZERO_MEAN: 2>
NON_ZERO_MEDIAN = <DecimationMode.NON_ZERO_MEDIAN: 1>
PIXEL_SKIPPING = <DecimationMode.PIXEL_SKIPPING: 0>
__init__(self: depthai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode, value: int)None
property name
property value
__init__(self: depthai.RawStereoDepthConfig.PostProcessing.DecimationFilter)None
property decimationFactor

Decimation factor. Valid values are 1,2,3,4. Disparity/depth map x/y resolution will be decimated with this value.

property decimationMode

Decimation algorithm type.

class SpatialFilter

Bases: pybind11_builtins.pybind11_object

1D edge-preserving spatial filter using high-order domain transform.

Methods:

__init__(self)

Attributes:

alpha

The Alpha factor in an exponential moving average with Alpha=1 - no filter.

delta

Step-size boundary.

enable

Whether to enable or disable the filter.

holeFillingRadius

An in-place heuristic symmetric hole-filling mode applied horizontally during the filter passes.

numIterations

Number of iterations over the image in both horizontal and vertical direction.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.SpatialFilter)None
property alpha

The Alpha factor in an exponential moving average with Alpha=1 - no filter. Alpha = 0 - infinite filter. Determines the amount of smoothing.

property delta

Step-size boundary. Establishes the threshold used to preserve “edges”. If the disparity value between neighboring pixels exceed the disparity threshold set by this delta parameter, then filtering will be temporarily disabled. Default value 0 means auto: 3 disparity integer levels. In case of subpixel mode it’s 3*number of subpixel levels.

property enable

Whether to enable or disable the filter.

property holeFillingRadius

An in-place heuristic symmetric hole-filling mode applied horizontally during the filter passes. Intended to rectify minor artefacts with minimal performance impact. Search radius for hole filling.

property numIterations

Number of iterations over the image in both horizontal and vertical direction.

class SpeckleFilter

Bases: pybind11_builtins.pybind11_object

Speckle filtering. Removes speckle noise.

Methods:

__init__(self)

Attributes:

enable

Whether to enable or disable the filter.

speckleRange

Speckle search range.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.SpeckleFilter)None
property enable

Whether to enable or disable the filter.

property speckleRange

Speckle search range.

class TemporalFilter

Bases: pybind11_builtins.pybind11_object

Temporal filtering with optional persistence.

Classes:

PersistencyMode

Persistency algorithm type.

Methods:

__init__(self)

Attributes:

alpha

The Alpha factor in an exponential moving average with Alpha=1 - no filter.

delta

Step-size boundary.

enable

Whether to enable or disable the filter.

persistencyMode

Persistency mode.

class PersistencyMode

Bases: pybind11_builtins.pybind11_object

Persistency algorithm type.

Members:

PERSISTENCY_OFF :

VALID_8_OUT_OF_8 :

VALID_2_IN_LAST_3 :

VALID_2_IN_LAST_4 :

VALID_2_OUT_OF_8 :

VALID_1_IN_LAST_2 :

VALID_1_IN_LAST_5 :

VALID_1_IN_LAST_8 :

PERSISTENCY_INDEFINITELY :

Attributes:

PERSISTENCY_INDEFINITELY

PERSISTENCY_OFF

VALID_1_IN_LAST_2

VALID_1_IN_LAST_5

VALID_1_IN_LAST_8

VALID_2_IN_LAST_3

VALID_2_IN_LAST_4

VALID_2_OUT_OF_8

VALID_8_OUT_OF_8

name

value

Methods:

__init__(self, value)

PERSISTENCY_INDEFINITELY = <PersistencyMode.PERSISTENCY_INDEFINITELY: 8>
PERSISTENCY_OFF = <PersistencyMode.PERSISTENCY_OFF: 0>
VALID_1_IN_LAST_2 = <PersistencyMode.VALID_1_IN_LAST_2: 5>
VALID_1_IN_LAST_5 = <PersistencyMode.VALID_1_IN_LAST_5: 6>
VALID_1_IN_LAST_8 = <PersistencyMode.VALID_1_IN_LAST_8: 7>
VALID_2_IN_LAST_3 = <PersistencyMode.VALID_2_IN_LAST_3: 2>
VALID_2_IN_LAST_4 = <PersistencyMode.VALID_2_IN_LAST_4: 3>
VALID_2_OUT_OF_8 = <PersistencyMode.VALID_2_OUT_OF_8: 4>
VALID_8_OUT_OF_8 = <PersistencyMode.VALID_8_OUT_OF_8: 1>
__init__(self: depthai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode, value: int)None
property name
property value
__init__(self: depthai.RawStereoDepthConfig.PostProcessing.TemporalFilter)None
property alpha

The Alpha factor in an exponential moving average with Alpha=1 - no filter. Alpha = 0 - infinite filter. Determines the extent of the temporal history that should be averaged.

property delta

Step-size boundary. Establishes the threshold used to preserve surfaces (edges). If the disparity value between neighboring pixels exceed the disparity threshold set by this delta parameter, then filtering will be temporarily disabled. Default value 0 means auto: 3 disparity integer levels. In case of subpixel mode it’s 3*number of subpixel levels.

property enable

Whether to enable or disable the filter.

property persistencyMode

Persistency mode. If the current disparity/depth value is invalid, it will be replaced by an older value, based on persistency mode.

class ThresholdFilter

Bases: pybind11_builtins.pybind11_object

Threshold filtering. Filters out distances outside of a given interval.

Methods:

__init__(self)

Attributes:

maxRange

Maximum range in depth units.

minRange

Minimum range in depth units.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.ThresholdFilter)None
property maxRange

Maximum range in depth units. Depth values over this value are invalidated.

property minRange

Minimum range in depth units. Depth values under this value are invalidated.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing)None
property bilateralSigmaValue

Sigma value for bilateral filter. 0 means disabled. A larger value of the parameter means that farther colors within the pixel neighborhood will be mixed together.

property brightnessFilter

Brightness filtering. If input frame pixel is too dark or too bright, disparity will be invalidated. The idea is that for too dark/too bright pixels we have low confidence, since that area was under/over exposed and details were lost.

property decimationFilter

Decimation filter. Reduces disparity/depth map x/y complexity, reducing runtime complexity for other filters.

property median

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

property spatialFilter

This type of filter will smooth the depth noise while attempting to preserve edges.

Type

Edge-preserving filtering

property speckleFilter

Speckle filtering. Removes speckle noise.

property temporalFilter

Temporal filtering with optional persistence.

property thresholdFilter

Threshold filtering. Filters out distances outside of a given interval.

__init__(self: depthai.StereoDepthConfig)None
get(self: depthai.StereoDepthConfig)depthai.RawStereoDepthConfig

Retrieve configuration data for StereoDepth.

Returns

config for stereo depth algorithm

getBilateralFilterSigma(self: depthai.StereoDepthConfig)int

Get sigma value for 5x5 bilateral filter

getConfidenceThreshold(self: depthai.StereoDepthConfig)int

Get confidence threshold for disparity calculation

getDepthUnit(self: depthai.StereoDepthConfig)depthai.RawStereoDepthConfig.AlgorithmControl.DepthUnit

Get depth unit of depth map.

getLeftRightCheckThreshold(self: depthai.StereoDepthConfig)int

Get threshold for left-right check combine

getMaxDisparity(self: depthai.StereoDepthConfig)float

Useful for normalization of the disparity map.

Returns

Maximum disparity value that the node can return

getMedianFilter(self: depthai.StereoDepthConfig)depthai.MedianFilter

Get median filter setting

set(self: depthai.StereoDepthConfig, config: depthai.RawStereoDepthConfig)depthai.StereoDepthConfig

Set explicit configuration.

Parameter config:

Explicit configuration

setBilateralFilterSigma(self: depthai.StereoDepthConfig, sigma: int)depthai.StereoDepthConfig

A larger value of the parameter means that farther colors within the pixel neighborhood will be mixed together, resulting in larger areas of semi-equal color.

Parameter sigma:

Set sigma value for 5x5 bilateral filter. 0..65535

setConfidenceThreshold(self: depthai.StereoDepthConfig, confThr: int)depthai.StereoDepthConfig

Confidence threshold for disparity calculation

Parameter confThr:

Confidence threshold value 0..255

setDepthAlign(self: depthai.StereoDepthConfig, align: depthai.RawStereoDepthConfig.AlgorithmControl.DepthAlign)depthai.StereoDepthConfig
Parameter align:

Set the disparity/depth alignment: centered (between the ‘left’ and ‘right’ inputs), or from the perspective of a rectified output stream

setDepthUnit(self: depthai.StereoDepthConfig, arg0: depthai.RawStereoDepthConfig.AlgorithmControl.DepthUnit)depthai.StereoDepthConfig

Set depth unit of depth map.

Meter, centimeter, millimeter, inch, foot or custom unit is available.

setDisparityShift(self: depthai.StereoDepthConfig, arg0: int)depthai.StereoDepthConfig

Shift input frame by a number of pixels to increase minimum depth. For example shifting by 48 will change effective disparity search range from (0,95] to [48,143]. An alternative approach to reducing the minZ. We normally only recommend doing this when it is known that there will be no objects farther away than MaxZ, such as having a depth camera mounted above a table pointing down at the table surface.

setExtendedDisparity(self: depthai.StereoDepthConfig, enable: bool)depthai.StereoDepthConfig

Disparity range increased from 95 to 190, combined from full resolution and downscaled images. Suitable for short range objects

setLeftRightCheck(self: depthai.StereoDepthConfig, enable: bool)depthai.StereoDepthConfig

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

For better occlusion handling, discarding invalid disparity values

setLeftRightCheckThreshold(self: depthai.StereoDepthConfig, sigma: int)depthai.StereoDepthConfig
Parameter threshold:

Set threshold for left-right, right-left disparity map combine, 0..255

setMedianFilter(self: depthai.StereoDepthConfig, median: depthai.MedianFilter)depthai.StereoDepthConfig
Parameter median:

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

setNumInvalidateEdgePixels(self: depthai.StereoDepthConfig, arg0: int)depthai.StereoDepthConfig

Invalidate X amount of pixels at the edge of disparity frame. For right and center alignment X pixels will be invalidated from the right edge, for left alignment from the left edge.

setSubpixel(self: depthai.StereoDepthConfig, enable: bool)depthai.StereoDepthConfig

Computes disparity with sub-pixel interpolation (3 fractional bits by default).

Suitable for long range. Currently incompatible with extended disparity

setSubpixelFractionalBits(self: depthai.StereoDepthConfig, subpixelFractionalBits: int)depthai.StereoDepthConfig

Number of fractional bits for subpixel mode. Default value: 3. Valid values: 3,4,5. Defines the number of fractional disparities: 2^x. Median filter postprocessing is supported only for 3 fractional bits.

class depthai.StereoDepthProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for StereoDepth

Classes:

DepthAlign

Align the disparity/depth to the perspective of a rectified output, or center it

MedianFilter

Median filter config

RectificationMesh

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

alphaScaling

Free scaling parameter between 0 (when all the pixels in the undistorted image are valid) and 1 (when all the source image pixels are retained in the undistorted image).

baseline

Override baseline from calibration.

depthAlignCamera

Which camera to align disparity/depth to.

depthAlignmentUseSpecTranslation

Use baseline information for depth alignment from specs (design data) or from calibration.

disparityToDepthUseSpecTranslation

Use baseline information for disparity to depth conversion from specs (design data) or from calibration.

enableRectification

Enable stereo rectification/dewarp or not.

enableRuntimeStereoModeSwitch

Whether to enable switching stereo modes at runtime or not.

focalLength

Override focal length from calibration.

focalLengthFromCalibration

Whether to use horizontal focal length from calibration intrinsics (fx) or calculate based on calibration FOV.

height

Input frame height.

initialConfig

Initial stereo config

mesh

Specify a direct warp mesh to be used for rectification, instead of intrinsics + extrinsic matrices

numFramesPool

Num frames in output pool

numPostProcessingMemorySlices

Number of memory slices reserved for stereo depth post processing.

numPostProcessingShaves

Number of shaves reserved for stereo depth post processing.

outHeight

Output disparity/depth height.

outKeepAspectRatio

Whether to keep aspect ratio of the input (rectified) or not

outWidth

Output disparity/depth width.

rectificationUseSpecTranslation

Obtain rectification matrices using spec translation (design data) or from calibration in calculations.

rectifyEdgeFillColor

Fill color for missing data at frame edges - grayscale 0..255, or -1 to replicate pixels

useHomographyRectification

Use 3x3 homography matrix for stereo rectification instead of sparse mesh generated on device.

width

Input frame width.

class DepthAlign

Bases: pybind11_builtins.pybind11_object

Align the disparity/depth to the perspective of a rectified output, or center it

Members:

RECTIFIED_RIGHT :

RECTIFIED_LEFT :

CENTER :

Attributes:

CENTER

RECTIFIED_LEFT

RECTIFIED_RIGHT

name

value

Methods:

__init__(self, value)

CENTER = <DepthAlign.CENTER: 2>
RECTIFIED_LEFT = <DepthAlign.RECTIFIED_LEFT: 1>
RECTIFIED_RIGHT = <DepthAlign.RECTIFIED_RIGHT: 0>
__init__(self: depthai.RawStereoDepthConfig.AlgorithmControl.DepthAlign, value: int)None
property name
property value
class MedianFilter

Bases: pybind11_builtins.pybind11_object

Median filter config

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.MedianFilter, value: int)None
property name
property value
class RectificationMesh

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

meshLeftUri

Uri which points to the mesh array for ‘left’ input rectification

meshRightUri

Uri which points to the mesh array for ‘right’ input rectification

meshSize

Mesh array size in bytes, for each of ‘left’ and ‘right’ (need to match)

stepHeight

Distance between mesh points, in the vertical direction

stepWidth

Distance between mesh points, in the horizontal direction

__init__(*args, **kwargs)

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

property meshLeftUri

Uri which points to the mesh array for ‘left’ input rectification

property meshRightUri

Uri which points to the mesh array for ‘right’ input rectification

property meshSize

Mesh array size in bytes, for each of ‘left’ and ‘right’ (need to match)

property stepHeight

Distance between mesh points, in the vertical direction

property stepWidth

Distance between mesh points, in the horizontal direction

__init__(*args, **kwargs)

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

property alphaScaling

Free scaling parameter between 0 (when all the pixels in the undistorted image are valid) and 1 (when all the source image pixels are retained in the undistorted image). On some high distortion lenses, and/or due to rectification (image rotated) invalid areas may appear even with alpha=0, in these cases alpha < 0.0 helps removing invalid areas. See getOptimalNewCameraMatrix from opencv for more details.

property baseline

Override baseline from calibration. Used only in disparity to depth conversion. Units are centimeters.

property depthAlignCamera

Which camera to align disparity/depth to. When configured (not AUTO), takes precedence over ‘depthAlign’

property depthAlignmentUseSpecTranslation

Use baseline information for depth alignment from specs (design data) or from calibration. Suitable for debugging. Utilizes calibrated value as default

property disparityToDepthUseSpecTranslation

Use baseline information for disparity to depth conversion from specs (design data) or from calibration. Suitable for debugging. Utilizes calibrated value as default

property enableRectification

Enable stereo rectification/dewarp or not. Useful to disable when replaying pre- recorded rectified frames.

property enableRuntimeStereoModeSwitch

Whether to enable switching stereo modes at runtime or not. E.g. standard to subpixel, standard+LR-check to subpixel + LR-check. Note: It will allocate resources for worst cases scenario, should be enabled only if dynamic mode switch is required. Default value: false.

property focalLength

Override focal length from calibration. Used only in disparity to depth conversion. Units are pixels.

property focalLengthFromCalibration

Whether to use horizontal focal length from calibration intrinsics (fx) or calculate based on calibration FOV. Default value is true. If set to false it’s calculated from FOV and image resolution: focalLength = calib.width / (2.f * tan(calib.fov / 2 / 180.f * pi));

property height

Input frame height. Optional (taken from MonoCamera nodes if they exist)

property initialConfig

Initial stereo config

property mesh

Specify a direct warp mesh to be used for rectification, instead of intrinsics + extrinsic matrices

property numFramesPool

Num frames in output pool

property numPostProcessingMemorySlices

Number of memory slices reserved for stereo depth post processing. -1 means auto, memory will be allocated based on initial stereo settings and number of shaves. 0 means that it will reuse the memory slices assigned for main stereo algorithm. For optimal performance it’s recommended to allocate more than 0, so post processing will run in parallel with main stereo algorithm. Minimum 1, maximum 6.

property numPostProcessingShaves

Number of shaves reserved for stereo depth post processing. Post processing can use multiple shaves to increase performance. -1 means auto, resources will be allocated based on enabled filters. 0 means that it will reuse the shave assigned for main stereo algorithm. For optimal performance it’s recommended to allocate more than 0, so post processing will run in parallel with main stereo algorithm. Minimum 1, maximum 10.

property outHeight

Output disparity/depth height. Currently only used when aligning to RGB

property outKeepAspectRatio

Whether to keep aspect ratio of the input (rectified) or not

property outWidth

Output disparity/depth width. Currently only used when aligning to RGB

property rectificationUseSpecTranslation

Obtain rectification matrices using spec translation (design data) or from calibration in calculations. Suitable for debugging. Default: false

property rectifyEdgeFillColor

Fill color for missing data at frame edges - grayscale 0..255, or -1 to replicate pixels

property useHomographyRectification

Use 3x3 homography matrix for stereo rectification instead of sparse mesh generated on device. Default behaviour is AUTO, for lenses with FOV over 85 degrees sparse mesh is used, otherwise 3x3 homography. If custom mesh data is provided through loadMeshData or loadMeshFiles this option is ignored. true: 3x3 homography matrix generated from calibration data is used for stereo rectification, can’t correct lens distortion. false: sparse mesh is generated on-device from calibration data with mesh step specified with setMeshStep (Default: (16, 16)), can correct lens distortion. Implementation for generating the mesh is same as opencv’s initUndistortRectifyMap function. Only the first 8 distortion coefficients are used from calibration data.

property width

Input frame width. Optional (taken from MonoCamera nodes if they exist)

class depthai.StereoPair

Bases: pybind11_builtins.pybind11_object

Describes which camera sockets can be used for stereo and their baseline.

Methods:

__init__(self)

Attributes:

baseline

isVertical

left

right

__init__(self: depthai.StereoPair)None
property baseline
property isVertical
property left
property right
class depthai.StereoRectification

Bases: pybind11_builtins.pybind11_object

StereoRectification structure

Methods:

__init__(self)

Attributes:

leftCameraSocket

rectifiedRotationLeft

rectifiedRotationRight

rightCameraSocket

__init__(self: depthai.StereoRectification)None
property leftCameraSocket
property rectifiedRotationLeft
property rectifiedRotationRight
property rightCameraSocket
class depthai.SyncProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for Sync.

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

syncAttempts

syncThresholdNs

__init__(*args, **kwargs)

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

property syncAttempts
property syncThresholdNs
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.SystemLoggerProperties

Bases: pybind11_builtins.pybind11_object

SystemLoggerProperties structure

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

TensorInfo structure

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

Timestamp structure

Methods:

__init__(self)

get(self)

Attributes:

nsec

sec

__init__(self: depthai.Timestamp)None
get(self: depthai.Timestamp)datetime.timedelta
property nsec
property sec
class depthai.ToFConfig

Bases: depthai.Buffer

ToFConfig message. Carries config for feature tracking algorithm

Classes:

DepthParams

DepthParams configuration structure.

Methods:

__init__(*args, **kwargs)

Overloaded function.

get(self)

Retrieve configuration data for ToF.

set(self, config)

Set explicit configuration.

setAvgPhaseShuffle(self, arg0)

setDepthParams(self, config)

setFreqModUsed(self, arg0)

setMedianFilter(self, arg0)

Parameter median:

setMinAmplitude(self, arg0)

class DepthParams

Bases: pybind11_builtins.pybind11_object

DepthParams configuration structure.

Classes:

TypeFMod

Frequency modulation frames used for depth calculation.

Methods:

__init__(self)

Attributes:

avgPhaseShuffle

Enable averaging between phases with same modulation frequency(e.g.

freqModUsed

median

Set kernel size for depth median filtering, or disable

minimumAmplitude

Perform depth calculation only for pixels with amplitude greater than provided value

class TypeFMod

Bases: pybind11_builtins.pybind11_object

Frequency modulation frames used for depth calculation. If the ToF sensor supports multiple modulation frequencies, all will be used for depth calculation.

Members:

ALL

MIN

MAX

Attributes:

ALL

MAX

MIN

name

value

Methods:

__init__(self, value)

ALL = <TypeFMod.ALL: 0>
MAX = <TypeFMod.MAX: 2>
MIN = <TypeFMod.MIN: 1>
__init__(self: depthai.RawToFConfig.DepthParams.TypeFMod, value: int)None
property name
property value
__init__(self: depthai.RawToFConfig.DepthParams)None
property avgPhaseShuffle

Enable averaging between phases with same modulation frequency(e.g. for ToF cameras with phase shuffle). The depth frame rate will be half if this is enabled

property freqModUsed
property median

Set kernel size for depth median filtering, or disable

property minimumAmplitude

Perform depth calculation only for pixels with amplitude greater than provided value

__init__(*args, **kwargs)

Overloaded function.

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

  2. __init__(self: depthai.ToFConfig, arg0: depthai.RawToFConfig) -> None

get(self: depthai.ToFConfig)depthai.RawToFConfig

Retrieve configuration data for ToF.

Returns

config for feature tracking algorithm

set(self: depthai.ToFConfig, config: depthai.RawToFConfig)depthai.ToFConfig

Set explicit configuration.

Parameter config:

Explicit configuration

setAvgPhaseShuffle(self: depthai.ToFConfig, arg0: bool)depthai.ToFConfig
setDepthParams(self: depthai.ToFConfig, config: depthai.RawToFConfig.DepthParams)depthai.ToFConfig
setFreqModUsed(self: depthai.ToFConfig, arg0: depthai.RawToFConfig.DepthParams.TypeFMod)depthai.ToFConfig
setMedianFilter(self: depthai.ToFConfig, arg0: depthai.MedianFilter)depthai.ToFConfig
Parameter median:

Set kernel size for median filtering, or disable

setMinAmplitude(self: depthai.ToFConfig, arg0: float)depthai.ToFConfig
class depthai.ToFProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for ToF

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

initialConfig

Initial ToF config

__init__(*args, **kwargs)

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

property initialConfig

Initial ToF config

class depthai.TrackedFeature

Bases: pybind11_builtins.pybind11_object

TrackedFeature structure

Methods:

__init__(self)

Attributes:

age

Feature age in frames

harrisScore

Feature harris score

id

Feature ID.

position

x, y position of the detected feature

trackingError

Feature tracking error

__init__(self: depthai.TrackedFeature)None
property age

Feature age in frames

property harrisScore

Feature harris score

property id

Feature ID. Persistent between frames if motion estimation is enabled.

property position

x, y position of the detected feature

property trackingError

Feature tracking error

class depthai.TrackedFeatures

Bases: depthai.Buffer

TrackedFeatures message. Carries position (X, Y) of tracked features and their ID.

Methods:

__init__(self)

getSequenceNum(self)

Retrieves sequence number

getTimestamp(self)

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self)

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time.

setSequenceNum(self, arg0)

Retrieves image sequence number

setTimestamp(self, arg0)

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self, arg0)

Sets image timestamp related to dai::Clock::now()

Attributes:

trackedFeatures

__init__(self: depthai.TrackedFeatures)None
getSequenceNum(self: depthai.TrackedFeatures)int

Retrieves sequence number

getTimestamp(self: depthai.TrackedFeatures)datetime.timedelta

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self: depthai.TrackedFeatures)datetime.timedelta

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

setSequenceNum(self: depthai.TrackedFeatures, arg0: int)depthai.TrackedFeatures

Retrieves image sequence number

setTimestamp(self: depthai.TrackedFeatures, arg0: datetime.timedelta)depthai.TrackedFeatures

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self: depthai.TrackedFeatures, arg0: datetime.timedelta)depthai.TrackedFeatures

Sets image timestamp related to dai::Clock::now()

property trackedFeatures
class depthai.TrackerIdAssignmentPolicy

Bases: pybind11_builtins.pybind11_object

Members:

UNIQUE_ID

SMALLEST_ID

Attributes:

SMALLEST_ID

UNIQUE_ID

name

value

Methods:

__init__(self, value)

SMALLEST_ID = <TrackerIdAssignmentPolicy.SMALLEST_ID: 1>
UNIQUE_ID = <TrackerIdAssignmentPolicy.UNIQUE_ID: 0>
__init__(self: depthai.TrackerIdAssignmentPolicy, value: int)None
property name
property value
class depthai.TrackerType

Bases: pybind11_builtins.pybind11_object

Members:

SHORT_TERM_KCF : Kernelized Correlation Filter tracking

SHORT_TERM_IMAGELESS : Short term tracking without using image data

ZERO_TERM_IMAGELESS : Ability to track the objects without accessing image data.

ZERO_TERM_COLOR_HISTOGRAM : Tracking using image data too.

Attributes:

SHORT_TERM_IMAGELESS

SHORT_TERM_KCF

ZERO_TERM_COLOR_HISTOGRAM

ZERO_TERM_IMAGELESS

name

value

Methods:

__init__(self, value)

SHORT_TERM_IMAGELESS = <TrackerType.SHORT_TERM_IMAGELESS: 3>
SHORT_TERM_KCF = <TrackerType.SHORT_TERM_KCF: 1>
ZERO_TERM_COLOR_HISTOGRAM = <TrackerType.ZERO_TERM_COLOR_HISTOGRAM: 6>
ZERO_TERM_IMAGELESS = <TrackerType.ZERO_TERM_IMAGELESS: 5>
__init__(self: depthai.TrackerType, value: int)None
property name
property value
class depthai.Tracklet

Bases: pybind11_builtins.pybind11_object

Tracklet structure

Contains tracklets from object tracker output.

Classes:

TrackingStatus

Members:

Methods:

__init__(self)

Attributes:

age

id

label

roi

spatialCoordinates

srcImgDetection

status

class TrackingStatus

Bases: pybind11_builtins.pybind11_object

Members:

NEW

TRACKED

LOST

REMOVED

Attributes:

LOST

NEW

REMOVED

TRACKED

name

value

Methods:

__init__(self, value)

LOST = <TrackingStatus.LOST: 2>
NEW = <TrackingStatus.NEW: 0>
REMOVED = <TrackingStatus.REMOVED: 3>
TRACKED = <TrackingStatus.TRACKED: 1>
__init__(self: depthai.Tracklet.TrackingStatus, value: int)None
property name
property value
__init__(self: depthai.Tracklet)None
property age
property id
property label
property roi
property spatialCoordinates
property srcImgDetection
property status
class depthai.Tracklets

Bases: depthai.Buffer

Tracklets message. Carries object tracking information.

Methods:

__init__(self)

getSequenceNum(self)

Retrieves sequence number

getTimestamp(self)

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self)

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time.

setSequenceNum(self, arg0)

Retrieves image sequence number

setTimestamp(self, arg0)

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self, arg0)

Sets image timestamp related to dai::Clock::now()

Attributes:

tracklets

Retrieve data for Tracklets.

__init__(self: depthai.Tracklets)None
getSequenceNum(self: depthai.Tracklets)int

Retrieves sequence number

getTimestamp(self: depthai.Tracklets)datetime.timedelta

Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self: depthai.Tracklets)datetime.timedelta

Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

setSequenceNum(self: depthai.Tracklets, arg0: int)depthai.Tracklets

Retrieves image sequence number

setTimestamp(self: depthai.Tracklets, arg0: datetime.timedelta)depthai.Tracklets

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self: depthai.Tracklets, arg0: datetime.timedelta)depthai.Tracklets

Sets image timestamp related to dai::Clock::now()

property tracklets

Retrieve data for Tracklets.

Returns

Vector of object tracker data, carrying tracking information.

class depthai.UVCProperties

Bases: pybind11_builtins.pybind11_object

Properties for UVC node

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

gpioInit

gpioStreamOff

gpioStreamOn

__init__(*args, **kwargs)

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

property gpioInit
property gpioStreamOff
property gpioStreamOn
class depthai.UsbSpeed

Bases: pybind11_builtins.pybind11_object

Get USB Speed

Members:

UNKNOWN

LOW

FULL

HIGH

SUPER

SUPER_PLUS

Attributes:

FULL

HIGH

LOW

SUPER

SUPER_PLUS

UNKNOWN

name

value

Methods:

__init__(self, value)

FULL = <UsbSpeed.FULL: 2>
HIGH = <UsbSpeed.HIGH: 3>
LOW = <UsbSpeed.LOW: 1>
SUPER = <UsbSpeed.SUPER: 4>
SUPER_PLUS = <UsbSpeed.SUPER_PLUS: 5>
UNKNOWN = <UsbSpeed.UNKNOWN: 0>
__init__(self: depthai.UsbSpeed, value: int)None
property name
property value
class depthai.Version

Bases: pybind11_builtins.pybind11_object

Version structure

Methods:

__init__(*args, **kwargs)

Overloaded function.

getBuildInfo(self)

Get build info

getSemver(self)

Retrieves semver version (no build information)

toStringSemver(self)

Convert Version to semver (no build information) string

__init__(*args, **kwargs)

Overloaded function.

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

Construct Version from string

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

Construct Version major, minor and patch numbers

getBuildInfo(self: depthai.Version)str

Get build info

getSemver(self: depthai.Version)depthai.Version

Retrieves semver version (no build information)

toStringSemver(self: depthai.Version)str

Convert Version to semver (no build information) string

class depthai.VideoEncoderProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for VideoEncoder such as profile, bitrate, …

Classes:

Profile

Encoding profile, H264 (AVC), H265 (HEVC) 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

keyframeFrequency

maxBitrate

numBFrames

numFramesPool

outputFrameSize

profile

quality

rateCtrlMode

class Profile

Bases: pybind11_builtins.pybind11_object

Encoding profile, H264 (AVC), H265 (HEVC) 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 keyframeFrequency
property maxBitrate
property numBFrames
property numFramesPool
property outputFrameSize
property profile
property quality
property rateCtrlMode
class depthai.WarpProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for Warp

Classes:

Interpolation

Interpolation type

Methods:

__init__(*args, **kwargs)

Initialize self.

class Interpolation

Bases: pybind11_builtins.pybind11_object

Interpolation type

Members:

BILINEAR

BICUBIC

NEAREST_NEIGHBOR

BYPASS

DEFAULT

DEFAULT_DISPARITY_DEPTH

Attributes:

BICUBIC

BILINEAR

BYPASS

DEFAULT

DEFAULT_DISPARITY_DEPTH

NEAREST_NEIGHBOR

name

value

Methods:

__init__(self, value)

BICUBIC = <Interpolation.BICUBIC: 1>
BILINEAR = <Interpolation.BILINEAR: 0>
BYPASS = <Interpolation.NEAREST_NEIGHBOR: 2>
DEFAULT = <Interpolation.BICUBIC: 1>
DEFAULT_DISPARITY_DEPTH = <Interpolation.NEAREST_NEIGHBOR: 2>
NEAREST_NEIGHBOR = <Interpolation.NEAREST_NEIGHBOR: 2>
__init__(self: depthai.Interpolation, value: int)None
property name
property value
__init__(*args, **kwargs)

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

class depthai.XLinkConnection

Bases: pybind11_builtins.pybind11_object

Represents connection between host and device over XLink protocol

Methods:

__init__(*args, **kwargs)

Overloaded function.

bootBootloader(devInfo)

getAllConnectedDevices(state, skipInvalidDevices)

getDeviceByMxId(mxId, state, skipInvalidDevice)

getFirstDevice(state, skipInvalidDevice)

getGlobalProfilingData()

Get current accumulated profiling data

__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 bootBootloader(devInfo: depthai.DeviceInfo)depthai.DeviceInfo
static getAllConnectedDevices(state: depthai.XLinkDeviceState = <XLinkDeviceState.X_LINK_ANY_STATE: 0>, skipInvalidDevices: bool = True) → List[depthai.DeviceInfo]
static getDeviceByMxId(mxId: str, state: depthai.XLinkDeviceState = <XLinkDeviceState.X_LINK_ANY_STATE: 0>, skipInvalidDevice: bool = True) → Tuple[bool, depthai.DeviceInfo]
static getFirstDevice(state: depthai.XLinkDeviceState = <XLinkDeviceState.X_LINK_ANY_STATE: 0>, skipInvalidDevice: bool = True) → Tuple[bool, depthai.DeviceInfo]
static getGlobalProfilingData()depthai.ProfilingData

Get current accumulated profiling data

Returns

ProfilingData from the specific connection

class depthai.XLinkDeviceState

Bases: pybind11_builtins.pybind11_object

Members:

X_LINK_ANY_STATE

X_LINK_BOOTED

X_LINK_UNBOOTED

X_LINK_BOOTLOADER

X_LINK_FLASH_BOOTED

Attributes:

X_LINK_ANY_STATE

X_LINK_BOOTED

X_LINK_BOOTLOADER

X_LINK_FLASH_BOOTED

X_LINK_UNBOOTED

name

value

Methods:

__init__(self, value)

__init__(self: depthai.XLinkDeviceState, value: int)None
property name
property value
exception depthai.XLinkError

Bases: RuntimeError

class depthai.XLinkError_t

Bases: pybind11_builtins.pybind11_object

Members:

X_LINK_SUCCESS

X_LINK_ALREADY_OPEN

X_LINK_COMMUNICATION_NOT_OPEN

X_LINK_COMMUNICATION_FAIL

X_LINK_COMMUNICATION_UNKNOWN_ERROR

X_LINK_DEVICE_NOT_FOUND

X_LINK_TIMEOUT

X_LINK_ERROR

X_LINK_OUT_OF_MEMORY

X_LINK_INSUFFICIENT_PERMISSIONS

X_LINK_DEVICE_ALREADY_IN_USE

X_LINK_NOT_IMPLEMENTED

X_LINK_INIT_USB_ERROR

X_LINK_INIT_TCP_IP_ERROR

X_LINK_INIT_PCIE_ERROR

Attributes:

X_LINK_ALREADY_OPEN

X_LINK_COMMUNICATION_FAIL

X_LINK_COMMUNICATION_NOT_OPEN

X_LINK_COMMUNICATION_UNKNOWN_ERROR

X_LINK_DEVICE_ALREADY_IN_USE

X_LINK_DEVICE_NOT_FOUND

X_LINK_ERROR

X_LINK_INIT_PCIE_ERROR

X_LINK_INIT_TCP_IP_ERROR

X_LINK_INIT_USB_ERROR

X_LINK_INSUFFICIENT_PERMISSIONS

X_LINK_NOT_IMPLEMENTED

X_LINK_OUT_OF_MEMORY

X_LINK_SUCCESS

X_LINK_TIMEOUT

name

value

Methods:

__init__(self, value)

__init__(self: depthai.XLinkError_t, value: int)None
property name
property value
class depthai.XLinkInProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for XLinkIn such as stream name, …

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

maxDataSize

numFrames

streamName

__init__(*args, **kwargs)

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

property maxDataSize
property numFrames
property streamName
class depthai.XLinkOutProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for XLinkOut such as stream name, …

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

maxFpsLimit

metadataOnly

streamName

__init__(*args, **kwargs)

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

property maxFpsLimit
property metadataOnly
property streamName
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

X_LINK_MYRIAD_X

name

value

Methods:

__init__(self, value)

__init__(self: depthai.XLinkPlatform, value: int)None
property name
property value
class depthai.XLinkProtocol

Bases: pybind11_builtins.pybind11_object

Members:

X_LINK_USB_VSC

X_LINK_USB_CDC

X_LINK_PCIE

X_LINK_TCP_IP

X_LINK_IPC

X_LINK_NMB_OF_PROTOCOLS

X_LINK_ANY_PROTOCOL

Attributes:

X_LINK_ANY_PROTOCOL

X_LINK_IPC

X_LINK_NMB_OF_PROTOCOLS

X_LINK_PCIE

X_LINK_TCP_IP

X_LINK_USB_CDC

X_LINK_USB_VSC

name

value

Methods:

__init__(self, value)

__init__(self: depthai.XLinkProtocol, value: int)None
property name
property value
exception depthai.XLinkReadError

Bases: depthai.XLinkError

exception depthai.XLinkWriteError

Bases: depthai.XLinkError

class depthai.connectionInterface

Bases: pybind11_builtins.pybind11_object

Members:

USB

ETHERNET

WIFI

Attributes:

ETHERNET

USB

WIFI

name

value

Methods:

__init__(self, value)

ETHERNET = <connectionInterface.ETHERNET: 1>
USB = <connectionInterface.USB: 0>
WIFI = <connectionInterface.WIFI: 2>
__init__(self: depthai.connectionInterface, value: int)None
property name
property value
depthai.isDatatypeSubclassOf(arg0: depthai.DatatypeEnum, arg1: depthai.DatatypeEnum)bool

Nodes

Classes:

AprilTag

AprilTag node.

Camera

Camera node.

ColorCamera

ColorCamera node.

DetectionNetwork

DetectionNetwork, base for different network specializations

DetectionParser

DetectionParser node.

EdgeDetector

EdgeDetector node.

FeatureTracker

FeatureTracker node.

IMU

IMU node for BNO08X.

ImageManip

ImageManip node.

MessageDemux

MobileNetDetectionNetwork

MobileNetDetectionNetwork node.

MobileNetSpatialDetectionNetwork

MobileNetSpatialDetectionNetwork node.

MonoCamera

MonoCamera node.

NeuralNetwork

NeuralNetwork node.

ObjectTracker

ObjectTracker node.

PointCloud

PointCloud node.

SPIIn

SPIIn node.

SPIOut

SPIOut node.

Script

SpatialDetectionNetwork

SpatialDetectionNetwork node.

SpatialLocationCalculator

SpatialLocationCalculator node.

StereoDepth

StereoDepth node.

Sync

SystemLogger

SystemLogger node.

ToF

ToF node

UVC

UVC (USB Video Class) node

VideoEncoder

VideoEncoder node.

Warp

Warp node.

XLinkIn

XLinkIn node.

XLinkOut

XLinkOut node.

YoloDetectionNetwork

YoloDetectionNetwork node.

YoloSpatialDetectionNetwork

YoloSpatialDetectionNetwork node.

class depthai.node.AprilTag

Bases: depthai.Node

AprilTag node.

Classes:

Properties

alias of depthai.AprilTagProperties

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 AprilTagConfig message with ability to modify parameters in runtime.

inputImage

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

out

Outputs AprilTags message that carries spatial location results.

passthroughInputImage

Passthrough message on which the calculation was performed.

Properties

alias of depthai.AprilTagProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

initialConfig

inputConfigSync

Whether to wait for config at ‘inputConfig’ IO

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

property inputImage

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

property out

Outputs AprilTags message that carries spatial location results.

property passthroughInputImage

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

setWaitForConfigInput(self: depthai.node.AprilTag, 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.node.Camera

Bases: depthai.Node

Camera node. Experimental node, for both mono and color types of sensors

Classes:

Properties

alias of depthai.CameraProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getBoardSocket(self)

Retrieves which board socket to use

getCalibrationAlpha(self)

Get calibration alpha parameter that determines FOV of undistorted frames

getCamera(self)

Retrieves which camera to use by name

getFps(self)

Get rate at which camera should produce frames

getHeight(self)

Get sensor resolution height

getImageOrientation(self)

Get camera image orientation

getMeshSource(self)

Gets the source of the warp mesh

getMeshStep(self)

Gets the distance between mesh points

getPreviewHeight(self)

Get preview height

getPreviewSize(self)

Get preview size as tuple

getPreviewWidth(self)

Get preview width

getSize(self)

Get sensor resolution as size

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

getWidth(self)

Get sensor resolution width

loadMeshData(self, warpMesh)

Specify mesh calibration data for undistortion See loadMeshFiles for the expected data format

loadMeshFile(self, warpMesh)

Specify local filesystem paths to the undistort mesh calibration files.

setBoardSocket(self, boardSocket)

Specify which board socket to use

setCalibrationAlpha(self, alpha)

Set calibration alpha parameter that determines FOV of undistorted frames

setCamera(self, name)

Specify which camera to use by name

setFps(self, fps)

Set rate at which camera should produce frames

setImageOrientation(self, imageOrientation)

Set camera image orientation

setIsp3aFps(self, arg0)

Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.).

setMeshSource(self, source)

Set the source of the warp mesh or disable

setMeshStep(self, width, height)

Set the distance between mesh points.

setPreviewSize(*args, **kwargs)

Overloaded function.

setRawOutputPacked(self, packed)

Configures whether the camera raw frames are saved as MIPI-packed to memory.

setSize(*args, **kwargs)

Overloaded function.

setStillSize(*args, **kwargs)

Overloaded function.

setVideoSize(*args, **kwargs)

Overloaded function.

Attributes:

frameEvent

Outputs metadata-only ImgFrame message as an early indicator of an incoming frame.

initialControl

Initial control options to apply to sensor

inputConfig

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

inputControl

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

isp

Outputs ImgFrame message that carries YUV420 planar (I420/IYUV) frame data.

preview

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

raw

Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) 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.CameraProperties Classes:

ColorOrder

For 24 bit color these can be either RGB or BGR

WarpMeshSource

Warp mesh source

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

boardSocket

calibAlpha

cameraName

colorOrder

fp16

fps

imageOrientation

initialControl

interleaved

isp3aFps

ispScale

numFramesPoolIsp

numFramesPoolPreview

numFramesPoolRaw

numFramesPoolStill

numFramesPoolVideo

previewHeight

previewKeepAspectRatio

previewWidth

rawPacked

resolutionHeight

resolutionWidth

sensorCropX

sensorCropY

sensorType

stillHeight

stillWidth

videoHeight

videoWidth

warpMeshHeight

warpMeshSource

warpMeshStepHeight

warpMeshStepWidth

warpMeshUri

warpMeshWidth

__init__(*args, **kwargs)

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

property frameEvent

Outputs metadata-only ImgFrame message as an early indicator of an incoming frame.

It’s sent on the MIPI SoF (start-of-frame) event, just after the exposure of the current frame has finished and before the exposure for next frame starts. Could be used to synchronize various processes with camera capture. Fields populated: camera id, sequence number, timestamp

getBoardSocket(self: depthai.node.Camera)depthai.CameraBoardSocket

Retrieves which board socket to use

Returns

Board socket to use

getCalibrationAlpha(self: depthai.node.Camera) → Optional[float]

Get calibration alpha parameter that determines FOV of undistorted frames

getCamera(self: depthai.node.Camera)str

Retrieves which camera to use by name

Returns

Name of the camera to use

getFps(self: depthai.node.Camera)float

Get rate at which camera should produce frames

Returns

Rate in frames per second

getHeight(self: depthai.node.Camera)int

Get sensor resolution height

getImageOrientation(self: depthai.node.Camera)depthai.CameraImageOrientation

Get camera image orientation

getMeshSource(self: depthai.node.Camera)depthai.CameraProperties.WarpMeshSource

Gets the source of the warp mesh

getMeshStep(self: depthai.node.Camera) → Tuple[int, int]

Gets the distance between mesh points

getPreviewHeight(self: depthai.node.Camera)int

Get preview height

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

Get preview size as tuple

getPreviewWidth(self: depthai.node.Camera)int

Get preview width

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

Get sensor resolution as size

getStillHeight(self: depthai.node.Camera)int

Get still height

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

Get still size as tuple

getStillWidth(self: depthai.node.Camera)int

Get still width

getVideoHeight(self: depthai.node.Camera)int

Get video height

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

Get video size as tuple

getVideoWidth(self: depthai.node.Camera)int

Get video width

getWidth(self: depthai.node.Camera)int

Get sensor resolution width

property initialControl

Initial control options to apply to sensor

property inputConfig

Input for ImageManipConfig message, which can modify crop parameters 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 isp

Outputs ImgFrame message that carries YUV420 planar (I420/IYUV) frame data.

Generated by the ISP engine, and the source for the ‘video’, ‘preview’ and ‘still’ outputs

loadMeshData(self: depthai.node.Camera, warpMesh: buffer)None

Specify mesh calibration data for undistortion See loadMeshFiles for the expected data format

loadMeshFile(self: depthai.node.Camera, warpMesh: Path)None

Specify local filesystem paths to the undistort mesh calibration files.

When a mesh calibration is set, it overrides the camera intrinsics/extrinsics matrices. Overrides useHomographyRectification behavior. Mesh format: a sequence of (y,x) points as ‘float’ with coordinates from the input image to be mapped in the output. The mesh can be subsampled, configured by setMeshStep.

With a 1280x800 resolution and the default (16,16) step, the required mesh size is:

width: 1280 / 16 + 1 = 81

height: 800 / 16 + 1 = 51

property preview

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

Suitable for use with NeuralNetwork node

property raw

Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.

Captured directly from the camera sensor, and the source for the ‘isp’ output.

setBoardSocket(self: depthai.node.Camera, boardSocket: depthai.CameraBoardSocket)None

Specify which board socket to use

Parameter boardSocket:

Board socket to use

setCalibrationAlpha(self: depthai.node.Camera, alpha: float)None

Set calibration alpha parameter that determines FOV of undistorted frames

setCamera(self: depthai.node.Camera, name: str)None

Specify which camera to use by name

Parameter name:

Name of the camera to use

setFps(self: depthai.node.Camera, fps: float)None

Set rate at which camera should produce frames

Parameter fps:

Rate in frames per second

setImageOrientation(self: depthai.node.Camera, imageOrientation: depthai.CameraImageOrientation)None

Set camera image orientation

setIsp3aFps(self: depthai.node.Camera, arg0: int)None

Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.). Default (0) matches the camera FPS, meaning that 3A is running on each frame. Reducing the rate of 3A reduces the CPU usage on CSS, but also increases the convergence rate of 3A. Note that camera controls will be processed at this rate. E.g. if camera is running at 30 fps, and camera control is sent at every frame, but 3A fps is set to 15, the camera control messages will be processed at 15 fps rate, which will lead to queueing.

setMeshSource(self: depthai.node.Camera, source: depthai.CameraProperties.WarpMeshSource)None

Set the source of the warp mesh or disable

setMeshStep(self: depthai.node.Camera, width: int, height: int)None

Set the distance between mesh points. Default: (32, 32)

setPreviewSize(*args, **kwargs)

Overloaded function.

  1. setPreviewSize(self: depthai.node.Camera, width: int, height: int) -> None

Set preview output size

  1. setPreviewSize(self: depthai.node.Camera, size: Tuple[int, int]) -> None

Set preview output size, as a tuple <width, height>

setRawOutputPacked(self: depthai.node.Camera, packed: bool)None

Configures whether the camera raw frames are saved as MIPI-packed to memory. The packed format is more efficient, consuming less memory on device, and less data to send to host: RAW10: 4 pixels saved on 5 bytes, RAW12: 2 pixels saved on 3 bytes. When packing is disabled (false), data is saved lsb-aligned, e.g. a RAW10 pixel will be stored as uint16, on bits 9..0: 0b0000’00pp’pppp’pppp. Default is auto: enabled for standard color/monochrome cameras where ISP can work with both packed/unpacked, but disabled for other cameras like ToF.

setSize(*args, **kwargs)

Overloaded function.

  1. setSize(self: depthai.node.Camera, width: int, height: int) -> None

Set desired resolution. Sets sensor size to best fit

  1. setSize(self: depthai.node.Camera, size: Tuple[int, int]) -> None

Set desired resolution. Sets sensor size to best fit

setStillSize(*args, **kwargs)

Overloaded function.

  1. setStillSize(self: depthai.node.Camera, width: int, height: int) -> None

Set still output size

  1. setStillSize(self: depthai.node.Camera, size: Tuple[int, int]) -> None

Set still output size, as a tuple <width, height>

setVideoSize(*args, **kwargs)

Overloaded function.

  1. setVideoSize(self: depthai.node.Camera, width: int, height: int) -> None

Set video output size

  1. setVideoSize(self: depthai.node.Camera, size: Tuple[int, int]) -> None

Set video output size, as a tuple <width, height>

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.node.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)

getCamera(self)

Retrieves which camera to use by name

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

getFrameEventFilter(self)

getImageOrientation(self)

Get camera image orientation

getInterleaved(self)

Get planar or interleaved data of preview output frames

getIspHeight(self)

Get ‘isp’ output height

getIspNumFramesPool(self)

Get number of frames in isp pool

getIspSize(self)

Get ‘isp’ output resolution as size, after scaling

getIspWidth(self)

Get ‘isp’ output width

getPreviewHeight(self)

Get preview height

getPreviewKeepAspectRatio(self)

See also

setPreviewKeepAspectRatio

getPreviewNumFramesPool(self)

Get number of frames in preview pool

getPreviewSize(self)

Get preview size as tuple

getPreviewWidth(self)

Get preview width

getRawNumFramesPool(self)

Get number of frames in raw pool

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

getStillNumFramesPool(self)

Get number of frames in still pool

getStillSize(self)

Get still size as tuple

getStillWidth(self)

Get still width

getVideoHeight(self)

Get video height

getVideoNumFramesPool(self)

Get number of frames in video pool

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)

setCamera(self, name)

Specify which camera to use by name

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

setFrameEventFilter(self, events)

setImageOrientation(self, imageOrientation)

Set camera image orientation

setInterleaved(self, interleaved)

Set planar or interleaved data of preview output frames

setIsp3aFps(self, arg0)

Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.).

setIspNumFramesPool(self, arg0)

Set number of frames in isp pool

setIspScale(*args, **kwargs)

Overloaded function.

setNumFramesPool(self, raw, isp, preview, …)

Set number of frames in all pools

setPreviewKeepAspectRatio(self, keep)

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

setPreviewNumFramesPool(self, arg0)

Set number of frames in preview pool

setPreviewSize(*args, **kwargs)

Overloaded function.

setRawNumFramesPool(self, arg0)

Set number of frames in raw pool

setRawOutputPacked(self, packed)

Configures whether the camera raw frames are saved as MIPI-packed to memory.

setResolution(self, resolution)

Set sensor resolution

setSensorCrop(self, x, y)

Specifies the cropping that happens when converting ISP to video output.

setStillNumFramesPool(self, arg0)

Set number of frames in preview pool

setStillSize(*args, **kwargs)

Overloaded function.

setVideoNumFramesPool(self, arg0)

Set number of frames in preview pool

setVideoSize(*args, **kwargs)

Overloaded function.

setWaitForConfigInput(self, wait)

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

Attributes:

frameEvent

Outputs metadata-only ImgFrame message as an early indicator of an incoming frame.

initialControl

Initial control options to apply to sensor

inputConfig

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

inputControl

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

isp

Outputs ImgFrame message that carries YUV420 planar (I420/IYUV) frame data.

preview

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

raw

Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) 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

eventFilter

fp16

fps

imageOrientation

initialControl

interleaved

isp3aFps

ispScale

numFramesPoolIsp

numFramesPoolPreview

numFramesPoolRaw

numFramesPoolStill

numFramesPoolVideo

previewHeight

previewKeepAspectRatio

previewWidth

resolution

sensorCropX

sensorCropY

stillHeight

stillWidth

videoHeight

videoWidth

__init__(*args, **kwargs)

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

property frameEvent

Outputs metadata-only ImgFrame message as an early indicator of an incoming frame.

It’s sent on the MIPI SoF (start-of-frame) event, just after the exposure of the current frame has finished and before the exposure for next frame starts. Could be used to synchronize various processes with camera capture. Fields populated: camera id, sequence number, timestamp

getBoardSocket(self: depthai.node.ColorCamera)depthai.CameraBoardSocket

Retrieves which board socket to use

Returns

Board socket to use

getCamId(self: depthai.node.ColorCamera)int
getCamera(self: depthai.node.ColorCamera)str

Retrieves which camera to use by name

Returns

Name of the camera to use

getColorOrder(self: depthai.node.ColorCamera)depthai.ColorCameraProperties.ColorOrder

Get color order of preview output frames. RGB or BGR

getFp16(self: depthai.node.ColorCamera)bool

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

getFps(self: depthai.node.ColorCamera)float

Get rate at which camera should produce frames

Returns

Rate in frames per second

getFrameEventFilter(self: depthai.node.ColorCamera) → List[depthai.FrameEvent]
getImageOrientation(self: depthai.node.ColorCamera)depthai.CameraImageOrientation

Get camera image orientation

getInterleaved(self: depthai.node.ColorCamera)bool

Get planar or interleaved data of preview output frames

getIspHeight(self: depthai.node.ColorCamera)int

Get ‘isp’ output height

getIspNumFramesPool(self: depthai.node.ColorCamera)int

Get number of frames in isp pool

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

Get ‘isp’ output resolution as size, after scaling

getIspWidth(self: depthai.node.ColorCamera)int

Get ‘isp’ output width

getPreviewHeight(self: depthai.node.ColorCamera)int

Get preview height

getPreviewKeepAspectRatio(self: depthai.node.ColorCamera)bool

See also

setPreviewKeepAspectRatio

Returns

Preview keep aspect ratio option

getPreviewNumFramesPool(self: depthai.node.ColorCamera)int

Get number of frames in preview pool

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

Get preview size as tuple

getPreviewWidth(self: depthai.node.ColorCamera)int

Get preview width

getRawNumFramesPool(self: depthai.node.ColorCamera)int

Get number of frames in raw pool

getResolution(self: depthai.node.ColorCamera)depthai.ColorCameraProperties.SensorResolution

Get sensor resolution

getResolutionHeight(self: depthai.node.ColorCamera)int

Get sensor resolution height

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

Get sensor resolution as size

getResolutionWidth(self: depthai.node.ColorCamera)int

Get sensor resolution width

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

Sensor top left crop coordinates

getSensorCropX(self: depthai.node.ColorCamera)float

Get sensor top left x crop coordinate

getSensorCropY(self: depthai.node.ColorCamera)float

Get sensor top left y crop coordinate

getStillHeight(self: depthai.node.ColorCamera)int

Get still height

getStillNumFramesPool(self: depthai.node.ColorCamera)int

Get number of frames in still pool

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

Get still size as tuple

getStillWidth(self: depthai.node.ColorCamera)int

Get still width

getVideoHeight(self: depthai.node.ColorCamera)int

Get video height

getVideoNumFramesPool(self: depthai.node.ColorCamera)int

Get number of frames in video pool

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

Get video size as tuple

getVideoWidth(self: depthai.node.ColorCamera)int

Get video width

getWaitForConfigInput(self: depthai.node.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 parameters 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 isp

Outputs ImgFrame message that carries YUV420 planar (I420/IYUV) frame data.

Generated by the ISP engine, and the source for the ‘video’, ‘preview’ and ‘still’ outputs

property preview

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

Suitable for use with NeuralNetwork node

property raw

Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.

Captured directly from the camera sensor, and the source for the ‘isp’ output.

sensorCenterCrop(self: depthai.node.ColorCamera)None

Specify sensor center crop. Resolution size / video size

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

Specify which board socket to use

Parameter boardSocket:

Board socket to use

setCamId(self: depthai.node.ColorCamera, arg0: int)None
setCamera(self: depthai.node.ColorCamera, name: str)None

Specify which camera to use by name

Parameter name:

Name of the camera to use

setColorOrder(self: depthai.node.ColorCamera, colorOrder: depthai.ColorCameraProperties.ColorOrder)None

Set color order of preview output images. RGB or BGR

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

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

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

Set rate at which camera should produce frames

Parameter fps:

Rate in frames per second

setFrameEventFilter(self: depthai.node.ColorCamera, events: List[depthai.FrameEvent])None
setImageOrientation(self: depthai.node.ColorCamera, imageOrientation: depthai.CameraImageOrientation)None

Set camera image orientation

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

Set planar or interleaved data of preview output frames

setIsp3aFps(self: depthai.node.ColorCamera, arg0: int)None

Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.). Default (0) matches the camera FPS, meaning that 3A is running on each frame. Reducing the rate of 3A reduces the CPU usage on CSS, but also increases the convergence rate of 3A. Note that camera controls will be processed at this rate. E.g. if camera is running at 30 fps, and camera control is sent at every frame, but 3A fps is set to 15, the camera control messages will be processed at 15 fps rate, which will lead to queueing.

setIspNumFramesPool(self: depthai.node.ColorCamera, arg0: int)None

Set number of frames in isp pool

setIspScale(*args, **kwargs)

Overloaded function.

  1. setIspScale(self: depthai.node.ColorCamera, numerator: int, denominator: int) -> None

Set ‘isp’ output scaling (numerator/denominator), preserving the aspect ratio. The fraction numerator/denominator is simplified first to a irreducible form, then a set of hardware scaler constraints applies: max numerator = 16, max denominator = 63

  1. setIspScale(self: depthai.node.ColorCamera, scale: Tuple[int, int]) -> None

Set ‘isp’ output scaling, as a tuple <numerator, denominator>

  1. setIspScale(self: depthai.node.ColorCamera, horizNum: int, horizDenom: int, vertNum: int, vertDenom: int) -> None

Set ‘isp’ output scaling, per each direction. If the horizontal scaling factor (horizNum/horizDen) is different than the vertical scaling factor (vertNum/vertDen), a distorted (stretched or squished) image is generated

  1. setIspScale(self: depthai.node.ColorCamera, horizScale: Tuple[int, int], vertScale: Tuple[int, int]) -> None

Set ‘isp’ output scaling, per each direction, as <numerator, denominator> tuples

setNumFramesPool(self: depthai.node.ColorCamera, raw: int, isp: int, preview: int, video: int, still: int)None

Set number of frames in all pools

setPreviewKeepAspectRatio(self: depthai.node.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

setPreviewNumFramesPool(self: depthai.node.ColorCamera, arg0: int)None

Set number of frames in preview pool

setPreviewSize(*args, **kwargs)

Overloaded function.

  1. setPreviewSize(self: depthai.node.ColorCamera, width: int, height: int) -> None

Set preview output size

  1. setPreviewSize(self: depthai.node.ColorCamera, size: Tuple[int, int]) -> None

Set preview output size, as a tuple <width, height>

setRawNumFramesPool(self: depthai.node.ColorCamera, arg0: int)None

Set number of frames in raw pool

setRawOutputPacked(self: depthai.node.ColorCamera, packed: bool)None

Configures whether the camera raw frames are saved as MIPI-packed to memory. The packed format is more efficient, consuming less memory on device, and less data to send to host: RAW10: 4 pixels saved on 5 bytes, RAW12: 2 pixels saved on 3 bytes. When packing is disabled (false), data is saved lsb-aligned, e.g. a RAW10 pixel will be stored as uint16, on bits 9..0: 0b0000’00pp’pppp’pppp. Default is auto: enabled for standard color/monochrome cameras where ISP can work with both packed/unpacked, but disabled for other cameras like ToF.

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

Set sensor resolution

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

Specifies the cropping that happens when converting ISP to video output. By default, video will be center cropped from the ISP output. Note that this doesn’t actually do on-sensor cropping (and MIPI-stream only that region), but it does postprocessing on the ISP (on RVC).

Parameter x:

Top left X coordinate

Parameter y:

Top left Y coordinate

setStillNumFramesPool(self: depthai.node.ColorCamera, arg0: int)None

Set number of frames in preview pool

setStillSize(*args, **kwargs)

Overloaded function.

  1. setStillSize(self: depthai.node.ColorCamera, width: int, height: int) -> None

Set still output size

  1. setStillSize(self: depthai.node.ColorCamera, size: Tuple[int, int]) -> None

Set still output size, as a tuple <width, height>

setVideoNumFramesPool(self: depthai.node.ColorCamera, arg0: int)None

Set number of frames in preview pool

setVideoSize(*args, **kwargs)

Overloaded function.

  1. setVideoSize(self: depthai.node.ColorCamera, width: int, height: int) -> None

Set video output size

  1. setVideoSize(self: depthai.node.ColorCamera, size: Tuple[int, int]) -> None

Set video output size, as a tuple <width, height>

setWaitForConfigInput(self: depthai.node.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.node.DetectionNetwork

Bases: depthai.node.NeuralNetwork

DetectionNetwork, base for different network specializations

Classes:

Properties

alias of depthai.DetectionNetworkProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getConfidenceThreshold(self)

Retrieves threshold at which to filter the rest of the detections.

setConfidenceThreshold(self, thresh)

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

Attributes:

input

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

out

Outputs ImgDetections message that carries parsed detection results.

outNetwork

Outputs unparsed inference results.

passthrough

Passthrough message on which the inference was performed.

Properties

alias of depthai.DetectionNetworkProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

parser

__init__(*args, **kwargs)

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

getConfidenceThreshold(self: depthai.node.DetectionNetwork)float

Retrieves threshold at which to filter the rest of the detections.

Returns

Detection confidence

property input

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

property out

Outputs ImgDetections message that carries parsed detection results. Overrides NeuralNetwork ‘out’ with ImgDetections output message type.

property outNetwork

Outputs unparsed inference 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.node.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.node.DetectionParser

Bases: depthai.Node

DetectionParser node. Parses detection results from different neural networks and is being used internally by MobileNetDetectionNetwork and YoloDetectionNetwork.

Classes:

Properties

alias of depthai.DetectionParserProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getAnchorMasks(self)

Get anchor masks

getAnchors(self)

Get anchors

getConfidenceThreshold(self)

Retrieves threshold at which to filter the rest of the detections.

getCoordinateSize(self)

Get coordianate size

getIouThreshold(self)

Get Iou threshold

getNNFamily(self)

Gets NN Family to parse

getNumClasses(self)

Get num classes

getNumFramesPool(self)

Returns number of frames in pool

setAnchorMasks(self, anchorMasks, List[int]])

Set anchor masks

setAnchors(self, anchors)

Set anchors

setBlob(self, blob)

Retrieves some input tensor information from the blob

setConfidenceThreshold(self, thresh)

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

setCoordinateSize(self, coordinates)

Set coordianate size

setIouThreshold(self, thresh)

Set Iou threshold

setNNFamily(self, type)

Sets NN Family to parse

setNumClasses(self, numClasses)

Set num classes

setNumFramesPool(self, numFramesPool)

Specify number of frames in pool.

Attributes:

input

Input NN results with detection data to parse Default queue is blocking with size 5

out

Outputs image frame with detected edges

Properties

alias of depthai.DetectionParserProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

parser

Options for parser

__init__(*args, **kwargs)

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

getAnchorMasks(self: depthai.node.DetectionParser) → Dict[str, List[int]]

Get anchor masks

getAnchors(self: depthai.node.DetectionParser) → List[float]

Get anchors

getConfidenceThreshold(self: depthai.node.DetectionParser)float

Retrieves threshold at which to filter the rest of the detections.

Returns

Detection confidence

getCoordinateSize(self: depthai.node.DetectionParser)int

Get coordianate size

getIouThreshold(self: depthai.node.DetectionParser)float

Get Iou threshold

getNNFamily(self: depthai.node.DetectionParser)depthai.DetectionNetworkType

Gets NN Family to parse

getNumClasses(self: depthai.node.DetectionParser)int

Get num classes

getNumFramesPool(self: depthai.node.DetectionParser)int

Returns number of frames in pool

property input

Input NN results with detection data to parse Default queue is blocking with size 5

property out

Outputs image frame with detected edges

setAnchorMasks(self: depthai.node.DetectionParser, anchorMasks: Dict[str, List[int]])None

Set anchor masks

setAnchors(self: depthai.node.DetectionParser, anchors: List[float])None

Set anchors

setBlob(self: depthai.node.DetectionParser, blob: depthai.OpenVINO.Blob)None

Retrieves some input tensor information from the blob

Parameter blob:

OpenVINO blob to retrieve the information from

setConfidenceThreshold(self: depthai.node.DetectionParser, 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

setCoordinateSize(self: depthai.node.DetectionParser, coordinates: int)None

Set coordianate size

setIouThreshold(self: depthai.node.DetectionParser, thresh: float)None

Set Iou threshold

setNNFamily(self: depthai.node.DetectionParser, type: depthai.DetectionNetworkType)None

Sets NN Family to parse

setNumClasses(self: depthai.node.DetectionParser, numClasses: int)None

Set num classes

setNumFramesPool(self: depthai.node.DetectionParser, numFramesPool: int)None

Specify number of frames in pool.

Parameter numFramesPool:

How many frames should the pool have

class depthai.node.EdgeDetector

Bases: depthai.Node

EdgeDetector node. Performs edge detection using 3x3 Sobel filter

Classes:

Properties

alias of depthai.EdgeDetectorProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getWaitForConfigInput(self)

See also

setWaitForConfigInput

setMaxOutputFrameSize(self, arg0)

Specify maximum size of output image.

setNumFramesPool(self, arg0)

Specify number of frames in pool.

setWaitForConfigInput(self, wait)

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

Attributes:

initialConfig

Initial config to use for edge detection.

inputConfig

Input EdgeDetectorConfig message with ability to modify parameters in runtime.

inputImage

Input image on which edge detection is performed.

outputImage

Outputs image frame with detected edges

Properties

alias of depthai.EdgeDetectorProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

initialConfig

Initial edge detector config

numFramesPool

Num frames in output pool

outputFrameSize

300x300 BGR image -> 300*300*3 bytes)

__init__(*args, **kwargs)

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

getWaitForConfigInput(self: depthai.node.EdgeDetector)bool

See also

setWaitForConfigInput

Returns

True if wait for inputConfig message, false otherwise

property initialConfig

Initial config to use for edge detection.

property inputConfig

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

property inputImage

Input image on which edge detection is performed. Default queue is non-blocking with size 4.

property outputImage

Outputs image frame with detected edges

setMaxOutputFrameSize(self: depthai.node.EdgeDetector, arg0: int)None

Specify maximum size of output image.

Parameter maxFrameSize:

Maximum frame size in bytes

setNumFramesPool(self: depthai.node.EdgeDetector, arg0: int)None

Specify number of frames in pool.

Parameter numFramesPool:

How many frames should the pool have

setWaitForConfigInput(self: depthai.node.EdgeDetector, 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.node.FeatureTracker

Bases: depthai.Node

FeatureTracker node. Performs feature tracking and reidentification using motion estimation between 2 consecutive frames.

Classes:

Properties

alias of depthai.FeatureTrackerProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getWaitForConfigInput(self)

See also

setWaitForConfigInput

setHardwareResources(self, numShaves, …)

Specify allocated hardware resources for feature tracking.

setWaitForConfigInput(self, wait)

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

Attributes:

initialConfig

Initial config to use for feature tracking.

inputConfig

Input FeatureTrackerConfig message with ability to modify parameters in runtime.

inputImage

Input message with frame data on which feature tracking is performed.

outputFeatures

Outputs TrackedFeatures message that carries tracked features results.

passthroughInputImage

Passthrough message on which the calculation was performed.

Properties

alias of depthai.FeatureTrackerProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

initialConfig

Initial feature tracker config

numMemorySlices

Number of memory slices reserved for feature tracking.

numShaves

Number of shaves reserved for feature tracking.

__init__(*args, **kwargs)

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

getWaitForConfigInput(self: depthai.node.FeatureTracker)bool

See also

setWaitForConfigInput

Returns

True if wait for inputConfig message, false otherwise

property initialConfig

Initial config to use for feature tracking.

property inputConfig

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

property inputImage

Input message with frame data on which feature tracking is performed. Default queue is non-blocking with size 4.

property outputFeatures

Outputs TrackedFeatures message that carries tracked features results.

property passthroughInputImage

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

setHardwareResources(self: depthai.node.FeatureTracker, numShaves: int, numMemorySlices: int)None

Specify allocated hardware resources for feature tracking. 2 shaves/memory slices are required for optical flow, 1 for corner detection only.

Parameter numShaves:

Number of shaves. Maximum 2.

Parameter numMemorySlices:

Number of memory slices. Maximum 2.

setWaitForConfigInput(self: depthai.node.FeatureTracker, 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.node.IMU

Bases: depthai.Node

IMU node for BNO08X.

Classes:

Properties

alias of depthai.IMUProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

enableFirmwareUpdate(self, arg0)

enableIMUSensor(*args, **kwargs)

Overloaded function.

getBatchReportThreshold(self)

Above this packet threshold data will be sent to host, if queue is not blocked

getMaxBatchReports(self)

Maximum number of IMU packets in a batch report

setBatchReportThreshold(self, …)

Above this packet threshold data will be sent to host, if queue is not blocked

setMaxBatchReports(self, maxBatchReports)

Maximum number of IMU packets in a batch report

Attributes:

out

Outputs IMUData message that carries IMU packets.

Properties

alias of depthai.IMUProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

batchReportThreshold

enableFirmwareUpdate

imuSensors

maxBatchReports

__init__(*args, **kwargs)

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

enableFirmwareUpdate(self: depthai.node.IMU, arg0: bool)None
enableIMUSensor(*args, **kwargs)

Overloaded function.

  1. enableIMUSensor(self: depthai.node.IMU, sensorConfig: depthai.IMUSensorConfig) -> None

Enable a new IMU sensor with explicit configuration

  1. enableIMUSensor(self: depthai.node.IMU, sensorConfigs: List[depthai.IMUSensorConfig]) -> None

Enable a list of IMU sensors with explicit configuration

  1. enableIMUSensor(self: depthai.node.IMU, sensor: depthai.IMUSensor, reportRate: int) -> None

Enable a new IMU sensor with default configuration

  1. enableIMUSensor(self: depthai.node.IMU, sensors: List[depthai.IMUSensor], reportRate: int) -> None

Enable a list of IMU sensors with default configuration

getBatchReportThreshold(self: depthai.node.IMU)int

Above this packet threshold data will be sent to host, if queue is not blocked

getMaxBatchReports(self: depthai.node.IMU)int

Maximum number of IMU packets in a batch report

property out

Outputs IMUData message that carries IMU packets.

setBatchReportThreshold(self: depthai.node.IMU, batchReportThreshold: int)None

Above this packet threshold data will be sent to host, if queue is not blocked

setMaxBatchReports(self: depthai.node.IMU, maxBatchReports: int)None

Maximum number of IMU packets in a batch report

class depthai.node.ImageManip

Bases: depthai.Node

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

Methods:

__init__(*args, **kwargs)

Initialize self.

getWaitForConfigInput(self)

See also

setWaitForConfigInput

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, wait)

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

setWarpMesh(*args, **kwargs)

Overloaded function.

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.

getWaitForConfigInput(self: depthai.node.ImageManip)bool

See also

setWaitForConfigInput

Returns

True if wait for inputConfig message, false otherwise

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

Specify maximum size of output image.

Parameter maxFrameSize:

Maximum frame size in bytes

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

Specify number of frames in pool.

Parameter numFramesPool:

How many frames should the pool have

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

setWarpMesh(*args, **kwargs)

Overloaded function.

  1. setWarpMesh(self: depthai.node.ImageManip, arg0: List[depthai.Point2f], arg1: int, arg2: int) -> None

  2. setWarpMesh(self: depthai.node.ImageManip, arg0: List[Tuple[float, float]], arg1: int, arg2: int) -> None

class depthai.node.MessageDemux

Bases: depthai.Node

Classes:

Properties

alias of depthai.MessageDemuxProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

input

Input message of type MessageGroup

outputs

A map of outputs, where keys are same as in the input MessageGroup

Properties

alias of depthai.MessageDemuxProperties Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)

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

property input

Input message of type MessageGroup

property outputs

A map of outputs, where keys are same as in the input MessageGroup

class depthai.node.MobileNetDetectionNetwork

Bases: depthai.node.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.node.MobileNetSpatialDetectionNetwork

Bases: depthai.node.SpatialDetectionNetwork

MobileNetSpatialDetectionNetwork node. 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.node.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)

getCamera(self)

Retrieves which camera to use by name

getFps(self)

Get rate at which camera should produce frames

getFrameEventFilter(self)

getImageOrientation(self)

Get camera image orientation

getNumFramesPool(self)

Get number of frames in main (ISP output) pool

getRawNumFramesPool(self)

Get number of frames in raw pool

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)

setCamera(self, name)

Specify which camera to use by name

setFps(self, fps)

Set rate at which camera should produce frames

setFrameEventFilter(self, events)

setImageOrientation(self, imageOrientation)

Set camera image orientation

setIsp3aFps(self, arg0)

Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.).

setNumFramesPool(self, arg0)

Set number of frames in main (ISP output) pool

setRawNumFramesPool(self, arg0)

Set number of frames in raw pool

setRawOutputPacked(self, packed)

Configures whether the camera raw frames are saved as MIPI-packed to memory.

setResolution(self, resolution)

Set sensor resolution

Attributes:

frameEvent

Outputs metadata-only ImgFrame message as an early indicator of an incoming frame.

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.

raw

Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.

Properties

alias of depthai.MonoCameraProperties Classes:

SensorResolution

Select the camera sensor resolution: 1280×720, 1280×800, 640×400, 640×480, 1920×1200

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

boardSocket

eventFilter

fps

initialControl

isp3aFps

numFramesPool

numFramesPoolRaw

resolution

__init__(*args, **kwargs)

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

property frameEvent

Outputs metadata-only ImgFrame message as an early indicator of an incoming frame.

It’s sent on the MIPI SoF (start-of-frame) event, just after the exposure of the current frame has finished and before the exposure for next frame starts. Could be used to synchronize various processes with camera capture. Fields populated: camera id, sequence number, timestamp

getBoardSocket(self: depthai.node.MonoCamera)depthai.CameraBoardSocket

Retrieves which board socket to use

Returns

Board socket to use

getCamId(self: depthai.node.MonoCamera)int
getCamera(self: depthai.node.MonoCamera)str

Retrieves which camera to use by name

Returns

Name of the camera to use

getFps(self: depthai.node.MonoCamera)float

Get rate at which camera should produce frames

Returns

Rate in frames per second

getFrameEventFilter(self: depthai.node.MonoCamera) → List[depthai.FrameEvent]
getImageOrientation(self: depthai.node.MonoCamera)depthai.CameraImageOrientation

Get camera image orientation

getNumFramesPool(self: depthai.node.MonoCamera)int

Get number of frames in main (ISP output) pool

getRawNumFramesPool(self: depthai.node.MonoCamera)int

Get number of frames in raw pool

getResolution(self: depthai.node.MonoCamera)depthai.MonoCameraProperties.SensorResolution

Get sensor resolution

getResolutionHeight(self: depthai.node.MonoCamera)int

Get sensor resolution height

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

Get sensor resolution as size

getResolutionWidth(self: depthai.node.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. Processed by ISP

property raw

Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.

Captured directly from the camera sensor

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

Specify which board socket to use

Parameter boardSocket:

Board socket to use

setCamId(self: depthai.node.MonoCamera, arg0: int)None
setCamera(self: depthai.node.MonoCamera, name: str)None

Specify which camera to use by name

Parameter name:

Name of the camera to use

setFps(self: depthai.node.MonoCamera, fps: float)None

Set rate at which camera should produce frames

Parameter fps:

Rate in frames per second

setFrameEventFilter(self: depthai.node.MonoCamera, events: List[depthai.FrameEvent])None
setImageOrientation(self: depthai.node.MonoCamera, imageOrientation: depthai.CameraImageOrientation)None

Set camera image orientation

setIsp3aFps(self: depthai.node.MonoCamera, arg0: int)None

Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.). Default (0) matches the camera FPS, meaning that 3A is running on each frame. Reducing the rate of 3A reduces the CPU usage on CSS, but also increases the convergence rate of 3A. Note that camera controls will be processed at this rate. E.g. if camera is running at 30 fps, and camera control is sent at every frame, but 3A fps is set to 15, the camera control messages will be processed at 15 fps rate, which will lead to queueing.

setNumFramesPool(self: depthai.node.MonoCamera, arg0: int)None

Set number of frames in main (ISP output) pool

setRawNumFramesPool(self: depthai.node.MonoCamera, arg0: int)None

Set number of frames in raw pool

setRawOutputPacked(self: depthai.node.MonoCamera, packed: bool)None

Configures whether the camera raw frames are saved as MIPI-packed to memory. The packed format is more efficient, consuming less memory on device, and less data to send to host: RAW10: 4 pixels saved on 5 bytes, RAW12: 2 pixels saved on 3 bytes. When packing is disabled (false), data is saved lsb-aligned, e.g. a RAW10 pixel will be stored as uint16, on bits 9..0: 0b0000’00pp’pppp’pppp. Default is auto: enabled for standard color/monochrome cameras where ISP can work with both packed/unpacked, but disabled for other cameras like ToF.

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

Set sensor resolution

class depthai.node.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

setBlob(*args, **kwargs)

Overloaded function.

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 available in the pool

Attributes:

input

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

inputs

Inputs mapped to network inputs.

out

Outputs NNData message that carries inference results

passthrough

Passthrough message on which the inference was performed.

passthroughs

Passthroughs which correspond to specified input

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.node.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 inferred upon Default queue is blocking with size 5

property inputs

Inputs mapped to network inputs. Useful for inferring from separate data sources Default input is non-blocking with queue size 1 and waits for messages

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.

property passthroughs

Passthroughs which correspond to specified input

setBlob(*args, **kwargs)

Overloaded function.

  1. setBlob(self: depthai.node.NeuralNetwork, blob: depthai.OpenVINO.Blob) -> None

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

Parameter blob:

Network blob

  1. setBlob(self: depthai.node.NeuralNetwork, path: Path) -> None

Same functionality as the setBlobPath(). Load network blob into assets and use once pipeline is started.

Throws:

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

Parameter path:

Path to network blob

setBlobPath(self: depthai.node.NeuralNetwork, path: Path)None

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

Throws:

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

Parameter path:

Path to network blob

setNumInferenceThreads(self: depthai.node.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.node.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.node.NeuralNetwork, numFrames: int)None

Specifies how many frames will be available in the pool

Parameter numFrames:

How many frames will pool have

class depthai.node.ObjectTracker

Bases: depthai.Node

ObjectTracker node. Performs object tracking using Kalman filter and hungarian algorithm.

Classes:

Properties

alias of depthai.ObjectTrackerProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

setDetectionLabelsToTrack(self, labels)

Specify detection labels to track.

setMaxObjectsToTrack(self, maxObjectsToTrack)

Specify maximum number of object to track.

setTrackerIdAssignmentPolicy(self, type)

Specify tracker ID assignment policy.

setTrackerThreshold(self, threshold)

Specify tracker threshold.

setTrackerType(self, type)

Specify tracker type algorithm.

setTrackingPerClass(self, trackingPerClass)

Whether tracker should take into consideration class label for tracking.

Attributes:

inputDetectionFrame

Input ImgFrame message on which object detection was performed.

inputDetections

Input message with image detection from neural network.

inputTrackerFrame

Input ImgFrame message on which tracking will be performed.

out

Outputs Tracklets message that carries object tracking results.

passthroughDetectionFrame

Passthrough ImgFrame message on which object detection was performed.

passthroughDetections

Passthrough image detections message from neural network output.

passthroughTrackerFrame

Passthrough ImgFrame message on which tracking was performed.

Properties

alias of depthai.ObjectTrackerProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

detectionLabelsToTrack

Which detections labels to track.

maxObjectsToTrack

Maximum number of objects to track.

trackerIdAssignmentPolicy

New ID assignment policy.

trackerThreshold

Confidence threshold for tracklets.

trackerType

Tracking method.

__init__(*args, **kwargs)

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

property inputDetectionFrame

Input ImgFrame message on which object detection was performed. Default queue is non-blocking with size 4.

property inputDetections

Input message with image detection from neural network. Default queue is non- blocking with size 4.

property inputTrackerFrame

Input ImgFrame message on which tracking will be performed. RGBp, BGRp, NV12, YUV420p types are supported. Default queue is non-blocking with size 4.

property out

Outputs Tracklets message that carries object tracking results.

property passthroughDetectionFrame

Passthrough ImgFrame message on which object detection was performed. Suitable for when input queue is set to non-blocking behavior.

property passthroughDetections

Passthrough image detections message from neural network output. Suitable for when input queue is set to non-blocking behavior.

property passthroughTrackerFrame

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

setDetectionLabelsToTrack(self: depthai.node.ObjectTracker, labels: List[int])None

Specify detection labels to track.

Parameter labels:

Detection labels to track. Default every label is tracked from image detection network output.

setMaxObjectsToTrack(self: depthai.node.ObjectTracker, maxObjectsToTrack: int)None

Specify maximum number of object to track.

Parameter maxObjectsToTrack:

Maximum number of object to track. Maximum 60 in case of SHORT_TERM_KCF, otherwise 1000.

setTrackerIdAssignmentPolicy(self: depthai.node.ObjectTracker, type: depthai.TrackerIdAssignmentPolicy)None

Specify tracker ID assignment policy.

Parameter type:

Tracker ID assignment policy.

setTrackerThreshold(self: depthai.node.ObjectTracker, threshold: float)None

Specify tracker threshold.

Parameter threshold:

Above this threshold the detected objects will be tracked. Default 0, all image detections are tracked.

setTrackerType(self: depthai.node.ObjectTracker, type: depthai.TrackerType)None

Specify tracker type algorithm.

Parameter type:

Tracker type.

setTrackingPerClass(self: depthai.node.ObjectTracker, trackingPerClass: bool)None

Whether tracker should take into consideration class label for tracking.

class depthai.node.PointCloud

Bases: depthai.Node

PointCloud node. Computes point cloud from depth frames.

Classes:

Properties

alias of depthai.PointCloudProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

setNumFramesPool(self, arg0)

Specify number of frames in pool.

Attributes:

initialConfig

Initial config to use when computing the point cloud.

inputConfig

Input PointCloudConfig message with ability to modify parameters in runtime.

inputDepth

Input message with depth data used to create the point cloud.

outputPointCloud

Outputs PointCloudData message

passthroughDepth

Passthrough depth from which the point cloud was calculated.

Properties

alias of depthai.PointCloudProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

initialConfig

numFramesPool

__init__(*args, **kwargs)

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

property initialConfig

Initial config to use when computing the point cloud.

property inputConfig

Input PointCloudConfig 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 create the point cloud. Default queue is non-blocking with size 4.

property outputPointCloud

Outputs PointCloudData message

property passthroughDepth

Passthrough depth from which the point cloud was calculated. Suitable for when input queue is set to non-blocking behavior.

setNumFramesPool(self: depthai.node.PointCloud, arg0: int)None

Specify number of frames in pool.

Parameter numFramesPool:

How many frames should the pool have

class depthai.node.SPIIn

Bases: depthai.Node

SPIIn node. Receives messages over SPI.

Classes:

Properties

alias of depthai.SPIInProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getBusId(self)

Get bus id

getMaxDataSize(self)

Get maximum messages size in bytes

getNumFrames(self)

Get number of frames in pool

getStreamName(self)

Get stream name

setBusId(self, id)

Specifies SPI Bus number to use

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, name)

Specifies stream name over which the node will receive data

Attributes:

out

Outputs message of same type as send from host.

Properties

alias of depthai.SPIInProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

busId

maxDataSize

numFrames

streamName

__init__(*args, **kwargs)

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

getBusId(self: depthai.node.SPIIn)int

Get bus id

getMaxDataSize(self: depthai.node.SPIIn)int

Get maximum messages size in bytes

getNumFrames(self: depthai.node.SPIIn)int

Get number of frames in pool

getStreamName(self: depthai.node.SPIIn)str

Get stream name

property out

Outputs message of same type as send from host.

setBusId(self: depthai.node.SPIIn, id: int)None

Specifies SPI Bus number to use

Parameter id:

SPI Bus id

setMaxDataSize(self: depthai.node.SPIIn, maxDataSize: int)None

Set maximum message size it can receive

Parameter maxDataSize:

Maximum size in bytes

setNumFrames(self: depthai.node.SPIIn, numFrames: int)None

Set number of frames in pool for sending messages forward

Parameter numFrames:

Maximum number of frames in pool

setStreamName(self: depthai.node.SPIIn, name: str)None

Specifies stream name over which the node will receive data

Parameter name:

Stream name

class depthai.node.SPIOut

Bases: depthai.Node

SPIOut node. Sends messages over SPI.

Classes:

Properties

alias of depthai.SPIOutProperties

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 transferred over SPI stream

Properties

alias of depthai.SPIOutProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

busId

streamName

__init__(*args, **kwargs)

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

property input

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

Default queue is blocking with size 8

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

Specifies SPI Bus number to use

Parameter id:

SPI Bus id

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

Specifies stream name over which the node will send data

Parameter name:

Stream name

class depthai.node.Script

Bases: depthai.Node

Classes:

Properties

alias of depthai.ScriptProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getProcessor(self)

Get on which processor the script should run

getScriptName(self)

Get the script name in utf-8.

setProcessor(self, arg0)

Set on which processor the script should run

setScript(*args, **kwargs)

Overloaded function.

setScriptPath(*args, **kwargs)

Overloaded function.

Attributes:

inputs

outputs

Properties

alias of depthai.ScriptProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

processor

Which processor should execute the script

scriptName

Name of script

scriptUri

Uri which points to actual script

__init__(*args, **kwargs)

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

getProcessor(self: depthai.node.Script)depthai.ProcessorType

Get on which processor the script should run

Returns

Processor type - Leon CSS or Leon MSS

getScriptName(self: depthai.node.Script)str

Get the script name in utf-8.

When name set with setScript() or setScriptPath(), returns that name. When script loaded with setScriptPath() with name not provided, returns the utf-8 string of that path. Otherwise, returns “<script>”

Returns

std::string of script name in utf-8

property inputs
property outputs
setProcessor(self: depthai.node.Script, arg0: depthai.ProcessorType)None

Set on which processor the script should run

Parameter type:

Processor type - Leon CSS or Leon MSS

setScript(*args, **kwargs)

Overloaded function.

  1. setScript(self: depthai.node.Script, script: str, name: str = ‘’) -> None

Sets script data to be interpreted

Parameter script:

Script string to be interpreted

Parameter name:

Optionally set a name of this script

  1. setScript(self: depthai.node.Script, data: List[int], name: str = ‘’) -> None

Sets script data to be interpreted

Parameter data:

Binary data that represents the script to be interpreted

Parameter name:

Optionally set a name of this script

setScriptPath(*args, **kwargs)

Overloaded function.

  1. setScriptPath(self: depthai.node.Script, arg0: Path, arg1: str) -> None

Specify local filesystem path to load the script

Parameter path:

Filesystem path to load the script

Parameter name:

Optionally set a name of this script, otherwise the name defaults to the path

  1. setScriptPath(self: depthai.node.Script, path: Path, name: str = ‘’) -> None

Specify local filesystem path to load the script

Parameter path:

Filesystem path to load the script

Parameter name:

Optionally set a name of this script, otherwise the name defaults to the path

class depthai.node.SpatialDetectionNetwork

Bases: depthai.node.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 depth units (millimeter by default) for depth values which will used to calculate spatial data

setDepthUpperThreshold(self, upperThreshold)

Specifies upper threshold in depth units (millimeter by default) for depth values which will used to calculate spatial data

setSpatialCalculationAlgorithm(self, …)

Specifies spatial location calculator algorithm: Average/Min/Max

setSpatialCalculationStepSize(self, stepSize)

Specifies spatial location calculator step size for depth calculation.

Attributes:

boundingBoxMapping

Outputs mapping of detected bounding boxes relative to depth map

input

Input message with data to be inferred 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.

spatialLocationCalculatorOutput

Output of SpatialLocationCalculator node, which is used internally by SpatialDetectionNetwork.

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 inferred 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.node.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.node.SpatialDetectionNetwork, lowerThreshold: int)None

Specifies lower threshold in depth units (millimeter by default) 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.node.SpatialDetectionNetwork, upperThreshold: int)None

Specifies upper threshold in depth units (millimeter by default) for depth values which will used to calculate spatial data

Parameter upperThreshold:

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

setSpatialCalculationAlgorithm(self: depthai.node.SpatialDetectionNetwork, calculationAlgorithm: depthai.SpatialLocationCalculatorAlgorithm)None

Specifies spatial location calculator algorithm: Average/Min/Max

Parameter calculationAlgorithm:

Calculation algorithm.

setSpatialCalculationStepSize(self: depthai.node.SpatialDetectionNetwork, stepSize: int)None

Specifies spatial location calculator step size for depth calculation. Step size 1 means that every pixel is taken into calculation, size 2 means every second etc.

Parameter stepSize:

Step size.

property spatialLocationCalculatorOutput

Output of SpatialLocationCalculator node, which is used internally by SpatialDetectionNetwork. Suitable when extra information is required from SpatialLocationCalculator node, e.g. minimum, maximum distance.

class depthai.node.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.

getWaitForConfigInput(self)

See also

setWaitForConfigInput

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:

roiConfig

__init__(*args, **kwargs)

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

getWaitForConfigInput(self: depthai.node.SpatialLocationCalculator)bool

See also

setWaitForConfigInput

Returns

True if wait for inputConfig message, false otherwise

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.node.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.node.StereoDepth

Bases: depthai.Node

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

Classes:

PresetMode

Preset modes for stereo depth.

Properties

alias of depthai.StereoDepthProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

enableDistortionCorrection(self, arg0)

Equivalent to useHomographyRectification(!enableDistortionCorrection)

getMaxDisparity(self)

Useful for normalization of the disparity map.

loadMeshData(self, dataLeft, dataRight)

Specify mesh calibration data for ‘left’ and ‘right’ inputs, as vectors of bytes.

loadMeshFiles(self, pathLeft, pathRight)

Specify local filesystem paths to the mesh calibration files for ‘left’ and ‘right’ inputs.

setAlphaScaling(self, arg0)

Free scaling parameter between 0 (when all the pixels in the undistorted image are valid) and 1 (when all the source image pixels are retained in the undistorted image).

setBaseline(self, arg0)

Override baseline from calibration.

setConfidenceThreshold(self, arg0)

Confidence threshold for disparity calculation

setDefaultProfilePreset(self, arg0)

Sets a default preset based on specified option.

setDepthAlign(*args, **kwargs)

Overloaded function.

setDepthAlignmentUseSpecTranslation(self, arg0)

Use baseline information for depth alignment from specs (design data) or from calibration.

setDisparityToDepthUseSpecTranslation(self, arg0)

Use baseline information for disparity to depth conversion from specs (design data) or from calibration.

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 0-95 to 0-190, combined from full resolution and downscaled images.

setFocalLength(self, arg0)

Override focal length from calibration.

setFocalLengthFromCalibration(self, arg0)

Whether to use focal length from calibration intrinsics or calculate based on calibration FOV.

setInputResolution(*args, **kwargs)

Overloaded function.

setLeftRightCheck(self, enable)

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

setMedianFilter(self, arg0)

Parameter median:

setMeshStep(self, width, height)

Set the distance between mesh points.

setNumFramesPool(self, arg0)

Specify number of frames in pool.

setOutputDepth(self, arg0)

setOutputKeepAspectRatio(self, keep)

Specifies whether the frames resized by setOutputSize should preserve aspect ratio, with potential cropping when enabled.

setOutputRectified(self, arg0)

setOutputSize(self, width, height)

Specify disparity/depth output resolution size, implemented by scaling.

setPostProcessingHardwareResources(self, …)

Specify allocated hardware resources for stereo depth.

setRectification(self, enable)

Rectify input images or not.

setRectificationUseSpecTranslation(self, arg0)

Obtain rectification matrices using spec translation (design data) or from calibration in calculations.

setRectifyEdgeFillColor(self, color)

Fill color for missing data at frame edges

setRectifyMirrorFrame(self, arg0)

DEPRECATED function.

setRuntimeModeSwitch(self, arg0)

Enable runtime stereo mode switch, e.g.

setSubpixel(self, enable)

Computes disparity with sub-pixel interpolation (3 fractional bits by default).

setSubpixelFractionalBits(self, …)

Number of fractional bits for subpixel mode.

useHomographyRectification(self, arg0)

Use 3x3 homography matrix for stereo rectification instead of sparse mesh generated on device.

Attributes:

confidenceMap

Outputs ImgFrame message that carries RAW8 confidence map.

debugDispCostDump

Outputs ImgFrame message that carries cost dump of disparity map.

debugDispLrCheckIt1

Outputs ImgFrame message that carries left-right check first iteration (before combining with second iteration) disparity map.

debugDispLrCheckIt2

Outputs ImgFrame message that carries left-right check second iteration (before combining with first iteration) disparity map.

debugExtDispLrCheckIt1

Outputs ImgFrame message that carries extended left-right check first iteration (downscaled frame, before combining with second iteration) disparity map.

debugExtDispLrCheckIt2

Outputs ImgFrame message that carries extended left-right check second iteration (downscaled frame, before combining with first iteration) disparity map.

depth

Outputs ImgFrame message that carries RAW16 encoded (0..65535) depth data in depth units (millimeter by default).

disparity

RAW8 encoded (0..95) for standard mode; RAW8 encoded (0..190) for extended disparity mode; RAW16 encoded for subpixel disparity mode: - 0..760 for 3 fractional bits (by default) - 0..1520 for 4 fractional bits - 0..3040 for 5 fractional bits

initialConfig

Initial config to use for StereoDepth.

inputConfig

Input StereoDepthConfig message with ability to modify parameters in runtime.

left

Input for left ImgFrame of left-right pair

outConfig

Outputs StereoDepthConfig message that contains current stereo configuration.

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.

class PresetMode

Bases: pybind11_builtins.pybind11_object

Preset modes for stereo depth.

Members:

HIGH_ACCURACY : Prefers accuracy over density. More invalid depth values, but less outliers.

HIGH_DENSITY : Prefers density over accuracy. Less invalid depth values, but more outliers.

Attributes:

HIGH_ACCURACY

HIGH_DENSITY

name

value

Methods:

__init__(self, value)

HIGH_ACCURACY = <PresetMode.HIGH_ACCURACY: 0>
HIGH_DENSITY = <PresetMode.HIGH_DENSITY: 1>
__init__(self: depthai.node.StereoDepth.PresetMode, value: int)None
property name
property value
Properties

alias of depthai.StereoDepthProperties Classes:

DepthAlign

Align the disparity/depth to the perspective of a rectified output, or center it

MedianFilter

Median filter config

RectificationMesh

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

alphaScaling

Free scaling parameter between 0 (when all the pixels in the undistorted image are valid) and 1 (when all the source image pixels are retained in the undistorted image).

baseline

Override baseline from calibration.

depthAlignCamera

Which camera to align disparity/depth to.

depthAlignmentUseSpecTranslation

Use baseline information for depth alignment from specs (design data) or from calibration.

disparityToDepthUseSpecTranslation

Use baseline information for disparity to depth conversion from specs (design data) or from calibration.

enableRectification

Enable stereo rectification/dewarp or not.

enableRuntimeStereoModeSwitch

Whether to enable switching stereo modes at runtime or not.

focalLength

Override focal length from calibration.

focalLengthFromCalibration

Whether to use horizontal focal length from calibration intrinsics (fx) or calculate based on calibration FOV.

height

Input frame height.

initialConfig

Initial stereo config

mesh

Specify a direct warp mesh to be used for rectification, instead of intrinsics + extrinsic matrices

numFramesPool

Num frames in output pool

numPostProcessingMemorySlices

Number of memory slices reserved for stereo depth post processing.

numPostProcessingShaves

Number of shaves reserved for stereo depth post processing.

outHeight

Output disparity/depth height.

outKeepAspectRatio

Whether to keep aspect ratio of the input (rectified) or not

outWidth

Output disparity/depth width.

rectificationUseSpecTranslation

Obtain rectification matrices using spec translation (design data) or from calibration in calculations.

rectifyEdgeFillColor

Fill color for missing data at frame edges - grayscale 0..255, or -1 to replicate pixels

useHomographyRectification

Use 3x3 homography matrix for stereo rectification instead of sparse mesh generated on device.

width

Input frame width.

__init__(*args, **kwargs)

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

property confidenceMap

Outputs ImgFrame message that carries RAW8 confidence map. Lower values means higher confidence of the calculated disparity value. RGB alignment, left-right check or any postproccessing (e.g. median filter) is not performed on confidence map.

property debugDispCostDump

Outputs ImgFrame message that carries cost dump of disparity map. Useful for debugging/fine tuning.

property debugDispLrCheckIt1

Outputs ImgFrame message that carries left-right check first iteration (before combining with second iteration) disparity map. Useful for debugging/fine tuning.

property debugDispLrCheckIt2

Outputs ImgFrame message that carries left-right check second iteration (before combining with first iteration) disparity map. Useful for debugging/fine tuning.

property debugExtDispLrCheckIt1

Outputs ImgFrame message that carries extended left-right check first iteration (downscaled frame, before combining with second iteration) disparity map. Useful for debugging/fine tuning.

property debugExtDispLrCheckIt2

Outputs ImgFrame message that carries extended left-right check second iteration (downscaled frame, before combining with first iteration) disparity map. Useful for debugging/fine tuning.

property depth

Outputs ImgFrame message that carries RAW16 encoded (0..65535) depth data in depth units (millimeter by default).

Non-determined / invalid depth values are set to 0

property disparity

RAW8 encoded (0..95) for standard mode; RAW8 encoded (0..190) for extended disparity mode; RAW16 encoded for subpixel disparity mode: - 0..760 for 3 fractional bits (by default) - 0..1520 for 4 fractional bits - 0..3040 for 5 fractional bits

Type

Outputs ImgFrame message that carries RAW8 / RAW16 encoded disparity data

enableDistortionCorrection(self: depthai.node.StereoDepth, arg0: bool)None

Equivalent to useHomographyRectification(!enableDistortionCorrection)

getMaxDisparity(self: depthai.node.StereoDepth)float

Useful for normalization of the disparity map.

Returns

Maximum disparity value that the node can return

property initialConfig

Initial config to use for StereoDepth.

property inputConfig

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

property left

Input for left ImgFrame of left-right pair

Default queue is non-blocking with size 8

loadMeshData(self: depthai.node.StereoDepth, dataLeft: List[int], dataRight: List[int])None

Specify mesh calibration data for ‘left’ and ‘right’ inputs, as vectors of bytes. Overrides useHomographyRectification behavior. See loadMeshFiles for the expected data format

loadMeshFiles(self: depthai.node.StereoDepth, pathLeft: Path, pathRight: Path)None

Specify local filesystem paths to the mesh calibration files for ‘left’ and ‘right’ inputs.

When a mesh calibration is set, it overrides the camera intrinsics/extrinsics matrices. Overrides useHomographyRectification behavior. Mesh format: a sequence of (y,x) points as ‘float’ with coordinates from the input image to be mapped in the output. The mesh can be subsampled, configured by setMeshStep.

With a 1280x800 resolution and the default (16,16) step, the required mesh size is:

width: 1280 / 16 + 1 = 81

height: 800 / 16 + 1 = 51

property outConfig

Outputs StereoDepthConfig message that contains current stereo configuration.

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

setAlphaScaling(self: depthai.node.StereoDepth, arg0: float)None

Free scaling parameter between 0 (when all the pixels in the undistorted image are valid) and 1 (when all the source image pixels are retained in the undistorted image). On some high distortion lenses, and/or due to rectification (image rotated) invalid areas may appear even with alpha=0, in these cases alpha < 0.0 helps removing invalid areas. See getOptimalNewCameraMatrix from opencv for more details.

setBaseline(self: depthai.node.StereoDepth, arg0: float)None

Override baseline from calibration. Used only in disparity to depth conversion. Units are centimeters.

setConfidenceThreshold(self: depthai.node.StereoDepth, arg0: int)None

Confidence threshold for disparity calculation

Parameter confThr:

Confidence threshold value 0..255

setDefaultProfilePreset(self: depthai.node.StereoDepth, arg0: depthai.node.StereoDepth.PresetMode)None

Sets a default preset based on specified option.

Parameter mode:

Stereo depth preset mode

setDepthAlign(*args, **kwargs)

Overloaded function.

  1. setDepthAlign(self: depthai.node.StereoDepth, align: depthai.RawStereoDepthConfig.AlgorithmControl.DepthAlign) -> None

Parameter align:

Set the disparity/depth alignment: centered (between the ‘left’ and ‘right’ inputs), or from the perspective of a rectified output stream

  1. setDepthAlign(self: depthai.node.StereoDepth, camera: depthai.CameraBoardSocket) -> None

Parameter camera:

Set the camera from whose perspective the disparity/depth will be aligned

setDepthAlignmentUseSpecTranslation(self: depthai.node.StereoDepth, arg0: bool)None

Use baseline information for depth alignment from specs (design data) or from calibration. Default: true

setDisparityToDepthUseSpecTranslation(self: depthai.node.StereoDepth, arg0: bool)None

Use baseline information for disparity to depth conversion from specs (design data) or from calibration. Default: true

setEmptyCalibration(self: depthai.node.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.node.StereoDepth, enable: bool)None

Disparity range increased from 0-95 to 0-190, combined from full resolution and downscaled images.

Suitable for short range objects. Currently incompatible with sub-pixel disparity

setFocalLength(self: depthai.node.StereoDepth, arg0: float)None

Override focal length from calibration. Used only in disparity to depth conversion. Units are pixels.

setFocalLengthFromCalibration(self: depthai.node.StereoDepth, arg0: bool)None

Whether to use focal length from calibration intrinsics or calculate based on calibration FOV. Default value is true.

setInputResolution(*args, **kwargs)

Overloaded function.

  1. setInputResolution(self: depthai.node.StereoDepth, width: int, height: int) -> None

Specify input resolution size

Optional if MonoCamera exists, otherwise necessary

  1. setInputResolution(self: depthai.node.StereoDepth, resolution: Tuple[int, int]) -> None

Specify input resolution size

Optional if MonoCamera exists, otherwise necessary

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

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

For better occlusion handling, discarding invalid disparity values

setMedianFilter(self: depthai.node.StereoDepth, arg0: depthai.MedianFilter)None
Parameter median:

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

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

Set the distance between mesh points. Default: (16, 16)

setNumFramesPool(self: depthai.node.StereoDepth, arg0: int)None

Specify number of frames in pool.

Parameter numFramesPool:

How many frames should the pool have

setOutputDepth(self: depthai.node.StereoDepth, arg0: bool)None
setOutputKeepAspectRatio(self: depthai.node.StereoDepth, keep: bool)None

Specifies whether the frames resized by setOutputSize should preserve aspect ratio, with potential cropping when enabled. Default true

setOutputRectified(self: depthai.node.StereoDepth, arg0: bool)None
setOutputSize(self: depthai.node.StereoDepth, width: int, height: int)None

Specify disparity/depth output resolution size, implemented by scaling.

Currently only applicable when aligning to RGB camera

setPostProcessingHardwareResources(self: depthai.node.StereoDepth, arg0: int, arg1: int)None

Specify allocated hardware resources for stereo depth. Suitable only to increase post processing runtime.

Parameter numShaves:

Number of shaves.

Parameter numMemorySlices:

Number of memory slices.

setRectification(self: depthai.node.StereoDepth, enable: bool)None

Rectify input images or not.

setRectificationUseSpecTranslation(self: depthai.node.StereoDepth, arg0: bool)None

Obtain rectification matrices using spec translation (design data) or from calibration in calculations. Should be used only for debugging. Default: false

setRectifyEdgeFillColor(self: depthai.node.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.node.StereoDepth, arg0: bool)None

DEPRECATED function. It was removed, since rectified images are not flipped anymore. Mirror rectified frames, only when LR-check mode is disabled. Default true. The mirroring is required to have a normal non-mirrored disparity/depth output.

A side effect of this option is disparity alignment to the perspective of left or right input: false: mapped to left and mirrored, true: mapped to right. With LR-check enabled, this option is ignored, none of the outputs are mirrored, and disparity is mapped to right.

Parameter enable:

True for normal disparity/depth, otherwise mirrored

setRuntimeModeSwitch(self: depthai.node.StereoDepth, arg0: bool)None

Enable runtime stereo mode switch, e.g. from standard to LR-check. Note: when enabled resources allocated for worst case to enable switching to any mode.

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

Computes disparity with sub-pixel interpolation (3 fractional bits by default).

Suitable for long range. Currently incompatible with extended disparity

setSubpixelFractionalBits(self: depthai.node.StereoDepth, subpixelFractionalBits: int)None

Number of fractional bits for subpixel mode. Default value: 3. Valid values: 3,4,5. Defines the number of fractional disparities: 2^x. Median filter postprocessing is supported only for 3 fractional bits.

property syncedLeft

Passthrough ImgFrame message from ‘left’ Input.

property syncedRight

Passthrough ImgFrame message from ‘right’ Input.

useHomographyRectification(self: depthai.node.StereoDepth, arg0: bool)None

Use 3x3 homography matrix for stereo rectification instead of sparse mesh generated on device. Default behaviour is AUTO, for lenses with FOV over 85 degrees sparse mesh is used, otherwise 3x3 homography. If custom mesh data is provided through loadMeshData or loadMeshFiles this option is ignored.

Parameter useHomographyRectification:

true: 3x3 homography matrix generated from calibration data is used for stereo rectification, can’t correct lens distortion. false: sparse mesh is generated on-device from calibration data with mesh step specified with setMeshStep (Default: (16, 16)), can correct lens distortion. Implementation for generating the mesh is same as opencv’s initUndistortRectifyMap function. Only the first 8 distortion coefficients are used from calibration data.

class depthai.node.Sync

Bases: depthai.Node

Classes:

Properties

alias of depthai.SyncProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getSyncAttempts(self)

Gets the number of sync attempts

getSyncThreshold(self)

Gets the maximal interval between messages in the group in milliseconds

setSyncAttempts(self, maxDataSize)

Set the number of attempts to get the specified max interval between messages in the group

setSyncThreshold(self, syncThreshold)

Set the maximal interval between messages in the group

Attributes:

inputs

A map of inputs

out

Output message of type MessageGroup

Properties

alias of depthai.SyncProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

syncAttempts

syncThresholdNs

__init__(*args, **kwargs)

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

getSyncAttempts(self: depthai.node.Sync)int

Gets the number of sync attempts

getSyncThreshold(self: depthai.node.Sync)datetime.timedelta

Gets the maximal interval between messages in the group in milliseconds

property inputs

A map of inputs

property out

Output message of type MessageGroup

setSyncAttempts(self: depthai.node.Sync, maxDataSize: int)None

Set the number of attempts to get the specified max interval between messages in the group

Parameter syncAttempts:

Number of attempts to get the specified max interval between messages in the group: - if syncAttempts = 0 then the node sends a message as soon at the group is filled - if syncAttempts > 0 then the node will make syncAttemts attempts to synchronize before sending out a message - if syncAttempts = -1 (default) then the node will only send a message if successfully synchronized

setSyncThreshold(self: depthai.node.Sync, syncThreshold: datetime.timedelta)None

Set the maximal interval between messages in the group

Parameter syncThreshold:

Maximal interval between messages in the group

class depthai.node.SystemLogger

Bases: depthai.Node

SystemLogger node. Send system information periodically.

Methods:

__init__(*args, **kwargs)

Initialize self.

getRate(self)

Gets logging rate, at which messages will be sent out

setRate(self, hz)

Specify logging rate, at which messages will be sent out

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.

getRate(self: depthai.node.SystemLogger)float

Gets logging rate, at which messages will be sent out

property out

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

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

Specify logging rate, at which messages will be sent out

Parameter hz:

Sending rate in hertz (messages per second)

class depthai.node.ToF

Bases: depthai.Node

ToF node

Classes:

Properties

alias of depthai.ToFProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

amplitude

depth

Outputs ImgFrame message that carries modified image.

error

initialConfig

Initial config to use for depth calculation.

input

inputConfig

Input ToF message with ability to modify parameters in runtime.

intensity

Properties

alias of depthai.ToFProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

initialConfig

Initial ToF config

__init__(*args, **kwargs)

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

property amplitude
property depth

Outputs ImgFrame message that carries modified image.

property error
property initialConfig

Initial config to use for depth calculation.

property input
property inputConfig

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

property intensity
class depthai.node.UVC

Bases: depthai.Node

UVC (USB Video Class) node

Classes:

Properties

alias of depthai.UVCProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

setGpiosOnInit(self, list, int])

Set GPIO list <gpio_number, value> for GPIOs to set (on/off) at init

setGpiosOnStreamOff(self, list, int])

Set GPIO list <gpio_number, value> for GPIOs to set when streaming is disabled

setGpiosOnStreamOn(self, list, int])

Set GPIO list <gpio_number, value> for GPIOs to set when streaming is enabled

Attributes:

input

Input for image frames to be streamed over UVC

Properties

alias of depthai.UVCProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

gpioInit

gpioStreamOff

gpioStreamOn

__init__(*args, **kwargs)

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

property input

Input for image frames to be streamed over UVC

Default queue is blocking with size 8

setGpiosOnInit(self: depthai.node.UVC, list: Dict[int, int])None

Set GPIO list <gpio_number, value> for GPIOs to set (on/off) at init

setGpiosOnStreamOff(self: depthai.node.UVC, list: Dict[int, int])None

Set GPIO list <gpio_number, value> for GPIOs to set when streaming is disabled

setGpiosOnStreamOn(self: depthai.node.UVC, list: Dict[int, int])None

Set GPIO list <gpio_number, value> for GPIOs to set when streaming is enabled

class depthai.node.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

getLossless(self)

Get lossless mode.

getMaxOutputFrameSize(self)

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, bitrate)

Set output bitrate in bps, for CBR rate control mode.

setBitrateKbps(self, bitrateKbps)

Set output bitrate in kbps, for CBR rate control mode.

setDefaultProfilePreset(*args, **kwargs)

Overloaded function.

setFrameRate(self, frameRate)

Sets expected frame rate

setKeyframeFrequency(self, freq)

Set keyframe frequency.

setLossless(self, arg0)

Set lossless mode.

setMaxOutputFrameSize(self, maxFrameSize)

Specifies maximum output encoded frame size

setNumBFrames(self, numBFrames)

Set number of B frames to be inserted

setNumFramesPool(self, frames)

Set number of frames in pool

setProfile(*args, **kwargs)

Overloaded function.

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).

out

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

Properties

alias of depthai.VideoEncoderProperties Classes:

Profile

Encoding profile, H264 (AVC), H265 (HEVC) 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

keyframeFrequency

maxBitrate

numBFrames

numFramesPool

outputFrameSize

profile

quality

rateCtrlMode

__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. Mutually exclusive with out.

getBitrate(self: depthai.node.VideoEncoder)int

Get bitrate in bps

getBitrateKbps(self: depthai.node.VideoEncoder)int

Get bitrate in kbps

getFrameRate(self: depthai.node.VideoEncoder)float

Get frame rate

getHeight(self: depthai.node.VideoEncoder)int

Get input height

getKeyframeFrequency(self: depthai.node.VideoEncoder)int

Get keyframe frequency

getLossless(self: depthai.node.VideoEncoder)bool

Get lossless mode. Applies only when using [M]JPEG profile.

getMaxOutputFrameSize(self: depthai.node.VideoEncoder)int
getNumBFrames(self: depthai.node.VideoEncoder)int

Get number of B frames

getNumFramesPool(self: depthai.node.VideoEncoder)int

Get number of frames in pool

Returns

Number of pool frames

getProfile(self: depthai.node.VideoEncoder)depthai.VideoEncoderProperties.Profile

Get profile

getQuality(self: depthai.node.VideoEncoder)int

Get quality

getRateControlMode(self: depthai.node.VideoEncoder)depthai.VideoEncoderProperties.RateControlMode

Get rate control mode

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

Get input size

getWidth(self: depthai.node.VideoEncoder)int

Get input width

property input

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

property out

Outputs EncodedFrame message that carries encoded (MJPEG, H264 or H265) frame data. Mutually exclusive with bitstream.

setBitrate(self: depthai.node.VideoEncoder, bitrate: int)None

Set output bitrate in bps, for CBR rate control mode. 0 for auto (based on frame size and FPS)

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

Set output bitrate in kbps, for CBR rate control mode. 0 for auto (based on frame size and FPS)

setDefaultProfilePreset(*args, **kwargs)

Overloaded function.

  1. setDefaultProfilePreset(self: depthai.node.VideoEncoder, fps: float, profile: depthai.VideoEncoderProperties.Profile) -> None

Sets a default preset based on specified frame rate and profile

Parameter fps:

Frame rate in frames per second

Parameter profile:

Encoding profile

  1. setDefaultProfilePreset(self: depthai.node.VideoEncoder, arg0: int, arg1: int, arg2: float, arg3: depthai.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.node.VideoEncoder, arg0: Tuple[int, int], arg1: float, arg2: depthai.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.node.VideoEncoder, frameRate: float)None

Sets expected frame rate

Parameter frameRate:

Frame rate in frames per second

setKeyframeFrequency(self: depthai.node.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

setLossless(self: depthai.node.VideoEncoder, arg0: bool)None

Set lossless mode. Applies only to [M]JPEG profile

Parameter lossless:

True to enable lossless jpeg encoding, false otherwise

setMaxOutputFrameSize(self: depthai.node.VideoEncoder, maxFrameSize: int)None

Specifies maximum output encoded frame size

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

Set number of B frames to be inserted

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

Set number of frames in pool

Parameter frames:

Number of pool frames

setProfile(*args, **kwargs)

Overloaded function.

  1. setProfile(self: depthai.node.VideoEncoder, profile: depthai.VideoEncoderProperties.Profile) -> None

Set encoding profile

  1. setProfile(self: depthai.node.VideoEncoder, arg0: Tuple[int, int], arg1: depthai.VideoEncoderProperties.Profile) -> None

Set encoding profile

  1. setProfile(self: depthai.node.VideoEncoder, arg0: int, arg1: int, arg2: depthai.VideoEncoderProperties.Profile) -> None

Set encoding profile

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

Set quality

Parameter quality:

Value between 0-100%. Approximates quality

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

Set rate control mode

class depthai.node.Warp

Bases: depthai.Node

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

Classes:

Properties

alias of depthai.WarpProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getHwIds(self)

Retrieve which hardware warp engines to use

getInterpolation(self)

Retrieve which interpolation method to use

setHwIds(self, arg0)

Specify which hardware warp engines to use

setInterpolation(self, arg0)

Specify which interpolation method to use

setMaxOutputFrameSize(self, arg0)

Specify maximum size of output image.

setNumFramesPool(self, arg0)

Specify number of frames in pool.

setOutputSize(*args, **kwargs)

Overloaded function.

setWarpMesh(*args, **kwargs)

Overloaded function.

Attributes:

inputImage

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

out

Outputs ImgFrame message that carries warped image.

Properties

alias of depthai.WarpProperties Classes:

Interpolation

Interpolation type

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)

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

getHwIds(self: depthai.node.Warp) → List[int]

Retrieve which hardware warp engines to use

getInterpolation(self: depthai.node.Warp)depthai.Interpolation

Retrieve which interpolation method to use

property inputImage

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

property out

Outputs ImgFrame message that carries warped image.

setHwIds(self: depthai.node.Warp, arg0: List[int])None

Specify which hardware warp engines to use

Parameter ids:

Which warp engines to use (0, 1, 2)

setInterpolation(self: depthai.node.Warp, arg0: depthai.Interpolation)None

Specify which interpolation method to use

Parameter interpolation:

type of interpolation

setMaxOutputFrameSize(self: depthai.node.Warp, arg0: int)None

Specify maximum size of output image.

Parameter maxFrameSize:

Maximum frame size in bytes

setNumFramesPool(self: depthai.node.Warp, arg0: int)None

Specify number of frames in pool.

Parameter numFramesPool:

How many frames should the pool have

setOutputSize(*args, **kwargs)

Overloaded function.

  1. setOutputSize(self: depthai.node.Warp, arg0: int, arg1: int) -> None

Sets output frame size in pixels

Parameter size:

width and height in pixels

  1. setOutputSize(self: depthai.node.Warp, arg0: Tuple[int, int]) -> None

setWarpMesh(*args, **kwargs)

Overloaded function.

  1. setWarpMesh(self: depthai.node.Warp, arg0: List[depthai.Point2f], arg1: int, arg2: int) -> None

  2. setWarpMesh(self: depthai.node.Warp, arg0: List[Tuple[float, float]], arg1: int, arg2: int) -> None

class depthai.node.XLinkIn

Bases: depthai.Node

XLinkIn node. Receives messages over XLink.

Classes:

Properties

alias of depthai.XLinkInProperties

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.

Properties

alias of depthai.XLinkInProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

maxDataSize

numFrames

streamName

__init__(*args, **kwargs)

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

getMaxDataSize(self: depthai.node.XLinkIn)int

Get maximum messages size in bytes

getNumFrames(self: depthai.node.XLinkIn)int

Get number of frames in pool

getStreamName(self: depthai.node.XLinkIn)str

Get stream name

property out

Outputs message of same type as send from host.

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

Set maximum message size it can receive

Parameter maxDataSize:

Maximum size in bytes

setNumFrames(self: depthai.node.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.node.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.node.XLinkOut

Bases: depthai.Node

XLinkOut node. Sends messages over XLink.

Classes:

Properties

alias of depthai.XLinkOutProperties

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 transferred over XLink stream

Properties

alias of depthai.XLinkOutProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

maxFpsLimit

metadataOnly

streamName

__init__(*args, **kwargs)

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

getFpsLimit(self: depthai.node.XLinkOut)float

Get rate limit in messages per second

getMetadataOnly(self: depthai.node.XLinkOut)bool

Get whether to transfer only messages attributes and not buffer data

getStreamName(self: depthai.node.XLinkOut)str

Get stream name

property input

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

Default queue is blocking with size 8

setFpsLimit(self: depthai.node.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.node.XLinkOut, arg0: bool)None

Specify whether to transfer only messages attributes and not buffer data

setStreamName(self: depthai.node.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.node.YoloDetectionNetwork

Bases: depthai.node.DetectionNetwork

YoloDetectionNetwork node. Parses Yolo results

Methods:

__init__(*args, **kwargs)

Initialize self.

getAnchorMasks(self)

Get anchor masks

getAnchors(self)

Get anchors

getCoordinateSize(self)

Get coordianate size

getIouThreshold(self)

Get Iou threshold

getNumClasses(self)

Get num classes

setAnchorMasks(self, anchorMasks, List[int]])

Set anchor masks

setAnchors(self, anchors)

Set anchors

setCoordinateSize(self, coordinates)

Set coordianate size

setIouThreshold(self, thresh)

Set Iou threshold

setNumClasses(self, numClasses)

Set num classes

__init__(*args, **kwargs)

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

getAnchorMasks(self: depthai.node.YoloDetectionNetwork) → Dict[str, List[int]]

Get anchor masks

getAnchors(self: depthai.node.YoloDetectionNetwork) → List[float]

Get anchors

getCoordinateSize(self: depthai.node.YoloDetectionNetwork)int

Get coordianate size

getIouThreshold(self: depthai.node.YoloDetectionNetwork)float

Get Iou threshold

getNumClasses(self: depthai.node.YoloDetectionNetwork)int

Get num classes

setAnchorMasks(self: depthai.node.YoloDetectionNetwork, anchorMasks: Dict[str, List[int]])None

Set anchor masks

setAnchors(self: depthai.node.YoloDetectionNetwork, anchors: List[float])None

Set anchors

setCoordinateSize(self: depthai.node.YoloDetectionNetwork, coordinates: int)None

Set coordianate size

setIouThreshold(self: depthai.node.YoloDetectionNetwork, thresh: float)None

Set Iou threshold

setNumClasses(self: depthai.node.YoloDetectionNetwork, numClasses: int)None

Set num classes

class depthai.node.YoloSpatialDetectionNetwork

Bases: depthai.node.SpatialDetectionNetwork

YoloSpatialDetectionNetwork node. Yolo-based network with spatial location data.

Methods:

__init__(*args, **kwargs)

Initialize self.

getAnchorMasks(self)

Get anchor masks

getAnchors(self)

Get anchors

getCoordinateSize(self)

Get coordianate size

getIouThreshold(self)

Get Iou threshold

getNumClasses(self)

Get num classes

setAnchorMasks(self, anchorMasks, List[int]])

Set anchor masks

setAnchors(self, anchors)

Set anchors

setCoordinateSize(self, coordinates)

Set coordianate size

setIouThreshold(self, thresh)

Set Iou threshold

setNumClasses(self, numClasses)

Set num classes

__init__(*args, **kwargs)

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

getAnchorMasks(self: depthai.node.YoloSpatialDetectionNetwork) → Dict[str, List[int]]

Get anchor masks

getAnchors(self: depthai.node.YoloSpatialDetectionNetwork) → List[float]

Get anchors

getCoordinateSize(self: depthai.node.YoloSpatialDetectionNetwork)int

Get coordianate size

getIouThreshold(self: depthai.node.YoloSpatialDetectionNetwork)float

Get Iou threshold

getNumClasses(self: depthai.node.YoloSpatialDetectionNetwork)int

Get num classes

setAnchorMasks(self: depthai.node.YoloSpatialDetectionNetwork, anchorMasks: Dict[str, List[int]])None

Set anchor masks

setAnchors(self: depthai.node.YoloSpatialDetectionNetwork, anchors: List[float])None

Set anchors

setCoordinateSize(self: depthai.node.YoloSpatialDetectionNetwork, coordinates: int)None

Set coordianate size

setIouThreshold(self: depthai.node.YoloSpatialDetectionNetwork, thresh: float)None

Set Iou threshold

setNumClasses(self: depthai.node.YoloSpatialDetectionNetwork, numClasses: int)None

Set num classes