Python API Reference

Classes:

ADatatype

Abstract message

Asset

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

AssetManager

AssetManager can store assets and serialize

Buffer

Base message - buffer of binary data

CalibrationHandler

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

CameraBoardSocket

Which Camera socket to use.

CameraControl

CameraControl message.

CameraImageOrientation

Camera sensor image orientation / pixel readout.

CameraInfo

CameraInfo structure

CameraModel

Which CameraModel to initialize the calibration with.

ChipTemperature

Chip temperature information.

ColorCamera

ColorCamera node.

ColorCameraProperties

Specify properties for ColorCamera such as camera ID, …

CpuUsage

CpuUsage structure

DataInputQueue

Access to send messages through XLink stream

DataOutputQueue

Access to receive messages coming from XLink stream

DetectionNetwork

DetectionNetwork, base for different network specializations

DetectionNetworkProperties

Specify properties for DetectionNetwork

Device

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

DeviceBootloader

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

DeviceDesc

DeviceInfo

Describes a connected device

EepromData

EepromData structure

Extrinsics

Extrinsics structure

GlobalProperties

Specify properties which apply for whole pipeline

IMU

IMU node for BNO08X.

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

ImageManip

ImageManip node.

ImageManipConfig

ImageManipConfig message.

ImgDetection

ImgDetection structure

ImgDetections

ImgDetections message.

ImgFrame

ImgFrame message.

LogLevel

Members:

MemoryInfo

MemoryInfo structure

MobileNetDetectionNetwork

MobileNetDetectionNetwork node.

MobileNetSpatialDetectionNetwork

MobileNetSpatialDetectionNetwork node.

MonoCamera

MonoCamera node.

MonoCameraProperties

Specify properties for MonoCamera such as camera ID, …

NNData

NNData message.

NeuralNetwork

NeuralNetwork node.

NeuralNetworkProperties

Specify properties for NeuralNetwork such as blob path, …

Node

Abstract Node

ObjectTracker

ObjectTracker node.

ObjectTrackerProperties

Specify properties for ObjectTracker

OpenVINO

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

Pipeline

Represents the pipeline, set of nodes and connections between them

Point2f

Point2f structure

Point3f

Point3f structure

RawBuffer

RawBuffer structure

RawCameraControl

RawCameraControl structure

RawIMUData

RawImageManipConfig

RawImageManipConfig structure

RawImgDetections

RawImgDetections structure

RawImgFrame

RawImgFrame structure

RawNNData

RawNNData structure

RawSpatialImgDetections

RawSpatialImgDetections structure

RawSystemInformation

System information of device

RawTracklets

RawTracklets structure

Rect

Rect structure

RotatedRect

RotatedRect structure

SPIOut

SPIOut node.

Size2f

Size2f structure

SpatialDetectionNetwork

SpatialDetectionNetwork node.

SpatialDetectionNetworkProperties

Specify properties for SpatialDetectionNetwork

SpatialImgDetection

SpatialImgDetection structure

SpatialImgDetections

SpatialImgDetections message.

SpatialLocationCalculator

SpatialLocationCalculator node.

SpatialLocationCalculatorConfig

SpatialLocationCalculatorConfig message.

SpatialLocationCalculatorConfigData

SpatialLocation configuration data structure

SpatialLocationCalculatorConfigThresholds

SpatialLocation configuration thresholds structure

SpatialLocationCalculatorData

SpatialLocationCalculatorData message.

SpatialLocationCalculatorProperties

Specify properties for SpatialLocationCalculator

SpatialLocations

SpatialLocations structure

StereoDepth

StereoDepth node.

StereoDepthProperties

Specify properties for StereoDepth

StereoRectification

StereoRectification structure

SystemInformation

SystemInformation message.

SystemLogger

SystemLogger node.

SystemLoggerProperties

SystemLoggerProperties structure

TensorInfo

TensorInfo structure

Timestamp

Timestamp structure

TrackerIdAssigmentPolicy

Members:

TrackerType

Members:

Tracklet

Tracklet structure

Tracklets

Tracklets message.

UsbSpeed

Get USB Speed

VideoEncoder

VideoEncoder node.

VideoEncoderProperties

Specify properties for VideoEncoder such as profile, bitrate, …

XLinkConnection

Represents connection between host and device over XLink protocol

XLinkDeviceState

Members:

XLinkIn

XLinkIn node.

XLinkOut

XLinkOut node.

XLinkPlatform

Members:

XLinkProtocol

Members:

YoloDetectionNetwork

YoloDetectionNetwork node.

YoloSpatialDetectionNetwork

YoloSpatialDetectionNetwork node.

class depthai.ADatatype

Bases: pybind11_builtins.pybind11_object

Abstract message

Methods:

__init__(*args, **kwargs)

Initialize self.

getRaw(self)

__init__(*args, **kwargs)

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

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

Bases: pybind11_builtins.pybind11_object

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

Methods:

__init__(*args, **kwargs)

Overloaded function.

Attributes:

alignment

data

key

__init__(*args, **kwargs)

Overloaded function.

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

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

property alignment
property data
property key
class depthai.AssetManager

Bases: pybind11_builtins.pybind11_object

AssetManager can store assets and serialize

Methods:

__init__(self)

add(*args, **kwargs)

Overloaded function.

addExisting(self, assets)

Adds all assets in an array to the AssetManager

get(*args, **kwargs)

Overloaded function.

getAll(*args, **kwargs)

Overloaded function.

remove(self, key)

Removes asset with key

set(self, key, asset)

Adds or overwrites existing asset with a specificied key.

size(self)

returns

Number of asset stored in the AssetManager

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

Overloaded function.

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

Adds an asset object to AssetManager.

Parameter asset:

Asset to add

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

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

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

Parameter key:

Key under which the asset should be stored

Parameter asset:

Asset to store

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

Adds all assets in an array to the AssetManager

Parameter assets:

Vector of assets to add

get(*args, **kwargs)

Overloaded function.

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

Returns

Asset assigned to the specified key or throws an error otherwise

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

Returns

Asset assigned to the specified key or throws an error otherwise

getAll(*args, **kwargs)

Overloaded function.

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

Returns

All asset stored in the AssetManager

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

Returns

All asset stored in the AssetManager

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

Removes asset with key

Parameter key:

Key of asset to remove

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

Adds or overwrites existing asset with a specificied key.

Parameter key:

Key under which the asset should be stored

Parameter asset:

Asset to store

size(self: depthai.AssetManager)int
Returns

Number of asset stored in the AssetManager

class depthai.Buffer

Bases: depthai.ADatatype

Base message - buffer of binary data

Methods:

__init__(self)

Creates Buffer message

getData(self)

returns

Reference to internal buffer

setData(*args, **kwargs)

Overloaded function.

__init__(self: depthai.Buffer)None

Creates Buffer message

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

Reference to internal buffer

setData(*args, **kwargs)

Overloaded function.

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

Parameter data:

Copies data to internal buffer

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

Parameter data:

Copies data to internal buffer

class depthai.CalibrationHandler

Bases: pybind11_builtins.pybind11_object

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

Methods:

__init__(*args, **kwargs)

Overloaded function.

eepromToJsonFile(self, destPath)

Write raw calibration/board data to json file.

getCameraExtrinsics(self, srcCamera, …)

Get the Camera Extrinsics object between two cameras from the data loaded if there is a linked connection between any two cameras then there relative rotation and translation 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.

getDefaultIntrinsics(self, cameraId)

Get the Default Intrinsics object

getDistortionCoefficients(self, cameraId)

Get the Distortion Coefficients object

getEepromData(self)

Get the Eeprom Data object

getFov(self, cameraId)

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(self, boardName, boardRev)

Set the Board Info object

setCameraExtrinsics(self, srcCameraId, …)

Set the Camera Extrinsics object

setCameraIntrinsics(*args, **kwargs)

Overloaded function.

setCameraType(self, cameraId, cameraModel)

Set the Camera Type object

setDistortionCoefficients(self, cameraId, …)

Sets the distortion Coefficients obtained from camera calibration

setFov(self, cameraId, hfov)

Set the Fov of the Camera

setImuExtrinsics(self, destCameraId, …)

Set the Imu to Camera Extrinsics object

setLensPosition(self, cameraId, lensPosition)

Sets the distortion Coefficients obtained from camera calibration

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: str) -> 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: str, arg1: str) -> 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.

eepromToJsonFile(self: depthai.CalibrationHandler, destPath: str)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

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 data loaded if there is a linked connection between any two cameras then there relative rotation and translation is returned by this function.

Parameter srcCamera:

Camera Id of the camera which will be considerd 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 homogenious 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 0x7f447c240d30>, bottomRightPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f447c23e070>) -> 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

Returns

Repesents 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 0x7f447c240eb0>, bottomRightPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f447c240c70>) -> 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

Returns

Repesents 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 0x7f447c244070>, bottomRightPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f447c240e30>) -> 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

Returns

Repesents 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 considerd 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 homogenious 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]

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

Repesents 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

repesents the distortion coefficients of the requested camera.

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)float

Get the Fov of the camera

Parameter cameraId:

of the camera of which we are fetching fov.

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 considerd 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 homogenious 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 postion 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(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.

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 considerd as relative origin.

Parameter destCameraId:

Camera Id of the camera which will be considerd 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:

repesents 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:

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

Parameter height:

repesents 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:

repesents 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

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 distoriton 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 considerd 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

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

RGB

LEFT

RIGHT

Attributes:

AUTO

LEFT

RGB

RIGHT

name

value

Methods:

__init__(self, value)

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

Bases: depthai.Buffer

CameraControl message. Specifies various camera control commands like:

  • Still capture

  • Auto focus

  • Anti banding

  • Auto white balance

  • Scene

  • Effect

Classes:

AntiBandingMode

Members:

AutoFocusMode

Members:

AutoWhiteBalanceMode

Members:

EffectMode

Members:

SceneMode

Members:

Methods:

__init__(self)

Construct CameraControl message

getCaptureStill(self)

Check whether command to capture a still is set

setAntiBandingMode(self, mode)

Set a command to specify auto banding mode

setAutoExposureCompensation(self, compensation)

Set a command to specify auto exposure compensation

setAutoExposureEnable(self)

Set a command to enable auto exposure

setAutoExposureLock(self, lock)

Set a command to specify lock auto exposure

setAutoExposureRegion(self, startX, startY, …)

Set a command to specify auto exposure region in pixels

setAutoFocusMode(self, mode)

Set a command to specify autofocus mode

setAutoFocusRegion(self, startX, startY, …)

Set a command to specify focus region in pixels

setAutoFocusTrigger(self)

Set a command to trigger autofocus

setAutoWhiteBalanceLock(self, lock)

Set a command to specify auto white balance lock

setAutoWhiteBalanceMode(self, mode)

Set a command to specify auto white balance mode

setBrightness(self, value)

Set a command to adjust image brightness

setCaptureStill(self, capture)

Set a command to capture a still image

setChromaDenoise(self, value)

Set a command to adjust chroma denoise amount

setContrast(self, value)

Set a command to adjust image contrast

setEffectMode(self, mode)

Set a command to specify effect mode

setLumaDenoise(self, value)

Set a command to adjust luma denoise amount

setManualExposure(self, exposureTimeUs, …)

Set a command to manually specify exposure

setManualFocus(self, lensPosition)

Set a command to specify manual focus position

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

class AntiBandingMode

Bases: pybind11_builtins.pybind11_object

Members:

OFF

MAINS_50_HZ

MAINS_60_HZ

AUTO

Attributes:

AUTO

MAINS_50_HZ

MAINS_60_HZ

OFF

name

value

Methods:

__init__(self, value)

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

Bases: pybind11_builtins.pybind11_object

Members:

OFF

AUTO

MACRO

CONTINUOUS_VIDEO

CONTINUOUS_PICTURE

EDOF

Attributes:

AUTO

CONTINUOUS_PICTURE

CONTINUOUS_VIDEO

EDOF

MACRO

OFF

name

value

Methods:

__init__(self, value)

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

Bases: pybind11_builtins.pybind11_object

Members:

OFF

AUTO

INCANDESCENT

FLUORESCENT

WARM_FLUORESCENT

DAYLIGHT

CLOUDY_DAYLIGHT

TWILIGHT

SHADE

Attributes:

AUTO

CLOUDY_DAYLIGHT

DAYLIGHT

FLUORESCENT

INCANDESCENT

OFF

SHADE

TWILIGHT

WARM_FLUORESCENT

name

value

Methods:

__init__(self, value)

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

Bases: pybind11_builtins.pybind11_object

Members:

OFF

MONO

NEGATIVE

SOLARIZE

SEPIA

POSTERIZE

WHITEBOARD

BLACKBOARD

AQUA

Attributes:

AQUA

BLACKBOARD

MONO

NEGATIVE

OFF

POSTERIZE

SEPIA

SOLARIZE

WHITEBOARD

name

value

Methods:

__init__(self, value)

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

Bases: pybind11_builtins.pybind11_object

Members:

UNSUPPORTED

FACE_PRIORITY

ACTION

PORTRAIT

LANDSCAPE

NIGHT

NIGHT_PORTRAIT

THEATRE

BEACH

SNOW

SUNSET

STEADYPHOTO

FIREWORKS

SPORTS

PARTY

CANDLELIGHT

BARCODE

Attributes:

ACTION

BARCODE

BEACH

CANDLELIGHT

FACE_PRIORITY

FIREWORKS

LANDSCAPE

NIGHT

NIGHT_PORTRAIT

PARTY

PORTRAIT

SNOW

SPORTS

STEADYPHOTO

SUNSET

THEATRE

UNSUPPORTED

name

value

Methods:

__init__(self, value)

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

Construct CameraControl message

getCaptureStill(self: depthai.CameraControl)bool

Check whether command to capture a still is set

Returns

True if capture still command is set

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

Set a command to specify auto banding mode

Parameter mode:

Auto banding mode to use

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

Set a command to specify auto exposure compensation

Parameter compensation:

Compensation value between -9..9

setAutoExposureEnable(self: depthai.CameraControl)None

Set a command to enable auto exposure

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

Set a command to specify lock auto exposure

Parameter lock:

Auto exposure lock mode enabled or disabled

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

Set a command to specify auto exposure region in pixels

Parameter startX:

X coordinate of top left corner of region

Parameter startY:

Y coordinate of top left corner of region

Parameter width:

Region width

Parameter height:

Region height

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

Set a command to specify autofocus mode

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

Set a command to specify focus region in pixels

Parameter startX:

X coordinate of top left corner of region

Parameter startY:

Y coordinate of top left corner of region

Parameter width:

Region width

Parameter height:

Region height

setAutoFocusTrigger(self: depthai.CameraControl)None

Set a command to trigger autofocus

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

Set a command to specify auto white balance lock

Parameter lock:

Auto white balance lock mode enabled or disabled

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

Set a command to specify auto white balance mode

Parameter mode:

Auto white balance mode to use

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

Set a command to adjust image brightness

Parameter value:

Brightness, range -10..10

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

Set a command to capture a still image

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

Set a command to adjust chroma denoise amount

Parameter value:

Chroma denoise amount, range 0..4

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

Set a command to adjust image contrast

Parameter value:

Contrast, range -10..10

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

Set a command to specify effect mode

Parameter mode:

Effect mode

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

Set a command to adjust luma denoise amount

Parameter value:

Luma denoise amount, range 0..4

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

Set a command to manually specify exposure

Parameter exposureTimeUs:

Exposure time in microseconds

Parameter sensitivityIso:

Sensitivity as ISO value, usual range 100..1600

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

Set a command to specify manual focus position

Parameter lensPosition:

specify lens position 0..255

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

Set a command to adjust image saturation

Parameter value:

Saturation, range -10..10

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

Set a command to specify scene mode

Parameter mode:

Scene mode

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

Set a command to adjust image sharpness

Parameter value:

Sharpness, range 0..4

setStartStreaming(self: depthai.CameraControl)None

Set a command to start streaming

setStopStreaming(self: depthai.CameraControl)None

Set a command to stop streaming

class depthai.CameraImageOrientation

Bases: pybind11_builtins.pybind11_object

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

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

Members:

AUTO

NORMAL

HORIZONTAL_MIRROR

VERTICAL_FLIP

ROTATE_180_DEG

Attributes:

AUTO

HORIZONTAL_MIRROR

NORMAL

ROTATE_180_DEG

VERTICAL_FLIP

name

value

Methods:

__init__(self, value)

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

Bases: pybind11_builtins.pybind11_object

Chip temperature information.

Multiple temperature measurement points and their average

Methods:

__init__(self)

Attributes:

average

css

dss

mss

upa

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

Bases: depthai.Node

ColorCamera node. For use with color sensors.

Classes:

Properties

alias of depthai.ColorCameraProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getBoardSocket(self)

Retrieves which board socket to use

getCamId(self)

getColorOrder(self)

Get color order of preview output frames.

getFp16(self)

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

getFps(self)

Get rate at which camera should produce frames

getImageOrientation(self)

Get camera image orientation

getInterleaved(self)

Get planar or interleaved data of preview output frames

getIspHeight(self)

Get ‘isp’ output height

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

getPreviewSize(self)

Get preview size as tuple

getPreviewWidth(self)

Get preview width

getResolution(self)

Get sensor resolution

getResolutionHeight(self)

Get sensor resolution height

getResolutionSize(self)

Get sensor resolution as size

getResolutionWidth(self)

Get sensor resolution width

getSensorCrop(self)

returns

Sensor top left crop coordinates

getSensorCropX(self)

Get sensor top left x crop coordinate

getSensorCropY(self)

Get sensor top left y crop coordinate

getStillHeight(self)

Get still height

getStillSize(self)

Get still size as tuple

getStillWidth(self)

Get still width

getVideoHeight(self)

Get video height

getVideoSize(self)

Get video size as tuple

getVideoWidth(self)

Get video width

getWaitForConfigInput(self)

See also

setWaitForConfigInput

sensorCenterCrop(self)

Specify sensor center crop.

setBoardSocket(self, boardSocket)

Specify which board socket to use

setCamId(self, arg0)

setColorOrder(self, colorOrder)

Set color order of preview output images.

setFp16(self, fp16)

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

setFps(self, fps)

Set rate at which camera should produce frames

setImageOrientation(self, imageOrientation)

Set camera image orientation

setInterleaved(self, interleaved)

Set planar or interleaved data of preview output frames

setIspScale(*args, **kwargs)

Overloaded function.

setPreviewKeepAspectRatio(self, keep)

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

setPreviewSize(*args, **kwargs)

Overloaded function.

setResolution(self, resolution)

Set sensor resolution

setSensorCrop(self, x, y)

Specifies sensor crop rectangle

setStillSize(*args, **kwargs)

Overloaded function.

setVideoSize(*args, **kwargs)

Overloaded function.

setWaitForConfigInput(self, wait)

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

Attributes:

initialControl

Initial control options to apply to sensor

inputConfig

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

inputControl

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

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

fps

initialControl

interleaved

previewHeight

previewWidth

resolution

sensorCropX

sensorCropY

stillHeight

stillWidth

videoHeight

videoWidth

__init__(*args, **kwargs)

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

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

Retrieves which board socket to use

Returns

Board socket to use

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

Get color order of preview output frames. RGB or BGR

getFp16(self: depthai.ColorCamera)bool

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

getFps(self: depthai.ColorCamera)float

Get rate at which camera should produce frames

Returns

Rate in frames per second

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

Get camera image orientation

getInterleaved(self: depthai.ColorCamera)bool

Get planar or interleaved data of preview output frames

getIspHeight(self: depthai.ColorCamera)int

Get ‘isp’ output height

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

Get ‘isp’ output resolution as size, after scaling

getIspWidth(self: depthai.ColorCamera)int

Get ‘isp’ output width

getPreviewHeight(self: depthai.ColorCamera)int

Get preview height

getPreviewKeepAspectRatio(self: depthai.ColorCamera)bool

See also

setPreviewKeepAspectRatio

Returns

Preview keep aspect ratio option

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

Get preview size as tuple

getPreviewWidth(self: depthai.ColorCamera)int

Get preview width

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

Get sensor resolution

getResolutionHeight(self: depthai.ColorCamera)int

Get sensor resolution height

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

Get sensor resolution as size

getResolutionWidth(self: depthai.ColorCamera)int

Get sensor resolution width

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

Sensor top left crop coordinates

getSensorCropX(self: depthai.ColorCamera)float

Get sensor top left x crop coordinate

getSensorCropY(self: depthai.ColorCamera)float

Get sensor top left y crop coordinate

getStillHeight(self: depthai.ColorCamera)int

Get still height

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

Get still size as tuple

getStillWidth(self: depthai.ColorCamera)int

Get still width

getVideoHeight(self: depthai.ColorCamera)int

Get video height

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

Get video size as tuple

getVideoWidth(self: depthai.ColorCamera)int

Get video width

getWaitForConfigInput(self: depthai.ColorCamera)bool

See also

setWaitForConfigInput

Returns

True if wait for inputConfig message, false otherwise

property initialControl

Initial control options to apply to sensor

property inputConfig

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

Default queue is non-blocking with size 8

property inputControl

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

Default queue is blocking with size 8

property 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.ColorCamera)None

Specify sensor center crop. Resolution size / video size

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

Specify which board socket to use

Parameter boardSocket:

Board socket to use

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

Set color order of preview output images. RGB or BGR

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

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

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

Set rate at which camera should produce frames

Parameter fps:

Rate in frames per second

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

Set camera image orientation

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

Set planar or interleaved data of preview output frames

setIspScale(*args, **kwargs)

Overloaded function.

  1. setIspScale(self: depthai.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.ColorCamera, scale: Tuple[int, int]) -> None

Set ‘isp’ output scaling, as a tuple <numerator, denominator>

  1. setIspScale(self: depthai.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.ColorCamera, horizScale: Tuple[int, int], vertScale: Tuple[int, int]) -> None

Set ‘isp’ output scaling, per each direction, as <numerator, denominator> tuples

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

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

Parameter keep:

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

setPreviewSize(*args, **kwargs)

Overloaded function.

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

Set preview output size

  1. setPreviewSize(self: depthai.ColorCamera, size: Tuple[int, int]) -> None

Set preview output size, as a tuple <width, height>

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

Set sensor resolution

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

Specifies sensor crop rectangle

Parameter x:

Top left X coordinate

Parameter y:

Top left Y coordinate

setStillSize(*args, **kwargs)

Overloaded function.

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

Set still output size

  1. setStillSize(self: depthai.ColorCamera, size: Tuple[int, int]) -> None

Set still output size, as a tuple <width, height>

setVideoSize(*args, **kwargs)

Overloaded function.

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

Set video output size

  1. setVideoSize(self: depthai.ColorCamera, size: Tuple[int, int]) -> None

Set video output size, as a tuple <width, height>

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

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

Parameter wait:

True to wait for inputConfig message, false otherwise

property still

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

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

property video

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

Suitable for use with VideoEncoder node

class depthai.ColorCameraProperties

Bases: pybind11_builtins.pybind11_object

Specify 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

fps

initialControl

interleaved

previewHeight

previewWidth

resolution

sensorCropX

sensorCropY

stillHeight

stillWidth

videoHeight

videoWidth

class ColorOrder

Bases: pybind11_builtins.pybind11_object

For 24 bit color these can be either RGB or BGR

Members:

BGR

RGB

Attributes:

BGR

RGB

name

value

Methods:

__init__(self, value)

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

Bases: pybind11_builtins.pybind11_object

Select the camera sensor resolution

Members:

THE_1080_P

THE_4_K

THE_12_MP

Attributes:

THE_1080_P

THE_12_MP

THE_4_K

name

value

Methods:

__init__(self, value)

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

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

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

Bases: pybind11_builtins.pybind11_object

CpuUsage structure

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

Methods:

__init__(self)

Attributes:

average

msTime

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

Bases: pybind11_builtins.pybind11_object

Access to send messages through XLink stream

Methods:

__init__(*args, **kwargs)

Initialize self.

getBlocking(self)

Gets current queue behavior when full (maxSize)

getMaxSize(self, arg0)

Gets queue maximum size

getName(self)

Gets queues name

send(*args, **kwargs)

Overloaded function.

setBlocking(self, blocking)

Sets queue behavior when full (maxSize)

setMaxSize(self, maxSize)

Sets queue maximum size

__init__(*args, **kwargs)

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

getBlocking(self: depthai.DataInputQueue)bool

Gets current queue behavior when full (maxSize)

Returns

True if blocking, false otherwise

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

Gets queue maximum size

Returns

Maximum queue size

getName(self: depthai.DataInputQueue)str

Gets queues name

Returns

Queue name

send(*args, **kwargs)

Overloaded function.

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

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

Parameter msg:

Message to add to the queue

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

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

Parameter rawMsg:

Message to add to the queue

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

Sets queue behavior when full (maxSize)

Parameter blocking:

Specifies if block or overwrite the oldest message in the queue

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

Sets queue maximum size

Parameter maxSize:

Specifies maximum number of messages in the queue

class depthai.DataOutputQueue

Bases: pybind11_builtins.pybind11_object

Access to receive messages coming from XLink stream

Methods:

__init__(*args, **kwargs)

Initialize self.

addCallback(*args, **kwargs)

Overloaded function.

get(self)

Block until a message is available.

getAll(self)

Block until at least one message in the queue.

getBlocking(self)

Gets current queue behavior when full (maxSize)

getMaxSize(self, arg0)

Gets queue maximum size

getName(self)

Gets queues name

has(self)

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

removeCallback(self, callbackId)

Removes a callback

setBlocking(self, blocking)

Sets queue behavior when full (maxSize)

setMaxSize(self, maxSize)

Sets queue maximum size

tryGet(self)

Try to retrieve message from queue.

tryGetAll(self)

Try to retrieve all messages in the queue.

__init__(*args, **kwargs)

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

addCallback(*args, **kwargs)

Overloaded function.

  1. addCallback(self: depthai.DataOutputQueue, callback: 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

get(self: depthai.DataOutputQueue)depthai.ADatatype

Block until a message is available.

Returns

Message or nullptr if no message available

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

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

Returns

Vector of messages

getBlocking(self: depthai.DataOutputQueue)bool

Gets current queue behavior when full (maxSize)

Returns

True if blocking, false otherwise

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

Gets queue maximum size

Returns

Maximum queue size

getName(self: depthai.DataOutputQueue)str

Gets queues name

Returns

Queue name

has(self: depthai.DataOutputQueue)bool

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

Returns

True if queue isn’t empty, false otherwise

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

Removes a callback

Parameter callbackId:

Id of callback to be removed

Returns

True if callback was removed, false otherwise

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

Sets queue behavior when full (maxSize)

Parameter blocking:

Specifies if block or overwrite the oldest message in the queue

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

Sets queue maximum size

Parameter maxSize:

Specifies maximum number of messages in the queue

tryGet(self: depthai.DataOutputQueue)depthai.ADatatype

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

Returns

Message or nullptr if no message available

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

Try to retrieve all messages in the queue.

Returns

Vector of messages

class depthai.DetectionNetwork

Bases: depthai.NeuralNetwork

DetectionNetwork, base for different network specializations

Classes:

Properties

alias of depthai.DetectionNetworkProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

setConfidenceThreshold(self, thresh)

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

Attributes:

input

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

out

Outputs ImgDetections message that carries parsed detection results.

passthrough

Passthrough message on which the inference was performed.

Properties

alias of depthai.DetectionNetworkProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

anchorMasks

anchors

classes

confidenceThreshold

coordinates

iouThreshold

nnFamily

__init__(*args, **kwargs)

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

property input

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

property out

Outputs ImgDetections message that carries parsed detection results.

property passthrough

Passthrough message on which the inference was performed.

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

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

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

Parameter thresh:

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

class depthai.DetectionNetworkProperties

Bases: depthai.NeuralNetworkProperties

Specify properties for DetectionNetwork

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

anchorMasks

anchors

classes

confidenceThreshold

coordinates

iouThreshold

nnFamily

__init__(*args, **kwargs)

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

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

Bases: pybind11_builtins.pybind11_object

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

Methods:

__init__(*args, **kwargs)

Overloaded function.

addLogCallback(self, callback, None])

Add a callback for device logging.

close(self)

Closes the connection to device.

flashCalibration(self, calibrationDataHandler)

Stores the Calibration and Device information to the Device EEPROM

getAllAvailableDevices()

Returns all connected devices

getAnyAvailableDevice(*args, **kwargs)

Overloaded function.

getChipTemperature(self)

Retrieves current chip temperature as measured by device

getCmxMemoryUsage(self)

Retrieves current CMX memory information from device

getConnectedCameras(self)

Get cameras that are connected to the device

getDdrMemoryUsage(self)

Retrieves current DDR memory information from device

getDeviceByMxId(mxId)

Finds a device by MX ID.

getDeviceInfo(self)

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

getEmbeddedDeviceBinary(usb2Mode, version)

Gets device firmware binary for a specific OpenVINO version

getFirstAvailableDevice()

Gets first available device.

getInputQueue(*args, **kwargs)

Overloaded function.

getInputQueueNames(self)

Get all available input queue names

getLeonCssCpuUsage(self)

Retrieves average CSS Leon CPU usage

getLeonCssHeapUsage(self)

Retrieves current CSS Leon CPU heap information from device

getLeonMssCpuUsage(self)

Retrieves average MSS Leon CPU usage

getLeonMssHeapUsage(self)

Retrieves current MSS Leon CPU heap information from device

getLogLevel(self)

Gets current logging severity level of the device.

getLogOutputLevel(self)

Gets logging level which decides printing level to standard output.

getOutputQueue(*args, **kwargs)

Overloaded function.

getOutputQueueNames(self)

Get all available output queue names

getQueueEvent(*args, **kwargs)

Overloaded function.

getQueueEvents(*args, **kwargs)

Overloaded function.

getSystemInformationLoggingRate(self)

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

getUsbSpeed(self)

Retrieves USB connection speed

isClosed(self)

Check if the device is still connected`

isPipelineRunning(self)

Checks if devices pipeline is already running

readCalibration(self)

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

removeLogCallback(self, callbackId)

Removes a callback

setLogLevel(self, level)

Sets the devices logging severity level.

setLogOutputLevel(self, level)

Sets logging level which decides printing level to standard output.

setSystemInformationLoggingRate(self, rateHz)

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

startPipeline(*args, **kwargs)

Overloaded function.

__init__(*args, **kwargs)

Overloaded function.

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:

Pipeline to be executed on the device

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:

Pipeline to be executed on the device

Parameter usb2Mode:

Boot device using USB2 mode firmware

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:

Pipeline to be executed on the device

Parameter pathToCmd:

Path to custom device firmware

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:

Pipeline to be executed on the device

Parameter pathToCmd:

Path to custom device firmware

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

Connects to device specified by devInfo.

Parameter pipeline:

Pipeline to be executed on the device

Parameter devInfo:

DeviceInfo which specifies which device to connect to

Parameter usb2Mode:

Boot device using USB2 mode firmware

  1. __init__(self: depthai.Device, version: depthai.OpenVINO.Version = <Version.VERSION_2021_3: 6>) -> 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, usb2Mode: bool) -> 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:

Path to custom device firmware

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter version:

OpenVINO version which the device will be booted with. Default is Pipeline::DEFAULT_OPENVINO_VERSION

  1. __init__(self: depthai.Device, version: depthai.OpenVINO.Version, deviceDesc: depthai.DeviceInfo, 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, deviceDesc: depthai.DeviceInfo, pathToCmd: str) -> 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

addLogCallback(self: depthai.Device, callback: Callable[[dai::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.Device)None

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

flashCalibration(self: depthai.Device, calibrationDataHandler: dai::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

static getAllAvailableDevices() → List[depthai.DeviceInfo]

Returns all connected devices

Returns

Vector of connected devices

static getAnyAvailableDevice(*args, **kwargs)

Overloaded function.

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

Waits for any available device with a timeout

Parameter timeout:

duration of time to wait for the any device

Returns

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

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

Retrieves current chip temperature as measured by device

Returns

Temperature of various onboard sensors

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

Retrieves current CMX memory information from device

Returns

Used, remaining and total cmx memory

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

Get cameras that are connected to the device

Returns

Vector of connected cameras

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

Retrieves current DDR memory information from device

Returns

Used, remaining and total ddr memory

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

Finds a device by MX ID. Example: 14442C10D13EABCE00

Parameter mxId:

MyraidX ID which uniquely specifies a device

Returns

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

getDeviceInfo(self: depthai.Device)depthai.DeviceInfo

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

Returns

DeviceInfo of the current device in execution

static getEmbeddedDeviceBinary(usb2Mode: bool, version: depthai.OpenVINO.Version = <Version.VERSION_2021_3: 6>) → List[int]

Gets device firmware binary for a specific OpenVINO version

Parameter usb2Mode:

USB2 mode firmware

Parameter version:

Version of OpenVINO which firmware will support

Returns

Firmware binary

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

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

Returns

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

getInputQueue(*args, **kwargs)

Overloaded function.

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

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

Parameter name:

Queue/stream name, set in XLinkIn node

Returns

Smart pointer to DataInputQueue

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

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

Parameter name:

Queue/stream name, set in XLinkOut node

Parameter maxSize:

Maximum number of messages in queue

Parameter blocking:

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

Returns

Smart pointer to DataInputQueue

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

Get all available input queue names

Returns

Vector of input queue names

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

Retrieves average CSS Leon CPU usage

Returns

Average CPU usage and sampling duration

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

Retrieves current CSS Leon CPU heap information from device

Returns

Used, remaining and total heap memory

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

Retrieves average MSS Leon CPU usage

Returns

Average CPU usage and sampling duration

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

Retrieves current MSS Leon CPU heap information from device

Returns

Used, remaining and total heap memory

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

Gets current logging severity level of the device.

Returns

Logging severity level

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

Gets logging level which decides printing level to standard output.

Returns

Standard output printing severity

getOutputQueue(*args, **kwargs)

Overloaded function.

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

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

Parameter name:

Queue/stream name, created by XLinkOut node

Returns

Smart pointer to DataOutputQueue

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

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

Parameter name:

Queue/stream name, set in XLinkOut node

Parameter maxSize:

Maximum number of messages in queue

Parameter blocking:

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

Returns

Smart pointer to DataOutputQueue

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

Get all available output queue names

Returns

Vector of output queue names

getQueueEvent(*args, **kwargs)

Overloaded function.

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

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

Parameter queueNames:

Names of queues for which to wait for

Parameter timeout:

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

Returns

Queue name which received a message first

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

Gets or waits until specified queue has received a message

Parameter queueNames:

Name of queues for which to wait for

Parameter timeout:

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

Returns

Queue name which received a message

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

Gets or waits until any queue has received a message

Parameter timeout:

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

Returns

Queue name which received a message

getQueueEvents(*args, **kwargs)

Overloaded function.

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

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

Parameter queueNames:

Names of queues for which to block

Parameter maxNumEvents:

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

Parameter timeout:

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

Returns

Names of queues which received messages first

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

Gets or waits until specified queue has received a message

Parameter queueName:

Name of queues for which to wait for

Parameter maxNumEvents:

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

Parameter timeout:

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

Returns

Names of queues which received messages first

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

Gets or waits until any any queue has received a message

Parameter maxNumEvents:

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

Parameter timeout:

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

Returns

Names of queues which received messages first

getSystemInformationLoggingRate(self: depthai.Device)float

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

Returns

Logging rate in Hz

getUsbSpeed(self: depthai.Device) → dai::UsbSpeed

Retrieves USB connection speed

Returns

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

isClosed(self: depthai.Device)bool

Check if the device is still connected`

isPipelineRunning(self: depthai.Device)bool

Checks if devices pipeline is already running

Returns

True if running, false otherwise

readCalibration(self: depthai.Device) → dai::CalibrationHandler

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

Returns

The CalibrationHandler object containing the calibration currently flashed on device EEPROM

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

Removes a callback

Parameter callbackId:

Id of callback to be removed

Returns

True if callback was removed, false otherwise

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

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

Parameter level:

Logging severity

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

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

Parameter level:

Standard output printing severity

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

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

Parameter rateHz:

Logging rate in Hz

startPipeline(*args, **kwargs)

Overloaded function.

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

Starts the execution of the devices pipeline

Returns

True if pipeline started, false otherwise

  1. startPipeline(self: depthai.Device, 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:

Version

Bootloader version structure

Methods:

__init__(*args, **kwargs)

Overloaded function.

close(self)

Closes the connection to device.

createDepthaiApplicationPackage(pipeline, …)

Creates application package which can be flashed to depthai device.

flash(self, progressCallback, None], pipeline)

Flashes a give pipeline to the board.

flashBootloader(self, progressCallback, …)

Flashes bootloader to the current board

flashDepthaiApplicationPackage(self, …)

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

getAllAvailableDevices()

Searches for connected devices in either UNBOOTED or BOOTLOADER states.

getEmbeddedBootloaderBinary()

returns

Embedded bootloader binary

getEmbeddedBootloaderVersion()

returns

Embedded bootloader version

getFirstAvailableDevice()

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

getVersion(self)

returns

Version of current running bootloader

isEmbeddedVersion(self)

returns

True whether the bootloader running is flashed or booted by library

saveDepthaiApplicationPackage(path, …)

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

class Version

Bases: pybind11_builtins.pybind11_object

Bootloader version structure

Methods:

__init__(*args, **kwargs)

Overloaded function.

__init__(*args, **kwargs)

Overloaded function.

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

Construct Version from string

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

Construct Version major, minor and patch numbers

__init__(*args, **kwargs)

Overloaded function.

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

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

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

Parameter devInfo:

DeviceInfo of which to boot or connect to

close(self: depthai.DeviceBootloader)None

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

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

Creates application package which can be flashed to depthai device.

Parameter pipeline:

Pipeline from which to create the application package

Parameter pathToCmd:

Optional path to custom device firmware

Returns

Depthai application package

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

Flashes a give pipeline to the board.

Parameter progressCallback:

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

Parameter pipeline:

Pipeline to flash to the board

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

Flashes bootloader to the current board

Parameter progressCallback:

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

Parameter path:

Optional parameter to custom bootloader to flash

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

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

Parameter progressCallback:

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

Parameter package:

Depthai application package to flash to the board

static getAllAvailableDevices() → List[depthai.DeviceInfo]

Searches for connected devices in either UNBOOTED or BOOTLOADER states.

Returns

Vector of all found devices

static getEmbeddedBootloaderBinary() → List[int]
Returns

Embedded bootloader binary

static getEmbeddedBootloaderVersion()depthai.DeviceBootloader.Version
Returns

Embedded bootloader version

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

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

Returns

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

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

Version of current running bootloader

isEmbeddedVersion(self: depthai.DeviceBootloader)bool
Returns

True whether the bootloader running is flashed or booted by library

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

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

Parameter path:

Path where to save the application package

Parameter pipeline:

Pipeline from which to create the application package

Parameter pathToCmd:

Optional path to custom device firmware

class depthai.DeviceDesc

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

name

platform

protocol

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

Bases: pybind11_builtins.pybind11_object

Describes a connected device

Methods:

__init__(self)

getMxId(self)

Attributes:

desc

state

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

Bases: pybind11_builtins.pybind11_object

EepromData structure

Contains the Calibration and Board data stored on device

Methods:

__init__(self)

Attributes:

boardName

boardRev

cameraData

imuExtrinsics

stereoRectificationData

version

__init__(self: depthai.EepromData)None
property boardName
property boardRev
property cameraData
property imuExtrinsics
property stereoRectificationData
property version
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.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

__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
class depthai.IMU

Bases: depthai.Node

IMU node for BNO08X.

Classes:

Properties

alias of depthai.IMUProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

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

imuSensors

maxBatchReports

__init__(*args, **kwargs)

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

enableIMUSensor(*args, **kwargs)

Overloaded function.

  1. enableIMUSensor(self: depthai.IMU, sensorConfig: dai::IMUSensorConfig) -> None

Enable a new IMU sensor with explicit configuration

  1. enableIMUSensor(self: depthai.IMU, sensorConfigs: List[dai::IMUSensorConfig]) -> None

Enable a list of IMU sensors with explicit configuration

  1. enableIMUSensor(self: depthai.IMU, sensor: dai::IMUSensor, reportRate: int) -> None

Enable a new IMU sensor with default configuration

  1. enableIMUSensor(self: depthai.IMU, sensors: List[dai::IMUSensor], reportRate: int) -> None

Enable a list of IMU sensors with default configuration

getBatchReportThreshold(self: depthai.IMU)int

Above this packet threshold data will be sent to host, if queue is not blocked

getMaxBatchReports(self: depthai.IMU)int

Maximum number of IMU packets in a batch report

property out

Outputs IMUData message that carries IMU packets.

setBatchReportThreshold(self: depthai.IMU, batchReportThreshold: int)None

Above this packet threshold data will be sent to host, if queue is not blocked

setMaxBatchReports(self: depthai.IMU, maxBatchReports: int)None

Maximum number of IMU packets in a batch report

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

imuSensors

maxBatchReports

__init__(*args, **kwargs)

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

property batchReportThreshold
property imuSensors
property maxBatchReports
class depthai.IMUReport

Bases: pybind11_builtins.pybind11_object

Classes:

IMUReportAccuracy

Members:

Methods:

__init__(self)

Attributes:

accuracy

sequence

timestamp

class IMUReportAccuracy

Bases: pybind11_builtins.pybind11_object

Members:

UNRELIABLE

LOW

MEDIUM

HIGH

Attributes:

HIGH

LOW

MEDIUM

UNRELIABLE

name

value

Methods:

__init__(self, value)

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

accuracy

i

j

k

real

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

Bases: pybind11_builtins.pybind11_object

Available IMU sensors. More details about each sensor can be found in the datasheet: link https://www.ceva-dsp.com/wp- content/uploads/2019/10/BNO080_085-Datasheet.pdf endlink

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.ImageManip

Bases: depthai.Node

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

Methods:

__init__(*args, **kwargs)

Initialize self.

setCenterCrop(self, arg0, arg1)

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

setFrameType(self, arg0)

setHorizontalFlip(self, arg0)

setKeepAspectRatio(self, arg0)

setMaxOutputFrameSize(self, arg0)

Specify maximum size of output image.

setNumFramesPool(self, arg0)

Specify number of frames in pool.

setResize(self, arg0, arg1)

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

setWaitForConfigInput(self, arg0)

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

Attributes:

initialConfig

Initial config to use when manipulating frames

inputConfig

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

inputImage

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

out

Outputs ImgFrame message that carries modified image.

__init__(*args, **kwargs)

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

property initialConfig

Initial config to use when manipulating frames

property inputConfig

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

property inputImage

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

property out

Outputs ImgFrame message that carries modified image.

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

Specify maximum size of output image.

Parameter maxFrameSize:

Maximum frame size in bytes

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

Specify number of frames in pool.

Parameter numFramesPool:

How many frames should the pool have

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

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

Parameter wait:

True to wait for configuration message, false otherwise

class depthai.ImageManipConfig

Bases: depthai.Buffer

ImageManipConfig message. Specifies image manipulation options like:

  • Crop

  • Resize

  • Warp

Methods:

__init__(self)

getCropXMax(self)

returns

Bottom right X coordinate of crop region

getCropXMin(self)

returns

Top left X coordinate of crop region

getCropYMax(self)

returns

Bottom right Y coordinate of crop region

getCropYMin(self)

returns

Top left Y coordinate of crop region

getResizeHeight(self)

returns

Output image height

getResizeWidth(self)

returns

Output image width

isResizeThumbnail(self)

returns

True if resize thumbnail mode is set, false otherwise

setCenterCrop(self, ratio, whRatio)

Specifies a centered crop.

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

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

setCropRotatedRect(self, rr, normalizedCoords)

Specifies crop with rotated rectangle.

setFrameType(self, name)

Specify output frame type.

setHorizontalFlip(self, flip)

Specify horizontal flip

setKeepAspectRatio(self, keep)

Specifies to whether to keep aspect ratio or not

setResize(self, w, h)

Specifies output image size.

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

Specifies output image size.

setReusePreviousImage(self, reuse)

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

setRotationDegrees(self, deg)

Specifies clockwise rotation in degrees

setRotationRadians(self, rad)

Specifies clockwise rotation in radians

setSkipCurrentImage(self, skip)

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

setWarpBorderFillColor(self, red, green, blue)

Specifies fill color for border pixels.

setWarpBorderReplicatePixels(self)

Specifies that warp replicates border pixels

setWarpTransformFourPoints(self, pt, …)

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

setWarpTransformMatrix3x3(self, mat)

Specifies warp with a 3x3 matrix

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

Bottom right X coordinate of crop region

getCropXMin(self: depthai.ImageManipConfig)float
Returns

Top left X coordinate of crop region

getCropYMax(self: depthai.ImageManipConfig)float
Returns

Bottom right Y coordinate of crop region

getCropYMin(self: depthai.ImageManipConfig)float
Returns

Top left Y coordinate of crop region

getResizeHeight(self: depthai.ImageManipConfig)int
Returns

Output image height

getResizeWidth(self: depthai.ImageManipConfig)int
Returns

Output image width

isResizeThumbnail(self: depthai.ImageManipConfig)bool
Returns

True if resize thumbnail mode is set, false otherwise

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

Specifies a centered crop.

Parameter ratio:

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

Parameter whRatio:

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

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

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

Parameter xmin:

Top left X coordinate of rectangle

Parameter ymin:

Top left Y coordinate of rectangle

Parameter xmax:

Bottom right X coordinate of rectangle

Parameter ymax:

Bottom right Y coordinate of rectangle

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

Specifies crop with rotated rectangle. Optionally as non normalized coordinates

Parameter rr:

Rotated rectangle which specifies crop

Parameter normalizedCoords:

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

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

Specify output frame type.

Parameter name:

Frame type

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

Specify horizontal flip

Parameter flip:

True to enable flip, false otherwise

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

Specifies to whether to keep aspect ratio or not

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

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

Parameter w:

Width in pixels

Parameter h:

Height in pixels

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

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

Parameter w:

Width in pixels

Parameter h:

Height in pixels

Parameter bgRed:

Red component

Parameter bgGreen:

Green component

Parameter bgBlue:

Blue component

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

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

Parameter reuse:

True to enable reuse, false otherwise

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

Specifies clockwise rotation in degrees

Parameter deg:

Rotation in degrees

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

Specifies clockwise rotation in radians

Parameter rad:

Rotation in radians

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

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

Parameter skip:

True to skip current image, false otherwise

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

Specifies fill color for border pixels. Example:

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

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

Parameter red:

Red component

Parameter green:

Green component

Parameter blue:

Blue component

setWarpBorderReplicatePixels(self: depthai.ImageManipConfig)None

Specifies that warp replicates border pixels

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

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

Parameter pt:

4 points specifying warp

Parameter normalizedCoords:

If true pt is interpreted as normalized, absolute otherwise

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

Specifies warp with a 3x3 matrix

Parameter mat:

3x3 matrix

class depthai.ImgDetection

Bases: pybind11_builtins.pybind11_object

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

Attributes:

detections

Detections

__init__(self: depthai.ImgDetections)None

Construct ImgDetections message

property detections

Detections

class depthai.ImgFrame

Bases: depthai.Buffer

ImgFrame message. Carries image data and metadata.

Classes:

Specs

Type

Members:

Methods:

__init__(self)

getCategory(self)

Retrievies image category

getCvFrame(self)

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

getFrame(self, copy)

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

getHeight(self)

Retrievies image height in pixels

getInstanceNum(self)

Retrievies instance number

getSequenceNum(self)

Retrievies image sequence number

getTimestamp(self)

Retrievies image timestamp related to steady_clock / time.monotonic

getType(self)

Retrieves image type

getWidth(self)

Retrievies image width in pixels

setCategory(self, category)

Parameter category:

setFrame(self, array)

Copies array bytes to ImgFrame buffer

setHeight(self, height)

Specifies frame height

setInstanceNum(self, instance)

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

setSequenceNum(self, seq)

Specifies sequence number

setTimestamp(self, timestamp)

Specifies current timestamp, related to steady_clock / time.monotonic

setType(self, type)

Specifies frame type, RGB, BGR, …

setWidth(self, width)

Specifies frame width

class Specs

Bases: pybind11_builtins.pybind11_object

Methods:

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

Retrievies image category

getCvFrame(self: object)object

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

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

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

getHeight(self: depthai.ImgFrame)int

Retrievies image height in pixels

getInstanceNum(self: depthai.ImgFrame)int

Retrievies instance number

getSequenceNum(self: depthai.ImgFrame)int

Retrievies image sequence number

getTimestamp(self: depthai.ImgFrame)datetime.timedelta

Retrievies image timestamp related to steady_clock / time.monotonic

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

Retrieves image type

getWidth(self: depthai.ImgFrame)int

Retrievies image width in pixels

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

Image category

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

Copies array bytes to ImgFrame buffer

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

Specifies frame height

Parameter width:

frame height

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

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

Parameter instance:

Instance number

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

Specifies sequence number

Parameter seq:

Sequence number

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

Specifies current timestamp, related to steady_clock / time.monotonic

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

Specifies frame type, RGB, BGR, …

Parameter type:

Type of image

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

Specifies frame width

Parameter width:

frame width

class depthai.LogLevel

Bases: pybind11_builtins.pybind11_object

Members:

TRACE

DEBUG

INFO

WARN

ERR

CRITICAL

OFF

Attributes:

CRITICAL

DEBUG

ERR

INFO

OFF

TRACE

WARN

name

value

Methods:

__init__(self, value)

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

Bases: pybind11_builtins.pybind11_object

MemoryInfo structure

Free, remaining and total memory stats

Methods:

__init__(self)

Attributes:

remaining

total

used

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

Bases: depthai.DetectionNetwork

MobileNetDetectionNetwork node. Parses MobileNet results

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)

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

class depthai.MobileNetSpatialDetectionNetwork

Bases: depthai.SpatialDetectionNetwork

MobileNetSpatialDetectionNetwork 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.MonoCamera

Bases: depthai.Node

MonoCamera node. For use with grayscale sensors.

Classes:

Properties

alias of depthai.MonoCameraProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getBoardSocket(self)

Retrieves which board socket to use

getCamId(self)

getFps(self)

Get rate at which camera should produce frames

getImageOrientation(self)

Get camera image orientation

getResolution(self)

Get sensor resolution

getResolutionHeight(self)

Get sensor resolution height

getResolutionSize(self)

Get sensor resolution as size

getResolutionWidth(self)

Get sensor resolution width

setBoardSocket(self, boardSocket)

Specify which board socket to use

setCamId(self, arg0)

setFps(self, fps)

Set rate at which camera should produce frames

setImageOrientation(self, imageOrientation)

Set camera image orientation

setResolution(self, resolution)

Set sensor resolution

Attributes:

initialControl

Initial control options to apply to sensor

inputControl

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

out

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

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

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

boardSocket

fps

initialControl

resolution

__init__(*args, **kwargs)

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

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

Retrieves which board socket to use

Returns

Board socket to use

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

Get rate at which camera should produce frames

Returns

Rate in frames per second

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

Get camera image orientation

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

Get sensor resolution

getResolutionHeight(self: depthai.MonoCamera)int

Get sensor resolution height

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

Get sensor resolution as size

getResolutionWidth(self: depthai.MonoCamera)int

Get sensor resolution width

property initialControl

Initial control options to apply to sensor

property inputControl

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

property out

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

Suitable for use StereoDepth node. 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.MonoCamera, boardSocket: dai::CameraBoardSocket)None

Specify which board socket to use

Parameter boardSocket:

Board socket to use

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

Set rate at which camera should produce frames

Parameter fps:

Rate in frames per second

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

Set camera image orientation

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

Set sensor resolution

class depthai.MonoCameraProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for MonoCamera such as camera ID, …

Classes:

SensorResolution

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

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

boardSocket

fps

initialControl

resolution

class SensorResolution

Bases: pybind11_builtins.pybind11_object

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

Members:

THE_720_P

THE_800_P

THE_400_P

Attributes:

THE_400_P

THE_720_P

THE_800_P

name

value

Methods:

__init__(self, value)

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

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

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

Bases: depthai.Buffer

NNData message. Carries tensors and their metadata

Methods:

__init__(self)

Construct NNData message.

getAllLayerNames(self)

returns

Names of all layers added

getAllLayers(self)

returns

All layers and their information

getFirstLayerFp16(self)

Convinience function to retrieve float values from first layers FP16 tensor

getFirstLayerInt32(self)

Convinience function to retrieve INT32 values from first layers tensor

getFirstLayerUInt8(self)

Convinience function to retrieve U8 data from first layer

getLayer(self, name, tensor)

Retrieve layers tensor information

getLayerDatatype(self, name, datatype)

Retrieve datatype of a layers tensor

getLayerFp16(self, name)

Convinience function to retrieve float values from layers FP16 tensor

getLayerInt32(self, name)

Convinience function to retrieve INT32 values from layers tensor

getLayerUInt8(self, name)

Convinience function to retrieve U8 data from layer

hasLayer(self, name)

Checks if given layer exists

setLayer(*args, **kwargs)

Overloaded function.

__init__(self: depthai.NNData)None

Construct NNData message.

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

Names of all layers added

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

All layers and their information

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

Convinience function to retrieve float values from first layers FP16 tensor

Returns

Float data

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

Convinience function to retrieve INT32 values from first layers tensor

Returns

INT32 data

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

Convinience function to retrieve U8 data from first layer

Returns

U8 binary data

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

Retrieve layers tensor information

Parameter name:

Name of the layer

Parameter tensor:

Outputs tensor infromation of that layer

Returns

True if layer exists, false otherwise

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

Retrieve datatype of a layers tensor

Parameter name:

Name of the layer

Parameter datatype:

Datatype of layers tensor

Returns

True if layer exists, false otherwise

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

Convinience function to retrieve float values from layers FP16 tensor

Parameter name:

Name of the layer

Returns

Float data

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

Convinience function to retrieve INT32 values from layers tensor

Parameter name:

Name of the layer

Returns

INT32 data

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

Convinience function to retrieve U8 data from layer

Parameter name:

Name of the layer

Returns

U8 binary data

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

Checks if given layer exists

Parameter name:

Name of the layer

Returns

True if layer exists, false otherwise

setLayer(*args, **kwargs)

Overloaded function.

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

Set a layer with datatype U8.

Parameter name:

Name of the layer

Parameter data:

Data to store

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

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

Parameter name:

Name of the layer

Parameter data:

Data to store

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

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

Parameter name:

Name of the layer

Parameter data:

Data to store

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

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

Parameter name:

Name of the layer

Parameter data:

Data to store

class depthai.NeuralNetwork

Bases: depthai.Node

NeuralNetwork node. Runs a neural inference on input data.

Classes:

Properties

alias of depthai.NeuralNetworkProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getNumInferenceThreads(self)

How many inference threads will be used to run the network

setBlobPath(self, path)

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

setNumInferenceThreads(self, numThreads)

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

setNumNCEPerInferenceThread(self, …)

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

setNumPoolFrames(self, numFrames)

Specifies how many frames will be avilable in the pool

Attributes:

input

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

out

Outputs NNData message that carries inference results

passthrough

Passthrough message on which the inference was performed.

Properties

alias of depthai.NeuralNetworkProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

blobSize

blobUri

numFrames

numNCEPerThread

numThreads

__init__(*args, **kwargs)

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

getNumInferenceThreads(self: depthai.NeuralNetwork)int

How many inference threads will be used to run the network

Returns

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

property input

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

property out

Outputs NNData message that carries inference results

property passthrough

Passthrough message on which the inference was performed.

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

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

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

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

Parameter path:

Path to network blob

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

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

Parameter numThreads:

Number of threads to dedicate to this node

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

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

Parameter numNCEPerThread:

Number of NCE per thread

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

Specifies how many frames will be avilable in the pool

Parameter numFrames:

How many frames will pool have

class depthai.NeuralNetworkProperties

Bases: pybind11_builtins.pybind11_object

Specify 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

Id

Node identificator.

Input

Output

Methods:

__init__(*args, **kwargs)

Initialize self.

getAssets(self)

Retrieves all nodes assets

getInputs(self)

Retrieves all nodes inputs

getName(self)

Retrieves nodes name

getOutputs(self)

Retrieves all nodes outputs

Attributes:

id

Id of node

class Connection

Bases: pybind11_builtins.pybind11_object

Connection between an Input and Output

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

inputId

inputName

outputId

outputName

__init__(*args, **kwargs)

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

property inputId
property inputName
property outputId
property outputName
class Id

Bases: pybind11_builtins.pybind11_object

Node identificator. Unique for every node on a single Pipeline

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)

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

class Input

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

getBlocking(self)

Get input queue behavior

getQueueSize(self)

Get input queue size.

setBlocking(self, blocking)

Overrides default input queue behavior.

setQueueSize(self, size)

Overrides default input queue size.

__init__(*args, **kwargs)

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

getBlocking(self: depthai.Node.Input)bool

Get input queue behavior

Returns

True blocking, false overwriting

getQueueSize(self: depthai.Node.Input)int

Get input queue size.

Returns

Maximum input queue size

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

Overrides default input queue behavior.

Parameter blocking:

True blocking, false overwriting

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

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

Parameter size:

Maximum input queue size

class Output

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

canConnect(self, in)

Check if connection is possible

getConnections(self)

Retrieve all connections from this output

link(self, in)

Link current output to input.

unlink(self, in)

Unlink a previously linked connection

__init__(*args, **kwargs)

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

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

Check if connection is possible

Parameter in:

Input to connect to

Returns

True if connection is possible, false otherwise

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

Retrieve all connections from this output

Returns

Vector of connections

Link current output to input.

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

Parameter in:

Input to link to

Unlink a previously linked connection

Throws an error if not linked.

Parameter in:

Input from which to unlink from

__init__(*args, **kwargs)

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

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

Retrieves all nodes assets

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

Retrieves all nodes inputs

getName(self: depthai.Node)str

Retrieves nodes name

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

Retrieves all nodes outputs

property id

Id of node

class depthai.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.

setTrackerIdAssigmentPolicy(self, type)

Specify tracker ID assigment policy.

setTrackerThreshold(self, threshold)

Specify tracker threshold.

setTrackerType(self, type)

Specify tracker type algorithm.

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 nework output.

passthroughTrackerFrame

Passthrough ImgFrame message on which tracking was performed.

Properties

alias of depthai.ObjectTrackerProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

detectionLabelsToTrack

maxObjectsToTrack

trackerIdAssigmentPolicy

trackerThreshold

trackerType

__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 nework 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.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.ObjectTracker, maxObjectsToTrack: int)None

Specify maximum number of object to track.

Parameter maxObjectsToTrack:

Maximum number of object to track. Maximum 60.

setTrackerIdAssigmentPolicy(self: depthai.ObjectTracker, type: dai::TrackerIdAssigmentPolicy)None

Specify tracker ID assigment policy.

Parameter type:

Tracker ID assigment policy.

setTrackerThreshold(self: depthai.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.ObjectTracker, type: dai::TrackerType)None

Specify tracker type algorithm.

Parameter type:

Tracker type.

class depthai.ObjectTrackerProperties

Bases: pybind11_builtins.pybind11_object

Specify properties for ObjectTracker

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

detectionLabelsToTrack

maxObjectsToTrack

trackerIdAssigmentPolicy

trackerThreshold

trackerType

__init__(*args, **kwargs)

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

property detectionLabelsToTrack
property maxObjectsToTrack
property trackerIdAssigmentPolicy
property trackerThreshold
property trackerType
class depthai.OpenVINO

Bases: pybind11_builtins.pybind11_object

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

Attributes:

VERSION_2020_1

VERSION_2020_2

VERSION_2020_3

VERSION_2020_4

VERSION_2021_1

VERSION_2021_2

VERSION_2021_3

Classes:

Version

OpenVINO Version supported version information

Methods:

__init__(*args, **kwargs)

Initialize self.

areVersionsBlobCompatible(v1, v2)

Checks whether two blob versions are compatible

getBlobLatestSupportedVersion(majorVersion, …)

Returns latest potentionally supported version by a given blob version.

getBlobSupportedVersions(majorVersion, …)

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

getVersionName(version)

Returns string representation of a given version

getVersions()

returns

Supported versions

parseVersionName(versionString)

Creates Version from string representation.

VERSION_2020_1 = <Version.VERSION_2020_1: 0>
VERSION_2020_2 = <Version.VERSION_2020_2: 1>
VERSION_2020_3 = <Version.VERSION_2020_3: 2>
VERSION_2020_4 = <Version.VERSION_2020_4: 3>
VERSION_2021_1 = <Version.VERSION_2021_1: 4>
VERSION_2021_2 = <Version.VERSION_2021_2: 5>
VERSION_2021_3 = <Version.VERSION_2021_3: 6>
class Version

Bases: pybind11_builtins.pybind11_object

OpenVINO Version supported version information

Members:

VERSION_2020_1

VERSION_2020_2

VERSION_2020_3

VERSION_2020_4

VERSION_2021_1

VERSION_2021_2

VERSION_2021_3

Attributes:

VERSION_2020_1

VERSION_2020_2

VERSION_2020_3

VERSION_2020_4

VERSION_2021_1

VERSION_2021_2

VERSION_2021_3

name

value

Methods:

__init__(self, value)

VERSION_2020_1 = <Version.VERSION_2020_1: 0>
VERSION_2020_2 = <Version.VERSION_2020_2: 1>
VERSION_2020_3 = <Version.VERSION_2020_3: 2>
VERSION_2020_4 = <Version.VERSION_2020_4: 3>
VERSION_2021_1 = <Version.VERSION_2021_1: 4>
VERSION_2021_2 = <Version.VERSION_2021_2: 5>
VERSION_2021_3 = <Version.VERSION_2021_3: 6>
__init__(self: depthai.OpenVINO.Version, value: int)None
property name
property value
__init__(*args, **kwargs)

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

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

Checks whether two blob versions are compatible

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

Returns latest potentionally supported version by a given blob version.

Parameter majorVersion:

Major version from OpenVINO blob

Parameter minorVersion:

Minor version from OpenVINO blob

Returns

Latest potentionally supported version

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

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

Parameter majorVersion:

Major version from OpenVINO blob

Parameter minorVersion:

Minor version from OpenVINO blob

Returns

Vector of potentionally supported versions

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

Returns string representation of a given version

Parameter version:

OpenVINO version

Returns

Name of a given version

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

Supported versions

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

Creates Version from string representation. Throws if not possible.

Parameter versionString:

Version as string

Returns

Version object if successful

class depthai.Pipeline

Bases: pybind11_builtins.pybind11_object

Represents the pipeline, set of nodes and connections between them

Methods:

__init__(self)

Constructs a new pipeline

createColorCamera(self)

createIMU(self)

createImageManip(self)

createMobileNetDetectionNetwork(self)

createMobileNetSpatialDetectionNetwork(self)

createMonoCamera(self)

createNeuralNetwork(self)

createObjectTracker(self)

createSPIOut(self)

createSpatialLocationCalculator(self)

createStereoDepth(self)

createSystemLogger(self)

createVideoEncoder(self)

createXLinkIn(self)

createXLinkOut(self)

createYoloDetectionNetwork(self)

createYoloSpatialDetectionNetwork(self)

getAllAssets(self)

Get assets on the pipeline includes nodes assets

getAllNodes(*args, **kwargs)

Overloaded function.

getAssetManager(*args, **kwargs)

Overloaded function.

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

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 required OpenVINO version to run this pipeline

link(self, arg0, arg1)

Link output to an input.

remove(self, node)

Removes a node from pipeline

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

unlink(self, arg0, arg1)

Unlink output from an input.

__init__(self: depthai.Pipeline)None

Constructs a new pipeline

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

Get assets on the pipeline includes nodes assets

getAllNodes(*args, **kwargs)

Overloaded function.

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

Get a vector of all nodes

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

Get a vector of all nodes

getAssetManager(*args, **kwargs)

Overloaded function.

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

Get pipelines AssetManager as reference

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

Get pipelines AssetManager as reference

getCalibrationData(self: depthai.Pipeline) → dai::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

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 required OpenVINO version to run this pipeline

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

setCalibrationData(self: depthai.Pipeline, calibrationDataHandler: dai::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: str)None

Set a camera IQ (Image Quality) tuning blob, used for all cameras

setOpenVINOVersion(self: depthai.Pipeline, version: depthai.OpenVINO.Version = <Version.VERSION_2021_3: 6>)None

Set a specific OpenVINO version to use with this pipeline

Unlink output from an input.

Throws an error if link doesn’t exists

Parameter out:

Nodes output to unlink from

Parameter in:

Nodes input to unlink to

class depthai.Point2f

Bases: pybind11_builtins.pybind11_object

Point2f structure

x and y coordinates that define a 2D point.

Methods:

__init__(*args, **kwargs)

Overloaded function.

Attributes:

x

y

__init__(*args, **kwargs)

Overloaded function.

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

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

property x
property y
class depthai.Point3f

Bases: pybind11_builtins.pybind11_object

Point3f structure

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

Methods:

__init__(*args, **kwargs)

Overloaded function.

Attributes:

x

y

z

__init__(*args, **kwargs)

Overloaded function.

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

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

property x
property y
property z
class depthai.RawBuffer

Bases: pybind11_builtins.pybind11_object

RawBuffer structure

Methods:

__init__(self)

Attributes:

data

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

Bases: depthai.RawBuffer

RawCameraControl structure

Classes:

AntiBandingMode

Members:

AutoFocusMode

Members:

AutoWhiteBalanceMode

Members:

EffectMode

Members:

SceneMode

Members:

Methods:

__init__(self)

Attributes:

autoFocusMode

cmdMask

lensPosition

class AntiBandingMode

Bases: pybind11_builtins.pybind11_object

Members:

OFF

MAINS_50_HZ

MAINS_60_HZ

AUTO

Attributes:

AUTO

MAINS_50_HZ

MAINS_60_HZ

OFF

name

value

Methods:

__init__(self, value)

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

Bases: pybind11_builtins.pybind11_object

Members:

OFF

AUTO

MACRO

CONTINUOUS_VIDEO

CONTINUOUS_PICTURE

EDOF

Attributes:

AUTO

CONTINUOUS_PICTURE

CONTINUOUS_VIDEO

EDOF

MACRO

OFF

name

value

Methods:

__init__(self, value)

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

Bases: pybind11_builtins.pybind11_object

Members:

OFF

AUTO

INCANDESCENT

FLUORESCENT

WARM_FLUORESCENT

DAYLIGHT

CLOUDY_DAYLIGHT

TWILIGHT

SHADE

Attributes:

AUTO

CLOUDY_DAYLIGHT

DAYLIGHT

FLUORESCENT

INCANDESCENT

OFF

SHADE

TWILIGHT

WARM_FLUORESCENT

name

value

Methods:

__init__(self, value)

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

Bases: pybind11_builtins.pybind11_object

Members:

OFF

MONO

NEGATIVE

SOLARIZE

SEPIA

POSTERIZE

WHITEBOARD

BLACKBOARD

AQUA

Attributes:

AQUA

BLACKBOARD

MONO

NEGATIVE

OFF

POSTERIZE

SEPIA

SOLARIZE

WHITEBOARD

name

value

Methods:

__init__(self, value)

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

Bases: pybind11_builtins.pybind11_object

Members:

UNSUPPORTED

FACE_PRIORITY

ACTION

PORTRAIT

LANDSCAPE

NIGHT

NIGHT_PORTRAIT

THEATRE

BEACH

SNOW

SUNSET

STEADYPHOTO

FIREWORKS

SPORTS

PARTY

CANDLELIGHT

BARCODE

Attributes:

ACTION

BARCODE

BEACH

CANDLELIGHT

FACE_PRIORITY

FIREWORKS

LANDSCAPE

NIGHT

NIGHT_PORTRAIT

PARTY

PORTRAIT

SNOW

SPORTS

STEADYPHOTO

SUNSET

THEATRE

UNSUPPORTED

name

value

Methods:

__init__(self, value)

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

resizeConfig

class CropConfig

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

cropRatio

cropRect

cropRotatedRect

enableCenterCropRectangle

enableRotatedRect

normalizedCoords

widthHeightAspectRatio

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

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

xmax

xmin

ymax

ymin

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

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

flipHorizontal

type

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

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

bgBlue

bgGreen

bgRed

enableRotation

enableWarp4pt

enableWarpMatrix

height

keepAspectRatio

lockAspectRatioFill

normalizedCoords

rotationAngleDeg

warpBorderReplicate

warpFourPoints

warpMatrix3x3

width

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

Bases: depthai.RawBuffer

RawImgDetections structure

Methods:

__init__(self)

Attributes:

detections

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

Bases: depthai.RawBuffer

RawImgFrame structure

Classes:

Specs

Type

Members:

Methods:

__init__(self)

Attributes:

category

fb

instanceNum

sequenceNum

ts

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

Bases: depthai.RawBuffer

RawNNData structure

Methods:

__init__(self)

Attributes:

batchSize

tensors

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

Bases: depthai.RawBuffer

RawSpatialImgDetections structure

Methods:

__init__(self)

Attributes:

detections

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

Bases: depthai.RawBuffer

System information of device

Memory usage, cpu usage and chip temperature

Methods:

__init__(self)

Attributes:

chipTemperature

cmxMemoryUsage

ddrMemoryUsage

leonCssCpuUsage

leonCssMemoryUsage

leonMssCpuUsage

leonMssMemoryUsage

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

Destination frame width.

Parameter height:

Destination frame height.

empty(self: depthai.Rect)bool

True if rectangle is empty.

property height
isNormalized(self: depthai.Rect)bool

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

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

Normalize rectangle.

Parameter width:

Source frame width.

Parameter height:

Source frame height.

size(self: depthai.Rect)depthai.Size2f

Size (width, height) of the rectangle

topLeft(self: depthai.Rect)depthai.Point2f

The top-left corner.

property width
property x</