DepthAI Python API

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

Parameter ``wait``:
    True to wait for configuration message, false otherwise.

Initial config to use when calculating spatial location data.

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

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

Outputs AprilTags message that carries spatial location results.

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

Retrieves which board socket to use

Returns:
    Board socket to use

Get calibration alpha parameter that determines FOV of undistorted frames

Retrieves which camera to use by name

Returns:
    Name of the camera to use

Get rate at which camera should produce frames

Returns:
    Rate in frames per second

Get sensor resolution height

Get camera image orientation

Gets the source of the warp mesh

Gets the distance between mesh points

Get preview height

Get preview size as tuple

Get preview width

Get sensor resolution as size

Get still height

Get still size as tuple

Get still width

Get video height

Get video size as tuple

Get video width

Get sensor resolution width

Specify mesh calibration data for undistortion See `loadMeshFiles` for the
expected data format

Specify local filesystem paths to the undistort mesh calibration files.

When a mesh calibration is set, it overrides the camera intrinsics/extrinsics
matrices. Overrides useHomographyRectification behavior. Mesh format: a sequence
of (y,x) points as 'float' with coordinates from the input image to be mapped in
the output. The mesh can be subsampled, configured by `setMeshStep`.

With a 1280x800 resolution and the default (16,16) step, the required mesh size
is:

width: 1280 / 16 + 1 = 81

height: 800 / 16 + 1 = 51

Specify which board socket to use

Parameter ``boardSocket``:
    Board socket to use

Set calibration alpha parameter that determines FOV of undistorted frames

Specify which camera to use by name

Parameter ``name``:
    Name of the camera to use

Set rate at which camera should produce frames

Parameter ``fps``:
    Rate in frames per second

Set camera image orientation

Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls
etc.). Default (0) matches the camera FPS, meaning that 3A is running on each
frame. Reducing the rate of 3A reduces the CPU usage on CSS, but also increases
the convergence rate of 3A. Note that camera controls will be processed at this
rate. E.g. if camera is running at 30 fps, and camera control is sent at every
frame, but 3A fps is set to 15, the camera control messages will be processed at
15 fps rate, which will lead to queueing.

Set the source of the warp mesh or disable

Set the distance between mesh points. Default: (32, 32)

Configures whether the camera `raw` frames are saved as MIPI-packed to memory.
The packed format is more efficient, consuming less memory on device, and less
data to send to host: RAW10: 4 pixels saved on 5 bytes, RAW12: 2 pixels saved on
3 bytes. When packing is disabled (`false`), data is saved lsb-aligned, e.g. a
RAW10 pixel will be stored as uint16, on bits 9..0: 0b0000'00pp'pppp'pppp.
Default is auto: enabled for standard color/monochrome cameras where ISP can
work with both packed/unpacked, but disabled for other cameras like ToF.

Outputs metadata-only ImgFrame message as an early indicator of an incoming frame.

Initial control options to apply to sensor

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

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

Outputs ImgFrame message that carries YUV420 planar (I420/IYUV) frame data.

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

Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.

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

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

Set number of frames in pool

Parameter ``numFramesPool``:
    Number of frames in pool

Set offset

Parameter ``offset``:
    Offset

Set output frame type

Parameter ``outputType``:
    Output frame type

Set scale

Parameter ``scale``:
    Scale

Input NNData or ImgFrame message.

Output ImgFrame message.

Passthrough input message.

Retrieves which board socket to use

Returns:
    Board socket to use

Retrieves which camera to use by name

Returns:
    Name of the camera to use

Get color order of preview output frames. RGB or BGR

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

Get rate at which camera should produce frames

Returns:
    Rate in frames per second

Get camera image orientation

Get planar or interleaved data of preview output frames

Get 'isp' output height

Get number of frames in isp pool

Get 'isp' output resolution as size, after scaling

Get 'isp' output width

Get preview height

See also:
    setPreviewKeepAspectRatio

Returns:
    Preview keep aspect ratio option

Get number of frames in preview pool

Get preview size as tuple

Get preview width

Get number of frames in raw pool

Get sensor resolution

Get sensor resolution height

Get sensor resolution as size

Get sensor resolution width

Returns:
    Sensor top left crop coordinates

Get sensor top left x crop coordinate

Get sensor top left y crop coordinate

Get still height

Get number of frames in still pool

Get still size as tuple

Get still width

Get video height

Get number of frames in video pool

Get video size as tuple

Get video width

See also:
    setWaitForConfigInput

Returns:
    True if wait for inputConfig message, false otherwise

Specify sensor center crop. Resolution size / video size

Specify which board socket to use

Parameter ``boardSocket``:
    Board socket to use

Specify which camera to use by name

Parameter ``name``:
    Name of the camera to use

Set color order of preview output images. RGB or BGR

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

Set rate at which camera should produce frames

Parameter ``fps``:
    Rate in frames per second

Set camera image orientation

Set planar or interleaved data of preview output frames

Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls
etc.). Default (0) matches the camera FPS, meaning that 3A is running on each
frame. Reducing the rate of 3A reduces the CPU usage on CSS, but also increases
the convergence rate of 3A. Note that camera controls will be processed at this
rate. E.g. if camera is running at 30 fps, and camera control is sent at every
frame, but 3A fps is set to 15, the camera control messages will be processed at
15 fps rate, which will lead to queueing.

Set number of frames in isp pool

Set number of frames in all pools

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

Set number of frames in preview pool

Set number of frames in raw pool

Configures whether the camera `raw` frames are saved as MIPI-packed to memory.
The packed format is more efficient, consuming less memory on device, and less
data to send to host: RAW10: 4 pixels saved on 5 bytes, RAW12: 2 pixels saved on
3 bytes. When packing is disabled (`false`), data is saved lsb-aligned, e.g. a
RAW10 pixel will be stored as uint16, on bits 9..0: 0b0000'00pp'pppp'pppp.
Default is auto: enabled for standard color/monochrome cameras where ISP can
work with both packed/unpacked, but disabled for other cameras like ToF.

Set sensor resolution

Specifies the cropping that happens when converting ISP to video output. By
default, video will be center cropped from the ISP output. Note that this
doesn't actually do on-sensor cropping (and MIPI-stream only that region), but
it does postprocessing on the ISP (on RVC).

Parameter ``x``:
    Top left X coordinate

Parameter ``y``:
    Top left Y coordinate

Set number of frames in preview pool

Set number of frames in preview pool

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

Parameter ``wait``:
    True to wait for inputConfig message, false otherwise

Outputs metadata-only ImgFrame message as an early indicator of an incoming frame.

Initial control options to apply to sensor

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

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

Outputs ImgFrame message that carries YUV420 planar (I420/IYUV) frame data.

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

Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.

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

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

Retrieves threshold at which to filter the rest of the detections.

Returns:
    Detection confidence

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

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

Outputs ImgDetections message that carries parsed detection results. Overrides NeuralNetwork 'out' with ImgDetections output message type.

Outputs unparsed inference results.

Passthrough message on which the inference was performed.

Get anchor masks

Get anchors

Retrieves threshold at which to filter the rest of the detections.

Returns:
    Detection confidence

Get coordianate size

Get Iou threshold

Gets NN Family to parse

Get num classes

Returns number of frames in pool

Set anchor masks

Set anchors

Retrieves some input tensor information from the blob

Parameter ``blob``:
    OpenVINO blob to retrieve the information from

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

Set coordianate size

Set Iou threshold

Sets NN Family to parse

Set num classes

Specify number of frames in pool.

Parameter ``numFramesPool``:
    How many frames should the pool have

Input NN results with detection data to parse Default queue is blocking with size 5

Outputs image frame with detected edges

See also:
    setWaitForConfigInput

Returns:
    True if wait for inputConfig message, false otherwise

Specify maximum size of output image.

Parameter ``maxFrameSize``:
    Maximum frame size in bytes

Specify number of frames in pool.

Parameter ``numFramesPool``:
    How many frames should the pool have

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

Parameter ``wait``:
    True to wait for configuration message, false otherwise.

Initial config to use for edge detection.

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

Input image on which edge detection is performed. Default queue is non-blocking with size 4.

Outputs image frame with detected edges

See also:
    setWaitForConfigInput

Returns:
    True if wait for inputConfig message, false otherwise

Specify allocated hardware resources for feature tracking. 2 shaves/memory
slices are required for optical flow, 1 for corner detection only.

Parameter ``numShaves``:
    Number of shaves. Maximum 2.

Parameter ``numMemorySlices``:
    Number of memory slices. Maximum 2.

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

Parameter ``wait``:
    True to wait for configuration message, false otherwise.

Initial config to use for feature tracking.

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

Input message with frame data on which feature tracking is performed. Default queue is non-blocking with size 4.

Outputs TrackedFeatures message that carries tracked features results.

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

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

Maximum number of IMU packets in a batch report

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

Maximum number of IMU packets in a batch report

Outputs IMUData message that carries IMU packets.

Specify interpolation method to use when resizing

Specify number of frames in the pool

Specify number of shaves to use for this node

Specify whether to keep aspect ratio when resizing

Specify the output size of the aligned image

Initial config to use when calculating spatial location data.

Input message. Default queue is non-blocking with size 4.

Input align to message. Default queue is non-blocking with size 1.

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

Outputs ImgFrame message that is aligned to inputAlignTo.

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

See also:
    setWaitForConfigInput

Returns:
    True if wait for inputConfig message, false otherwise

Specify maximum size of output image.

Parameter ``maxFrameSize``:
    Maximum frame size in bytes

Specify number of frames in pool.

Parameter ``numFramesPool``:
    How many frames should the pool have

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

Parameter ``wait``:
    True to wait for configuration message, false otherwise.

Initial config to use when manipulating frames

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

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

Outputs ImgFrame message that carries modified image.

Input message of type MessageGroup

A map of outputs, where keys are same as in the input MessageGroup

Retrieves which board socket to use

Returns:
    Board socket to use

Retrieves which camera to use by name

Returns:
    Name of the camera to use

Get rate at which camera should produce frames

Returns:
    Rate in frames per second

Get camera image orientation

Get number of frames in main (ISP output) pool

Get number of frames in raw pool

Get sensor resolution

Get sensor resolution height

Get sensor resolution as size

Get sensor resolution width

Specify which board socket to use

Parameter ``boardSocket``:
    Board socket to use

Specify which camera to use by name

Parameter ``name``:
    Name of the camera to use

Set rate at which camera should produce frames

Parameter ``fps``:
    Rate in frames per second

Set camera image orientation

Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls
etc.). Default (0) matches the camera FPS, meaning that 3A is running on each
frame. Reducing the rate of 3A reduces the CPU usage on CSS, but also increases
the convergence rate of 3A. Note that camera controls will be processed at this
rate. E.g. if camera is running at 30 fps, and camera control is sent at every
frame, but 3A fps is set to 15, the camera control messages will be processed at
15 fps rate, which will lead to queueing.

Set number of frames in main (ISP output) pool

Set number of frames in raw pool

Configures whether the camera `raw` frames are saved as MIPI-packed to memory.
The packed format is more efficient, consuming less memory on device, and less
data to send to host: RAW10: 4 pixels saved on 5 bytes, RAW12: 2 pixels saved on
3 bytes. When packing is disabled (`false`), data is saved lsb-aligned, e.g. a
RAW10 pixel will be stored as uint16, on bits 9..0: 0b0000'00pp'pppp'pppp.
Default is auto: enabled for standard color/monochrome cameras where ISP can
work with both packed/unpacked, but disabled for other cameras like ToF.

Set sensor resolution

Outputs metadata-only ImgFrame message as an early indicator of an incoming frame.

Initial control options to apply to sensor

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

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

Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.

How many inference threads will be used to run the network

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

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

Throws:
    Error if file doesn't exist or isn't a valid network blob.

Parameter ``path``:
    Path to network blob

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

Parameter ``numThreads``:
    Number of threads to dedicate to this node

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

Parameter ``numNCEPerThread``:
    Number of NCE per thread

Specifies how many frames will be available in the pool

Parameter ``numFrames``:
    How many frames will pool have

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

Inputs mapped to network inputs. Useful for inferring from separate data sources Default input is non-blocking with queue size 1 and waits for messages

Outputs NNData message that carries inference results

Passthrough message on which the inference was performed.

Passthroughs which correspond to specified input

Specify detection labels to track.

Parameter ``labels``:
    Detection labels to track. Default every label is tracked from image
    detection network output.

Specify maximum number of object to track.

Parameter ``maxObjectsToTrack``:
    Maximum number of object to track. Maximum 60 in case of SHORT_TERM_KCF,
    otherwise 1000.

Specify tracker ID assignment policy.

Parameter ``type``:
    Tracker ID assignment policy.

Specify tracker threshold.

Parameter ``threshold``:
    Above this threshold the detected objects will be tracked. Default 0, all
    image detections are tracked.

Specify tracker type algorithm.

Parameter ``type``:
    Tracker type.

Whether tracker should take into consideration class label for tracking.

Input ImgFrame message on which object detection was performed. Default queue is non-blocking with size 4.

Input message with image detection from neural network. Default queue is non- blocking with size 4.

Input ImgFrame message on which tracking will be performed. RGBp, BGRp, NV12, YUV420p types are supported. Default queue is non-blocking with size 4.

Outputs Tracklets message that carries object tracking results.

Passthrough ImgFrame message on which object detection was performed. Suitable for when input queue is set to non-blocking behavior.

Passthrough image detections message from neural network output. Suitable for when input queue is set to non-blocking behavior.

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

Specify number of frames in pool.

Parameter ``numFramesPool``:
    How many frames should the pool have

Initial config to use when computing the point cloud.

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

Input message with depth data used to create the point cloud. Default queue is non-blocking with size 4.

Outputs PointCloudData message

Passthrough depth from which the point cloud was calculated. Suitable for when input queue is set to non-blocking behavior.

Get bus id

Get maximum messages size in bytes

Get number of frames in pool

Get stream name

Specifies SPI Bus number to use

Parameter ``id``:
    SPI Bus id

Set maximum message size it can receive

Parameter ``maxDataSize``:
    Maximum size in bytes

Set number of frames in pool for sending messages forward

Parameter ``numFrames``:
    Maximum number of frames in pool

Specifies stream name over which the node will receive data

Parameter ``name``:
    Stream name

Outputs message of same type as send from host.

Specifies SPI Bus number to use

Parameter ``id``:
    SPI Bus id

Specifies stream name over which the node will send data

Parameter ``name``:
    Stream name

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

Get on which processor the script should run

Returns:
    Processor type - Leon CSS or Leon MSS

Get the script name in utf-8.

When name set with setScript() or setScriptPath(), returns that name. When
script loaded with setScriptPath() with name not provided, returns the utf-8
string of that path. Otherwise, returns "<script>"

Returns:
    std::string of script name in utf-8

Set on which processor the script should run

Parameter ``type``:
    Processor type - Leon CSS or Leon MSS

Specifies scale factor for detected bounding boxes.

Parameter ``scaleFactor``:
    Scale factor must be in the interval (0,1].

Specifies lower threshold in depth units (millimeter by default) for depth
values which will used to calculate spatial data

Parameter ``lowerThreshold``:
    LowerThreshold must be in the interval [0,upperThreshold] and less than
    upperThreshold.

Specifies upper threshold in depth units (millimeter by default) for depth
values which will used to calculate spatial data

Parameter ``upperThreshold``:
    UpperThreshold must be in the interval (lowerThreshold,65535].

Specifies spatial location calculator algorithm: Average/Min/Max

Parameter ``calculationAlgorithm``:
    Calculation algorithm.

Specifies spatial location calculator step size for depth calculation. Step size
1 means that every pixel is taken into calculation, size 2 means every second
etc.

Parameter ``stepSize``:
    Step size.

Outputs mapping of detected bounding boxes relative to depth map

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

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

Outputs ImgDetections message that carries parsed detection results.

Passthrough message on which the inference was performed.

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

Output of SpatialLocationCalculator node, which is used internally by SpatialDetectionNetwork. Suitable when extra information is required from SpatialLocationCalculator node, e.g. minimum, maximum distance.

See also:
    setWaitForConfigInput

Returns:
    True if wait for inputConfig message, false otherwise

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

Parameter ``wait``:
    True to wait for configuration message, false otherwise.

Initial config to use when calculating spatial location data.

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

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

Outputs SpatialLocationCalculatorData message that carries spatial location results.

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

Preset modes for stereo depth.

Equivalent to useHomographyRectification(!enableDistortionCorrection)

Useful for normalization of the disparity map.

Returns:
    Maximum disparity value that the node can return

Specify mesh calibration data for 'left' and 'right' inputs, as vectors of
bytes. Overrides useHomographyRectification behavior. See `loadMeshFiles` for
the expected data format

Specify local filesystem paths to the mesh calibration files for 'left' and
'right' inputs.

When a mesh calibration is set, it overrides the camera intrinsics/extrinsics
matrices. Overrides useHomographyRectification behavior. Mesh format: a sequence
of (y,x) points as 'float' with coordinates from the input image to be mapped in
the output. The mesh can be subsampled, configured by `setMeshStep`.

With a 1280x800 resolution and the default (16,16) step, the required mesh size
is:

width: 1280 / 16 + 1 = 81

height: 800 / 16 + 1 = 51

Free scaling parameter between 0 (when all the pixels in the undistorted image
are valid) and 1 (when all the source image pixels are retained in the
undistorted image). On some high distortion lenses, and/or due to rectification
(image rotated) invalid areas may appear even with alpha=0, in these cases alpha
< 0.0 helps removing invalid areas. See getOptimalNewCameraMatrix from opencv
for more details.

Override baseline from calibration. Used only in disparity to depth conversion.
Units are centimeters.

Confidence threshold for disparity calculation

Parameter ``confThr``:
    Confidence threshold value 0..255

Sets a default preset based on specified option.

Parameter ``mode``:
    Stereo depth preset mode

Use baseline information for depth alignment from specs (design data) or from
calibration. Default: true

Use baseline information for disparity to depth conversion from specs (design
data) or from calibration. Default: true

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

Disparity range increased from 0-95 to 0-190, combined from full resolution and
downscaled images.

Suitable for short range objects. Currently incompatible with sub-pixel
disparity

Override focal length from calibration. Used only in disparity to depth
conversion. Units are pixels.

Whether to use focal length from calibration intrinsics or calculate based on
calibration FOV. Default value is true.

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

For better occlusion handling, discarding invalid disparity values

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

Set the distance between mesh points. Default: (16, 16)

Specify number of frames in pool.

Parameter ``numFramesPool``:
    How many frames should the pool have

Specifies whether the frames resized by `setOutputSize` should preserve aspect
ratio, with potential cropping when enabled. Default `true`

Specify disparity/depth output resolution size, implemented by scaling.

Currently only applicable when aligning to RGB camera

Specify allocated hardware resources for stereo depth. Suitable only to increase
post processing runtime.

Parameter ``numShaves``:
    Number of shaves.

Parameter ``numMemorySlices``:
    Number of memory slices.

Rectify input images or not.

Obtain rectification matrices using spec translation (design data) or from
calibration in calculations. Should be used only for debugging. Default: false

Fill color for missing data at frame edges

Parameter ``color``:
    Grayscale 0..255, or -1 to replicate pixels

DEPRECATED function. It was removed, since rectified images are not flipped
anymore. Mirror rectified frames, only when LR-check mode is disabled. Default
`true`. The mirroring is required to have a normal non-mirrored disparity/depth
output.

A side effect of this option is disparity alignment to the perspective of left
or right input: `false`: mapped to left and mirrored, `true`: mapped to right.
With LR-check enabled, this option is ignored, none of the outputs are mirrored,
and disparity is mapped to right.

Parameter ``enable``:
    True for normal disparity/depth, otherwise mirrored

Enable runtime stereo mode switch, e.g. from standard to LR-check. Note: when
enabled resources allocated for worst case to enable switching to any mode.

Computes disparity with sub-pixel interpolation (3 fractional bits by default).

Suitable for long range. Currently incompatible with extended disparity

Number of fractional bits for subpixel mode. Default value: 3. Valid values:
3,4,5. Defines the number of fractional disparities: 2^x. Median filter
postprocessing is supported only for 3 fractional bits.

Use 3x3 homography matrix for stereo rectification instead of sparse mesh
generated on device. Default behaviour is AUTO, for lenses with FOV over 85
degrees sparse mesh is used, otherwise 3x3 homography. If custom mesh data is
provided through loadMeshData or loadMeshFiles this option is ignored.

Parameter ``useHomographyRectification``:
    true: 3x3 homography matrix generated from calibration data is used for
    stereo rectification, can't correct lens distortion. false: sparse mesh is
    generated on-device from calibration data with mesh step specified with
    setMeshStep (Default: (16, 16)), can correct lens distortion. Implementation
    for generating the mesh is same as opencv's initUndistortRectifyMap
    function. Only the first 8 distortion coefficients are used from calibration
    data.

Outputs ImgFrame message that carries RAW8 confidence map. Lower values means higher confidence of the calculated disparity value. RGB alignment, left-right check or any postproccessing (e.g. median filter) is not performed on confidence map.

Outputs ImgFrame message that carries cost dump of disparity map. Useful for debugging/fine tuning.

Outputs ImgFrame message that carries left-right check first iteration (before combining with second iteration) disparity map. Useful for debugging/fine tuning.

Outputs ImgFrame message that carries left-right check second iteration (before combining with first iteration) disparity map. Useful for debugging/fine tuning.

Outputs ImgFrame message that carries extended left-right check first iteration (downscaled frame, before combining with second iteration) disparity map. Useful for debugging/fine tuning.

Outputs ImgFrame message that carries extended left-right check second iteration (downscaled frame, before combining with first iteration) disparity map. Useful for debugging/fine tuning.

Outputs ImgFrame message that carries RAW16 encoded (0..65535) depth data in depth units (millimeter by default).

Outputs ImgFrame message that carries RAW8 / RAW16 encoded disparity data: RAW8 encoded (0..95) for standard mode; RAW8 encoded (0..190) for extended disparity mode; RAW16 encoded for subpixel disparity mode: - 0...

Initial config to use for StereoDepth.

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

Input for left ImgFrame of left-right pair

Outputs StereoDepthConfig message that contains current stereo configuration.

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

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

Input for right ImgFrame of left-right pair

Passthrough ImgFrame message from 'left' Input.

Passthrough ImgFrame message from 'right' Input.

Gets the number of sync attempts

Gets the maximal interval between messages in the group in milliseconds

Set the number of attempts to get the specified max interval between messages in
the group

Parameter ``syncAttempts``:
    Number of attempts to get the specified max interval between messages in the
    group: - if syncAttempts = 0 then the node sends a message as soon at the
    group is filled - if syncAttempts > 0 then the node will make syncAttemts
    attempts to synchronize before sending out a message - if syncAttempts = -1
    (default) then the node will only send a message if successfully
    synchronized

Set the maximal interval between messages in the group

Parameter ``syncThreshold``:
    Maximal interval between messages in the group

A map of inputs

Output message of type MessageGroup

Gets logging rate, at which messages will be sent out

Specify logging rate, at which messages will be sent out

Parameter ``hz``:
    Sending rate in hertz (messages per second)

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

Specify number of frames in output pool

Parameter ``numFramesPool``:
    Number of frames in output pool

Specify number of shaves reserved for ToF decoding.

Outputs ImgFrame message that carries amplitude image.

Outputs ImgFrame message that carries decoded depth image.

Initial config to use for depth calculation.

Input raw ToF data. Default queue is blocking with size 8.

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

Outputs ImgFrame message that carries intensity image.

Outputs ImgFrame message that carries phase image, useful for debugging. float32 type.

Set GPIO list <gpio_number, value> for GPIOs to set (on/off) at init

Set GPIO list <gpio_number, value> for GPIOs to set when streaming is disabled

Set GPIO list <gpio_number, value> for GPIOs to set when streaming is enabled

Input for image frames to be streamed over UVC

Get bitrate in bps

Get bitrate in kbps

Get frame rate

Get input height

Get keyframe frequency

Get lossless mode. Applies only when using [M]JPEG profile.

Get number of B frames

Get number of frames in pool

Returns:
    Number of pool frames

Get profile

Get quality

Get rate control mode

Get input size

Get input width

Set output bitrate in bps, for CBR rate control mode. 0 for auto (based on frame
size and FPS). Applicable only to H264 and H265 profiles

Set output bitrate in kbps, for CBR rate control mode. 0 for auto (based on
frame size and FPS). Applicable only to H264 and H265 profiles

Sets expected frame rate

Parameter ``frameRate``:
    Frame rate in frames per second

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

Applicable only to H264 and H265 profiles

Examples:

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

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

Set lossless mode. Applies only to [M]JPEG profile

Parameter ``lossless``:
    True to enable lossless jpeg encoding, false otherwise

Specifies maximum output encoded frame size

Set number of B frames to be inserted. Applicable only to H264 and H265 profiles

Set number of frames in pool

Parameter ``frames``:
    Number of pool frames

Set quality for [M]JPEG profile

Parameter ``quality``:
    Value between 0-100%. Approximates quality

Set rate control mode Applicable only to H264 and H265 profiles

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

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

Outputs EncodedFrame message that carries encoded (MJPEG, H264 or H265) frame data. Mutually exclusive with bitstream.

Retrieve which hardware warp engines to use

Retrieve which interpolation method to use

Specify which hardware warp engines to use

Parameter ``ids``:
    Which warp engines to use (0, 1, 2)

Specify which interpolation method to use

Parameter ``interpolation``:
    type of interpolation

Specify maximum size of output image.

Parameter ``maxFrameSize``:
    Maximum frame size in bytes

Specify number of frames in pool.

Parameter ``numFramesPool``:
    How many frames should the pool have

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

Outputs ImgFrame message that carries warped image.

Get maximum messages size in bytes

Get number of frames in pool

Get stream name

Set maximum message size it can receive

Parameter ``maxDataSize``:
    Maximum size in bytes

Set number of frames in pool for sending messages forward

Parameter ``numFrames``:
    Maximum number of frames in pool

Specifies XLink stream name to use.

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

Parameter ``name``:
    Stream name

Outputs message of same type as send from host.

Get rate limit in messages per second

Get whether to transfer only messages attributes and not buffer data

Get stream name

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

Parameter ``fps``:
    Approximate rate limit in messages per second

Specify whether to transfer only messages attributes and not buffer data

Specifies XLink stream name to use.

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

Parameter ``name``:
    Stream name

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

Get anchor masks

Get anchors

Get coordianate size

Get Iou threshold

Get num classes

Set anchor masks

Set anchors

Set coordianate size

Set Iou threshold

Set num classes

Get anchor masks

Get anchors

Get coordianate size

Get Iou threshold

Get num classes

Set anchor masks

Set anchors

Set coordianate size

Set Iou threshold

Set num classes

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

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

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

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

Reject quads containing too few pixels.

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

Members:

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

Members:

Members:

Members:

Check whether the map is nonempty

Check whether the map is nonempty