DepthAI C++ API

DepthAI C++ API can be found on Github luxonis/depthai-core. Below is the reference documentation for the C++ API.

namespace

dai

using

DepthUnit = LengthUnit

using

Edge = std::array< uint32_t, 2 >

using

NNArchiveConfig = std::variant< dai::nn_archive::v1::Config >

using

VisualizeType = std::variant< std::shared_ptr< ImgAnnotations >, std::shared_ptr< ImgFrame >, std::monostate >

using

MedianFilterParams = dai::filters::params::MedianFilter

using

SpatialFilterParams = dai::filters::params::SpatialFilter

using

SpeckleFilterParams = dai::filters::params::SpeckleFilter

using

TemporalFilterParams = dai::filters::params::TemporalFilter

using

FilterParams = std::variant< MedianFilterParams, SpatialFilterParams, SpeckleFilterParams, TemporalFilterParams >

using

Clock = std::chrono::steady_clock

static constant

constexpr static uint32_t BOARD_CONFIG_MAGIC1

static constant

constexpr static uint32_t BOARD_CONFIG_MAGIC2

static constant

constexpr const char * LOG_DEFAULT_PATTERN

constant

constexpr int MAX_UPPER_THRESHOLD

constant

constexpr int MIN_LOWER_THRESHOLD

static constant

constexpr static auto DEFAULT_SERIALIZATION_TYPE

inline function

std::string toString(CameraBoardSocket socket)

function

DEPTHAI_SERIALIZE_EXT(CameraSensorConfig, width, height, minFps, maxFps, fov, type, hdr, hfr)

inline function

std::string toString(CameraSensorType type)

function

DEPTHAI_SERIALIZE_EXT(ChipTemperature, css, mss, upa, dss, average)

function

DEPTHAI_SERIALIZE_EXT(ChipTemperatureRVC4, cpuss, gpuss, mdmss, video, ddr, camera, average)

function

DEPTHAI_SERIALIZE_EXT(Color, r, g, b, a)

function

DEPTHAI_SERIALIZE_EXT(CpuUsage, average, msTime)

constant function

constexpr float getSIPrefixMultiplier(SIPrefix unit)

constant function

constexpr float getAngleUnitToRadianMultiplier(AngleUnit unit)

constant function

constexpr float getLengthUnitMultiplier(LengthUnit unit)

constant function

constexpr float getDistanceUnitScale(LengthUnit targetUnit, LengthUnit sourceUnit)

function

 DEPTHAI_SERIALIZE_EXT(DetectionParserOptions, nnFamily, subtype, confidenceThreshold, decodingFamily, decodeKeypoints, decodeSegmentation, classes, classNames, coordinates, nKeypoints, strides, anchors, anchorMasks, outputNamesToUse, anchorsV2, iouThreshold, keypointEdges, keypointLabelNames)

function

 DEPTHAI_SERIALIZE_OPTIONAL_EXT(EepromData, version, boardCustom, boardName, boardRev, boardConf, hardwareConf, productName, deviceName, batchName, batchTime, boardOptions, cameraData, stereoRectificationData, imuExtrinsics, housingExtrinsics, miscellaneousData, stereoUseSpecTranslation, stereoEnableDistortionCorrection, verticalCameraSocket, imuCalibrationParams)

inline function

std::string toString(ExternalFrameSyncRole role)

inline function

std::string toString(HousingCoordinateSystem housing)

static inline function

const std::unordered_map< std::string, std::unordered_map< dai::HousingCoordinateSystem, std::array< float, 3 > > > & getHousingCoordinates()

function

DEPTHAI_SERIALIZE_EXT(MemoryInfo, remaining, used, total)

function

DEPTHAI_SERIALIZE_EXT(Point2f, x, y, normalized, hasNormalized)

function

DEPTHAI_SERIALIZE_EXT(Point3d, x, y, z)

function

DEPTHAI_SERIALIZE_EXT(Point3f, x, y, z)

function

DEPTHAI_SERIALIZE_EXT(Point3fRGBA, x, y, z, r, g, b, a)

function

DEPTHAI_SERIALIZE_EXT(Quaterniond, qx, qy, qz, qw)

function

DEPTHAI_SERIALIZE_EXT(Rect, x, y, width, height, normalized, hasNormalized)

function

DEPTHAI_SERIALIZE_EXT(RotatedRect, center, size, angle)

function

DEPTHAI_SERIALIZE_EXT(Size2f, width, height, normalized, hasNormalized)

function

 DEPTHAI_SERIALIZE_EXT(StereoRectification, rectifiedRotationLeft, rectifiedRotationRight, leftCameraSocket, rightCameraSocket)

function

 DEPTHAI_SERIALIZE_EXT(TensorInfo, order, dataType, numDimensions, dims, strides, name, offset, quantization, qpScale, qpZp)

inline function

std::ostream & operator<<(std::ostream & os, const TensorInfo::StorageOrder & so)

inline function

std::ostream & operator<<(std::ostream & os, const TensorInfo::DataType & dt)

function

DEPTHAI_SERIALIZE_EXT(Timestamp, sec, nsec)

function

DEPTHAI_SERIALIZE_EXT(BoardConfig::USB, vid, pid, flashBootedVid, flashBootedPid, maxSpeed, productName, manufacturer)

function

DEPTHAI_SERIALIZE_EXT(BoardConfig::Network, mtu, xlinkTcpNoDelay)

function

DEPTHAI_SERIALIZE_EXT(BoardConfig::GPIO, mode, direction, level, pull, drive, schmitt, slewFast)

function

DEPTHAI_SERIALIZE_EXT(BoardConfig::UART, tmp)

function

DEPTHAI_SERIALIZE_EXT(BoardConfig::Camera, name, sensorType, orientation)

function

DEPTHAI_SERIALIZE_EXT(BoardConfig::IMU, bus, interrupt, wake, csGpio, boot, reset)

function

DEPTHAI_SERIALIZE_EXT(BoardConfig::UVC, cameraName, width, height, frameType, enable)

function

 DEPTHAI_SERIALIZE_EXT(BoardConfig, usb, network, sysctl, watchdogTimeoutMs, watchdogInitialDelayMs, gpio, uart, pcieInternalClock, usb3PhyInternalClock, emmc, logPath, logSizeMax, logVerbosity, logDevicePrints, nonExclusiveMode, camera, imu, uvc, defaultImuExtr)

function

std::string platform2string(Platform platform)

function

Platform string2platform(const std::string & platform)

function

DEPTHAI_SERIALIZE_EXT(LogMessage, nodeIdName, level, time, colorRangeStart, colorRangeEnd, payload)

function

fs::path getModelFromZoo(const NNModelDescription & modelDescription, bool useCached, const fs::path & cacheDirectory, const std::string & apiKey, const std::string & progressFormat)

function

bool downloadModelsFromZoo(const fs::path & path, const fs::path & cacheDirectory, const std::string & apiKey, const std::string & progressFormat)

function

std::ostream & operator<<(std::ostream & os, const NNModelDescription & modelDescription)

inline function

NNArchiveConfigVersion getNNArchiveConfigVersion(const NNArchiveConfig & config)

function

 DEPTHAI_SERIALIZE_EXT(NodeConnectionSchema, node1Id, node1OutputGroup, node1Output, node2Id, node2InputGroup, node2Input)

function

DEPTHAI_SERIALIZE_EXT(NodeIoInfo, group, name, type, blocking, queueSize, waitForMessage, id)

function

DEPTHAI_SERIALIZE_EXT(NodeObjInfo, id, parentId, name, alias, deviceId, deviceNode, properties, logLevel, ioInfo)

function

DEPTHAI_SERIALIZE_EXT(PipelineSchema, connections, globalProperties, nodes, bridges)

function

DEPTHAI_SERIALIZE_EXT(AprilTag, id, hamming, decisionMargin, topLeft, topRight, bottomRight, bottomLeft)

function

bool isDatatypeSubclassOf(DatatypeEnum parent, DatatypeEnum children)

function

DEPTHAI_SERIALIZE_EXT(IMUReport, sequence, accuracy, timestamp, tsDevice)

function

DEPTHAI_SERIALIZE_EXT(IMUReportAccelerometer, x, y, z, sequence, accuracy, timestamp, tsDevice)

function

DEPTHAI_SERIALIZE_EXT(IMUReportGyroscope, x, y, z, sequence, accuracy, timestamp, tsDevice)

function

DEPTHAI_SERIALIZE_EXT(IMUReportMagneticField, x, y, z, sequence, accuracy, timestamp, tsDevice)

function

 DEPTHAI_SERIALIZE_EXT(IMUReportRotationVectorWAcc, i, j, k, real, rotationVectorAccuracy, sequence, accuracy, timestamp, tsDevice)

function

DEPTHAI_SERIALIZE_EXT(IMUPacket, acceleroMeter, gyroscope, magneticField, rotationVector)

function

DEPTHAI_SERIALIZE_EXT(CircleAnnotation, position, diameter, thickness, fillColor, outlineColor)

function

DEPTHAI_SERIALIZE_EXT(PointsAnnotation, type, points, outlineColor, outlineColors, fillColor, thickness)

function

DEPTHAI_SERIALIZE_EXT(TextAnnotation, position, text, fontSize, textColor, backgroundColor)

function

DEPTHAI_SERIALIZE_EXT(ImgAnnotation, circles, points, texts)

function

DEPTHAI_SERIALIZE_EXT(SpatialLocationCalculatorConfigThresholds, lowerThreshold, upperThreshold)

function

DEPTHAI_SERIALIZE_EXT(SpatialLocationCalculatorConfigData, roi, depthThresholds, calculationAlgorithm, stepSize)

function

 DEPTHAI_SERIALIZE_EXT(SpatialLocations, config, depthAverage, depthMode, depthMedian, depthMin, depthMax, depthAveragePixelCount, spatialCoordinates)

function

DEPTHAI_SERIALIZE_EXT(TrackedFeature, position, id, age, harrisScore, trackingError, descriptor)

function

DEPTHAI_SERIALIZE_EXT(Transform, matrix)

function

DEPTHAI_SERIALIZE_EXT(AprilTagProperties, initialConfig, inputConfigSync)

function

DEPTHAI_SERIALIZE_EXT(AutoCalibrationProperties, initialConfig)

function

DEPTHAI_SERIALIZE_EXT(BenchmarkInProperties, reportEveryNMessages, attachLatencies, logReportsAsWarnings)

function

DEPTHAI_SERIALIZE_EXT(BenchmarkOutProperties, numMessages, fps)

function

 DEPTHAI_SERIALIZE_EXT(CameraProperties, initialControl, boardSocket, sensorType, cameraName, imageOrientation, resolutionWidth, resolutionHeight, mockIspWidth, mockIspHeight, mockIspFps, fps, isp3aFps, numFramesPoolRaw, maxSizePoolRaw, numFramesPoolIsp, maxSizePoolIsp, numFramesPoolVideo, numFramesPoolPreview, numFramesPoolStill, numFramesPoolOutputs, maxSizePoolOutputs, outputRequests)

function

DEPTHAI_SERIALIZE_EXT(CastProperties, numFramesPool, outputType, scale, offset)

function

 DEPTHAI_SERIALIZE_EXT(ColorCameraProperties, initialControl, boardSocket, cameraName, imageOrientation, previewType, previewHeight, previewWidth, videoWidth, videoHeight, stillWidth, stillHeight, mockIspWidth, mockIspHeight, resolution, fps, isp3aFps, sensorCropX, sensorCropY, previewKeepAspectRatio, ispScale, numFramesPoolRaw, numFramesPoolIsp, numFramesPoolVideo, numFramesPoolPreview, numFramesPoolStill, warpMeshSource, warpMeshUri, warpMeshWidth, warpMeshHeight, calibAlpha, warpMeshStepWidth, warpMeshStepHeight, eventFilter, rawPacked)

function

DEPTHAI_SERIALIZE_EXT(DetectionParserProperties, numFramesPool, networkInputs, parser)

function

DEPTHAI_SERIALIZE_EXT(DeviceNodeGroupProperties, dummy)

function

DEPTHAI_SERIALIZE_EXT(DynamicCalibrationProperties, emptyBool)

function

DEPTHAI_SERIALIZE_EXT(EdgeDetectorProperties, initialConfig, outputFrameSize, numFramesPool)

function

DEPTHAI_SERIALIZE_EXT(FeatureTrackerProperties, initialConfig, numShaves, numMemorySlices)

function

DEPTHAI_SERIALIZE_EXT(GateProperties, initialConfig)

function

DEPTHAI_BEGIN_SUPPRESS_DEPRECATION_WARNING DEPTHAI_SERIALIZE_EXT(GlobalProperties, pipelineName, pipelineVersion)

function

DEPTHAI_END_SUPPRESS_DEPRECATION_WARNING DEPTHAI_SERIALIZE_EXT(DeviceProperties, leonCssFrequencyHz, leonMssFrequencyHz, cameraTuningBlobSize, cameraTuningBlobUri, cameraSocketTuningBlobSize, cameraSocketTuningBlobUri, calibData, eepromId, xlinkChunkSize, sippBufferSize, sippDmaBufferSize)

function

 DEPTHAI_SERIALIZE_EXT(IMUSensorConfig, sensitivityEnabled, sensitivityRelative, changeSensitivity, reportRate, sensorId)

function

DEPTHAI_SERIALIZE_EXT(IMUProperties, imuSensors, batchReportThreshold, maxBatchReports, enableFirmwareUpdate)

function

 DEPTHAI_SERIALIZE_EXT(ImageAlignProperties, initialConfig, numFramesPool, alignWidth, alignHeight, warpHwIds, interpolation, outKeepAspectRatio, numShaves)

function

DEPTHAI_SERIALIZE_EXT(ImageFiltersProperties, initialConfig)

function

DEPTHAI_SERIALIZE_EXT(ToFDepthConfidenceFilterProperties, initialConfig)

function

DEPTHAI_SERIALIZE_EXT(ImageManipProperties, initialConfig, outputFrameSize, numFramesPool, backend, performanceMode)

function

DEPTHAI_SERIALIZE_EXT(MessageDemuxProperties, processor)

function

 DEPTHAI_SERIALIZE_EXT(MonoCameraProperties, initialControl, boardSocket, cameraName, imageOrientation, mockIspWidth, mockIspHeight, resolution, fps, isp3aFps, numFramesPool, numFramesPoolRaw, rawPacked)

function

DEPTHAI_SERIALIZE_EXT(NeuralDepthProperties, initialConfig)

function

 DEPTHAI_SERIALIZE_EXT(NeuralNetworkProperties, modelSource, blobSize, blobUri, modelUri, numFrames, numThreads, numNCEPerThread, numShavesPerThread, backend, backendProperties, deviceModel)

function

 DEPTHAI_SERIALIZE_EXT(ObjectTrackerProperties, trackerThreshold, maxObjectsToTrack, detectionLabelsToTrack, trackerType, trackerIdAssignmentPolicy, trackingPerClass, occlusionRatioThreshold, trackletMaxLifespan, trackletBirthThreshold, spatialAssociation, spatialAssociationWeight, spatialDistanceThreshold, spatialDepthAwareScale)

function

DEPTHAI_SERIALIZE_EXT(PointCloudProperties, initialConfig, numFramesPool)

function

DEPTHAI_SERIALIZE_EXT(PoolProperties, numMessages, maxMessageSize, datatype, processor)

function

DEPTHAI_SERIALIZE_EXT(RectificationProperties, outputWidth, outputHeight, enableRectification)

function

DEPTHAI_SERIALIZE_EXT(SPIInProperties, streamName, busId, maxDataSize, numFrames)

function

DEPTHAI_SERIALIZE_EXT(SPIOutProperties, streamName, busId)

function

DEPTHAI_SERIALIZE_EXT(ScriptProperties, scriptUri, scriptName, processor)

function

DEPTHAI_SERIALIZE_EXT(SegmentationParserProperties, labels, networkOutputName, classesInOneLayer, backgroundClass)

function

 DEPTHAI_SERIALIZE_EXT(SpatialDetectionNetworkProperties, detectedBBScaleFactor, depthThresholds, calculationAlgorithm, stepSize)

function

DEPTHAI_SERIALIZE_EXT(SpatialLocationCalculatorProperties, roiConfig)

function

 DEPTHAI_SERIALIZE_EXT(StereoDepthProperties, initialConfig, depthAlignCamera, enableRectification, rectifyEdgeFillColor, width, height, outWidth, outHeight, outKeepAspectRatio, mesh, enableRuntimeStereoModeSwitch, numFramesPool, numPostProcessingShaves, numPostProcessingMemorySlices, focalLengthFromCalibration, useHomographyRectification, enableFrameSync, baseline, focalLength, disparityToDepthUseSpecTranslation, rectificationUseSpecTranslation, depthAlignmentUseSpecTranslation, alphaScaling)

function

DEPTHAI_SERIALIZE_EXT(SyncProperties, syncThresholdNs, syncAttempts, processor)

function

DEPTHAI_SERIALIZE_EXT(SystemLoggerProperties, rateHz)

function

DEPTHAI_SERIALIZE_EXT(ThermalProperties, initialConfig, numFramesPool, boardSocket, fps)

function

 DEPTHAI_SERIALIZE_EXT(ToFProperties, initialConfig, numFramesPool, numShaves, warpHwIds, boardSocket, cameraName, imageOrientation, fps, numFramesPoolRaw)

function

DEPTHAI_SERIALIZE_EXT(UVCProperties, gpioInit, gpioStreamOn, gpioStreamOff)

function

 DEPTHAI_SERIALIZE_EXT(VideoEncoderProperties, bitrate, keyframeFrequency, maxBitrate, numBFrames, numFramesPool, outputFrameSize, profile, quality, lossless, rateCtrlMode, frameRate)

function

DEPTHAI_SERIALIZE_EXT(VppProperties, initialConfig, numFramesPool)

function

 DEPTHAI_SERIALIZE_EXT(WarpProperties, outputWidth, outputHeight, outputFrameSize, numFramesPool, meshWidth, meshHeight, meshUri, warpHwIds, interpolation)

function

 DEPTHAI_SERIALIZE_EXT(PipelineEventAggregationProperties, aggregationWindowSize, statsUpdateIntervalMs, eventWaitWindow, traceOutput)

function

bool initialize()

function

bool initialize(std::string additionalInfo, bool installSignalHandler, void * javavm)

function

bool initialize(const char * additionalInfo, bool installSignalHandler, void * javavm)

function

bool initialize(void * javavm)

inline function

void swap(JoiningThread & x, JoiningThread & y)

enum

ImgResizeMode

enumerator

CROP

Keeps aspect ratio. Crops the image to get the correct output aspect ratio. Crops some FOV to match the required FOV, then scale. No potential NN accuracy decrease.

enumerator

STRETCH

Doesn't keep aspect ratio. Squishes or streches the image to fill the required pixel area. Preserves full FOV, but frames are stretched to match the FOV, which might decrease NN accuracy.

enumerator

LETTERBOX

Keeps aspect ratio. Envelop the image with a background color to get the corect output aspect ratio. Preserves full FOV by padding/letterboxing, but smaller frame means less features which might decrease NN accuracy.

enum

int32_t CameraBoardSocket

Which Camera socket to use.AUTO denotes that the decision will be made by device

enumerator

AUTO

enumerator

CAM_A

enumerator

CAM_B

enumerator

CAM_C

enumerator

CAM_D

enumerator

VERTICAL

enumerator

CAM_E

enumerator

CAM_F

enumerator

CAM_G

enumerator

CAM_H

enumerator

CAM_I

enumerator

CAM_J

enumerator

RGB

enumerator

CENTER

enumerator

LEFT

enumerator

RIGHT

enum

int32_t CameraExposureOffset

Describe possible exposure offsets

enumerator

START

enumerator

MIDDLE

enumerator

END

enum

int32_t CameraImageOrientation

Camera sensor image orientation / pixel readout. This exposes direct sensor settings. 90 or 270 degrees rotation is not available.AUTO denotes that the decision will be made by device (e.g. on OAK-1/megaAI: ROTATE_180_DEG).

enumerator

AUTO

enumerator

NORMAL

enumerator

HORIZONTAL_MIRROR

enumerator

VERTICAL_FLIP

enumerator

ROTATE_180_DEG

enum

int8_t CameraModel

Which CameraModel to initialize the calibration with.

enumerator

Perspective

enumerator

Fisheye

enumerator

Equirectangular

enumerator

RadialDivision

enum

int32_t CameraSensorType

enumerator

AUTO

enumerator

COLOR

enumerator

MONO

enumerator

TOF

enumerator

THERMAL

enum

int32_t Colormap

enumerator

NONE

enumerator

TURBO

enumerator

JET

enumerator

STEREO_TURBO

enumerator

STEREO_JET

enum

int32_t ConnectionInterface

enumerator

USB

enumerator

ETHERNET

enumerator

WIFI

enum

int32_t SIPrefix

enumerator

GIGA

enumerator

MEGA

enumerator

KILO

enumerator

DEKA

enumerator

DEFAULT

enumerator

CENTI

enumerator

MILLI

enum

int32_t LengthUnit

Measurement unit for depth and calibration data.

enumerator

METER

enumerator

CENTIMETER

enumerator

MILLIMETER

enumerator

INCH

enumerator

FOOT

enumerator

CUSTOM

enum

int32_t AngleUnit

Measurement unit for angular quantities stored in radians.

enumerator

RADIAN

enumerator

DEGREE

enum

DeviceModelZoo

On device models, relevant for RVC4 platform

enumerator

NEURAL_DEPTH_1248X780

enumerator

NEURAL_DEPTH_768X480

enumerator

NEURAL_DEPTH_576X360

enumerator

NEURAL_DEPTH_480X300

enumerator

NEURAL_DEPTH_384X240

enumerator

NEURAL_DEPTH_1056X660

enumerator

NEURAL_DEPTH_960X600

enumerator

NEURAL_DEPTH_864X540

enumerator

NEURAL_DEPTH_288X180

enumerator

NEURAL_DEPTH_192X120

enumerator

NEURAL_DEPTH_EXTRA_LARGE

enumerator

NEURAL_DEPTH_LARGE

enumerator

NEURAL_DEPTH_MEDIUM

enumerator

NEURAL_DEPTH_SMALL

enumerator

NEURAL_DEPTH_NANO

enum

int32_t ExternalFrameSyncRole

Which external frame sync role the device should have.AUTO_DETECT denotes that the decision will be made by device. It will choose between MASTER and SLAVE.

enumerator

AUTO_DETECT

enumerator

MASTER

enumerator

SLAVE

enum

int32_t FrameEvent

enumerator

NONE

enumerator

READOUT_START

enumerator

READOUT_END

enum

int32_t HousingCoordinateSystem

Which Housing to use.AUTO denotes that the decision will be made by device

enumerator

AUTO

enumerator

CAM_A

enumerator

CAM_B

enumerator

CAM_C

enumerator

CAM_D

enumerator

CAM_E

enumerator

CAM_F

enumerator

CAM_G

enumerator

CAM_H

enumerator

CAM_I

enumerator

CAM_J

enumerator

FRONT_CAM_A

enumerator

FRONT_CAM_B

enumerator

FRONT_CAM_C

enumerator

FRONT_CAM_D

enumerator

FRONT_CAM_E

enumerator

FRONT_CAM_F

enumerator

FRONT_CAM_G

enumerator

FRONT_CAM_H

enumerator

FRONT_CAM_I

enumerator

FRONT_CAM_J

enumerator

VESA_A

enumerator

VESA_B

enumerator

VESA_C

enumerator

VESA_D

enumerator

VESA_E

enumerator

VESA_F

enumerator

VESA_G

enumerator

VESA_H

enumerator

VESA_I

enumerator

VESA_J

enumerator

IMU

enum

std::int32_t Interpolation

Interpolation type

enumerator

AUTO

enumerator

BILINEAR

enumerator

BICUBIC

enumerator

NEAREST_NEIGHBOR

enumerator

BYPASS

enumerator

DEFAULT

enumerator

DEFAULT_DISPARITY_DEPTH

enum

int32_t ProcessorType

On which processor the node will be placedEnum specifying processor

enumerator

LEON_CSS

enumerator

LEON_MSS

enumerator

CPU

enumerator

DSP

enum

int32_t UsbSpeed

Get USB Speed

enumerator

UNKNOWN

enumerator

LOW

enumerator

FULL

enumerator

HIGH

enumerator

SUPER

enumerator

SUPER_PLUS

enum

Platform

enumerator

RVC2

enumerator

RVC3

enumerator

RVC4

enum

std::int32_t LogLevel

enumerator

TRACE

enumerator

DEBUG

enumerator

INFO

enumerator

WARN

enumerator

ERR

enumerator

CRITICAL

enumerator

OFF

enum

NNArchiveConfigVersion

enumerator

enum

int PipelineAutoCalibrationMode

enumerator

OFF

enumerator

ON_START

enumerator

CONTINUOUS

enum

std::int32_t DatatypeEnum

enumerator

ADatatype

enumerator

Buffer

enumerator

ImgFrame

enumerator

EncodedFrame

enumerator

SegmentationMask

enumerator

GateControl

enumerator

NNData

enumerator

ImageManipConfig

enumerator

CameraControl

enumerator

ImgDetections

enumerator

SpatialImgDetections

enumerator

SystemInformation

enumerator

SystemInformationRVC4

enumerator

SpatialLocationCalculatorConfig

enumerator

SpatialLocationCalculatorData

enumerator

EdgeDetectorConfig

enumerator

AprilTagConfig

enumerator

AprilTags

enumerator

Tracklets

enumerator

IMUData

enumerator

StereoDepthConfig

enumerator

NeuralDepthConfig

enumerator

FeatureTrackerConfig

enumerator

ThermalConfig

enumerator

ToFConfig

enumerator

TrackedFeatures

enumerator

BenchmarkReport

enumerator

MessageGroup

enumerator

MapData

enumerator

TransformData

enumerator

PointCloudConfig

enumerator

PointCloudData

enumerator

RGBDData

enumerator

ImageAlignConfig

enumerator

ImgAnnotations

enumerator

ImageFiltersConfig

enumerator

ToFDepthConfidenceFilterConfig

enumerator

ObjectTrackerConfig

enumerator

DynamicCalibrationControl

enumerator

DynamicCalibrationResult

enumerator

AutoCalibrationConfig

enumerator

AutoCalibrationResult

enumerator

CalibrationQuality

enumerator

CalibrationMetrics

enumerator

CoverageData

enumerator

SegmentationParserConfig

enumerator

PipelineEvent

enumerator

PipelineState

enumerator

PipelineEventAggregationConfig

enumerator

VppConfig

enumerator

PacketizedData

enumerator

COUNT

enum

std::uint32_t ImageFiltersPresetMode

enumerator

TOF_LOW_RANGE

enumerator

TOF_MID_RANGE

enumerator

TOF_HIGH_RANGE

enum

std::uint8_t PointsAnnotationType

enumerator

UNKNOWN

enumerator

POINTS

enumerator

LINE_LOOP

enumerator

LINE_STRIP

enumerator

LINE_LIST

enum

uint32_t SpatialLocationCalculatorAlgorithm

SpatialLocationCalculatorAlgorithm configuration modesContains calculation method used to obtain spatial locations.

enumerator

AVERAGE

enumerator

MEAN

enumerator

MIN

enumerator

MAX

enumerator

MODE

enumerator

MEDIAN

enum

std::int32_t IMUSensor

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

enumerator

ACCELEROMETER_RAW

Section 2.1.1Raw accelerometer measurement in the sensor-native frame. No IMU extrinsics or affine calibration are applied. Units are [m/s^2]

Parameters

Prior firmware versions incorrectly delivered frame-aligned data on this stream (equivalent to what is now ACCELEROMETER_UNCALIBRATED). This stream now correctly provides the unprocessed sensor output.

enumerator

ACCELEROMETER_UNCALIBRATED

DepthAI synthetic accelerometer stream.Acceleration of the device including gravity, aligned to the DepthAI IMU frame without the stored affine calibration applied. Units are [m/s^2]

enumerator

ACCELEROMETER_CALIBRATED

Section 2.1.1Acceleration of the device including gravity, aligned to the DepthAI IMU frame and corrected with the stored affine calibration. Units are [m/s^2]

enumerator

ACCELEROMETER

enumerator

LINEAR_ACCELERATION

Section 2.1.1Acceleration of the device with gravity removed. Units are [m/s^2]

enumerator

GRAVITY

Section 2.1.1Gravity. Units are [m/s^2]

enumerator

GYROSCOPE_RAW

Section 2.1.2Raw gyroscope measurement in the sensor-native frame. DepthAI does not apply IMU extrinsics or affine calibration on this stream. Units are [rad/s]

enumerator

GYROSCOPE_CALIBRATED

Section 2.1.2Angular velocity aligned to the DepthAI IMU frame and corrected with the stored affine calibration. Units are [rad/s]

enumerator

GYROSCOPE_UNCALIBRATED

Section 2.1.2Angular velocity aligned to the DepthAI IMU frame without the stored affine calibration applied. Units are [rad/s]

enumerator

MAGNETOMETER_RAW

Section 2.1.3Raw magnetometer measurement in the sensor-native frame. DepthAI does not apply IMU extrinsics on this stream. Units are [uTesla]

enumerator

MAGNETOMETER_CALIBRATED

Section 2.1.3Magnetic field measurement aligned to the DepthAI IMU frame. Units are [uTesla]

enumerator

MAGNETOMETER_UNCALIBRATED

Section 2.1.3Magnetic field measurement aligned to the DepthAI IMU frame without hard-iron offset applied. Units are [uTesla]

enumerator

ROTATION_VECTOR

Section 2.2The 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.

enumerator

GAME_ROTATION_VECTOR

Section 2.2The 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.

enumerator

GEOMAGNETIC_ROTATION_VECTOR

Section 2.2The 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.

enumerator

ARVR_STABILIZED_ROTATION_VECTOR

Section 2.2Estimates 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.

enumerator

ARVR_STABILIZED_GAME_ROTATION_VECTOR

Section 2.2While 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.

enum

std::int32_t TrackerType

enumerator

SHORT_TERM_KCF

enumerator

SHORT_TERM_IMAGELESS

enumerator

ZERO_TERM_IMAGELESS

enumerator

ZERO_TERM_COLOR_HISTOGRAM

enum

std::int32_t TrackerIdAssignmentPolicy

enumerator

UNIQUE_ID

enumerator

SMALLEST_ID

enum

LockingQueueState

enumerator

SUCCESS

enumerator

BLOCKED

enumerator

CANCELLED

enum

SerializationType

enumerator

LIBNOP

enumerator

JSON

enumerator

JSON_MSGPACK

class

dai::Capability

Derived by dai::CapabilityCRTP< Capability, ImgFrameCapability >

function

const char * getName()

function

~Capability()

class

dai::CapabilityCRTP

variable

friend Derived

variable

friend Base

function

~CapabilityCRTP()

inline function

const char * getName()

class

dai::CapabilityRange

variable

std::optional< std::variant< T, std::pair< T, T >, std::vector< T > > > value

inline function

void minMax(const std::pair< T, T > & minMax)

inline function

void minMax(const std::tuple< T, T > & minMax)

inline function

void minMax(const T & min, const T & max)

inline function

void fixed(const T & fixed)

inline function

void discrete(const std::vector< T > & discreteValues)

function

DEPTHAI_SERIALIZE(CapabilityRange, value)

class

dai::ImgFrameCapability

variable

CapabilityRange< std::pair< uint32_t, uint32_t > > size

variable

CapabilityRange< float > fps

variable

std::optional< ImgFrame::Type > type

variable

ImgResizeMode resizeMode

variable

std::optional< bool > enableUndistortion

variable

bool ispOutput

function

~ImgFrameCapability()

function

DEPTHAI_SERIALIZE(ImgFrameCapability, size, fps, type, resizeMode, enableUndistortion, ispOutput)

struct

dai::CameraSensorConfig

#include CameraFeatures.hpp

variable

std::int32_t width

variable

std::int32_t height

variable

float minFps

variable

float maxFps

variable

Rect fov

variable

CameraSensorType type

variable

bool hdr

variable

bool hfr

struct

dai::CameraFeatures

#include CameraFeatures.hpp

variable

CameraBoardSocket socket

Board socket where the camera was detected

variable

std::string sensorName

Camera sensor name, e.g: "IMX378", "OV9282"

variable

std::int32_t width

Maximum sensor resolution

variable

std::int32_t height

variable

CameraImageOrientation orientation

Default camera orientation, board dependent

variable

std::vector< CameraSensorType > supportedTypes

List of supported types of processing for the given camera.For some sensors it's not possible to determine if they are color or mono (e.g. OV9782 and OV9282), so this could return more than one entry

variable

bool hasAutofocusIC

Whether an autofocus VCM IC was detected

variable

bool hasAutofocus

Whether camera has auto focus capabilities, or is a fixed focus lens

variable

std::string name

Camera name or alias

variable

std::vector< std::string > additionalNames

Additional camera names or aliases

variable

std::vector< CameraSensorConfig > configs

Available sensor configs

variable

std::optional< CameraSensorConfig > calibrationResolution

function

 DEPTHAI_SERIALIZE(CameraFeatures, socket, sensorName, width, height, orientation, supportedTypes, hasAutofocusIC, hasAutofocus, name, additionalNames, configs, calibrationResolution)

struct

dai::CameraInfo

#include CameraInfo.hpp

variable

uint16_t width

variable

uint16_t height

variable

uint8_t lensPosition

variable

std::vector< std::vector< float > > intrinsicMatrix

variable

std::vector< float > distortionCoeff

variable

Extrinsics extrinsics

variable

float specHfovDeg

variable

CameraModel cameraType

function

 DEPTHAI_SERIALIZE(CameraInfo, cameraType, width, height, specHfovDeg, lensPosition, intrinsicMatrix, distortionCoeff, extrinsics)

struct

dai::ChipTemperature

#include ChipTemperature.hpp

variable

float css

CPU Subsystem

variable

float mss

Media Subsystem

variable

float upa

Shave Array

variable

float dss

DRAM Subsystem

variable

float average

Average of measurements

struct

dai::ChipTemperatureRVC4

#include ChipTemperatureRVC4.hpp

variable

float cpuss

CPU Subsystem

variable

float gpuss

GPU Subsystem

variable

float mdmss

Modem Subsystem

variable

float video

Video

variable

float ddr

DDR Memory

variable

float camera

Camera

variable

float average

Average of measurements

struct

dai::Color

#include Color.hpp

variable

float r

variable

float g

variable

float b

variable

float a

function

Color()

inline function

Color(float r, float g, float b, float a)

Parameters

r: Red value
g: Green value
b: Blue value
a: Alpha value

Parameters

std::invalid_argument: if r,g,b,a values are not in range [0.0, 1.0]

struct

dai::CpuUsage

#include CpuUsage.hpp

variable

float average

Average CPU usage, expressed with a normalized value (0-1)

variable

int32_t msTime

Time span in which the average was calculated in milliseconds

struct

dai::DetectionParserOptions

#include DetectionParserOptions.hpp

variable

DetectionNetworkType nnFamily

variable

std::string subtype

variable

float confidenceThreshold

variable

YoloDecodingFamily decodingFamily

variable

bool decodeKeypoints

variable

bool decodeSegmentation

variable

int classes

variable

std::optional< std::vector< std::string > > classNames

variable

int coordinates

variable

std::optional< int > nKeypoints

variable

std::vector< int > strides

variable

std::vector< float > anchors

variable

std::map< std::string, std::vector< int > > anchorMasks

variable

std::vector< std::string > outputNamesToUse

variable

std::vector< std::vector< std::vector< float > > > anchorsV2

variable

float iouThreshold

variable

std::vector< dai::Edge > keypointEdges

variable

std::vector< std::string > keypointLabelNames

struct

dai::EepromData

#include EepromData.hpp

variable

uint32_t version

variable

std::string productName

variable

std::string boardCustom

variable

std::string boardName

variable

std::string boardRev

variable

std::string boardConf

variable

std::string hardwareConf

variable

std::string deviceName

variable

std::string batchName

variable

uint64_t batchTime

variable

uint32_t boardOptions

variable

std::unordered_map< CameraBoardSocket, CameraInfo > cameraData

variable

StereoRectification stereoRectificationData

variable

Extrinsics imuExtrinsics

variable

Extrinsics housingExtrinsics

variable

std::vector< uint8_t > miscellaneousData

variable

bool stereoUseSpecTranslation

variable

bool stereoEnableDistortionCorrection

variable

CameraBoardSocket verticalCameraSocket

variable

ImuCalibrationParams imuCalibrationParams

struct

dai::Extrinsics

#include Extrinsics.hpp

variable

std::vector< std::vector< float > > rotationMatrix

variable

Point3f translation

(x, y, z) pose of destCameraSocket w.r.t currentCameraSocket obtained through calibration

variable

Point3f specTranslation

(x, y, z) pose of destCameraSocket w.r.t currentCameraSocket measured through CAD design

variable

CameraBoardSocket toCameraSocket

The destination camera socket for which these extrinsics are defined.

variable

LengthUnit lengthUnit

The distance unit for the translation vector.

function

Extrinsics()

function

 Extrinsics(std::vector< std::vector< float >> rotationMatrix, Point3f translation, CameraBoardSocket toCameraSocket, LengthUnit lengthUnit)

function

 Extrinsics(const std::vector< std::vector< float >> & extrinsicsMatrix, CameraBoardSocket toCameraSocket, LengthUnit lengthUnit)

function

 Extrinsics(std::array< std::array< float, 4 >, 4 > & extrinsicsMatrix, CameraBoardSocket toCameraSocket, LengthUnit lengthUnit)

function

std::vector< std::vector< float > > getRotationMatrix()

Get the extrinsic rotation matrix in array format.

Returns

3x3 rotation matrix as a 2D array

function

std::vector< std::vector< float > > getInverseRotationMatrix()

Get the inverse extrinsic rotation matrix in array format.

Returns

3x3 inverse rotation matrix as a 2D array

function

std::array< std::array< float, 4 >, 4 > getTransformationMatrix(bool useSpecTranslation, LengthUnit unit)

Get the Camera Extrinsics object to the toCameraSocket.

Parameters

useSpecTranslation: Set to true to force using spec translation
unit: Units of the returned translation vector

Returns

4x4 homogeneous transformation matrix

Parameters

The full transformation matrix can only be obtained if both the rotation matrix and the translation vector are set.

function

std::array< std::array< float, 4 >, 4 > getInverseTransformationMatrix(bool useSpecTranslation, LengthUnit unit)

Get the inverse of the extrinsic transformation matrix which is equal to the transformation from the toCameraSocket to the current camera socket.

Parameters

useSpecTranslation: Set to true to force using spec translation
unit: Units of the returned translation vector

Returns

a transformationMatrix which is 4x4 in homogeneous coordinate system

function

void setTransformationMatrix(const std::vector< std::vector< float >> & matrix, LengthUnit unit)

Set the extrinsic transformation matrix.

Parameters

matrix: 4x4 homogeneous transformation matrix
unit: Units of the translation components Tx, Ty, and Tz

function

void setTransformationMatrix(const std::array< std::array< float, 4 >, 4 > & matrix, LengthUnit unit)

Set the extrinsic transformation matrix.

Parameters

matrix: 4x4 homogeneous transformation matrix
unit: Units of the translation components Tx, Ty, and Tz

function

void setTranslationVector(const dai::Point3f & translationVector, LengthUnit unit, bool useSpecTranslation)

Set the translation vector

Parameters

translationVector: The translation vector to set
unit: Units of the provided translation vector
useSpecTranslation: Set to true to force setting spec translation

function

std::vector< float > getTranslationVector(bool useSpecTranslation, LengthUnit unit)

Get the translation vector

Parameters

unit: Units of the returned translation vector

Returns

translation vector in specified units

function

bool isEqualExtrinsics(const Extrinsics & other, float epsilon)

Two Extrinsics objects are equal if their rotation matrices and translation vectors are equal (within a small epsilon).

Parameters

other: The other Extrinsics object to compare with
epsilon: The tolerance for comparing floating-point values

Returns

true if the Extrinsics objects are equal, false otherwise

function

std::array< std::array< float, 4 >, 4 > getExtrinsicsTransformationTo(const Extrinsics & to, bool useSpecTranslation, LengthUnit sourceUnit)

Get the extrinsic transformation matrix from this Extrinsics to the target Extrinsics.

Parameters

to: The target Extrinsics to get the transformation matrix to
useSpecTranslation: Set to true to force using spec translation
sourceUnit: Units of the translation vector in the source Extrinsics (this). Only relevant if useSpecTranslation is false.

Returns

a transformationMatrix which is 4x4 in homogeneous coordinate system

function

DEPTHAI_SERIALIZE_OPTIONAL(Extrinsics, rotationMatrix, translation, specTranslation, toCameraSocket, lengthUnit)

struct

dai::ImgTransformation

#include ImgTransformations.hpp

function

ImgTransformation()

inline function

ImgTransformation(size_t width, size_t height)

inline function

ImgTransformation(size_t srcWidth, size_t srcHeight, size_t width, size_t height)

inline function

ImgTransformation(size_t width, size_t height, std::array< std::array< float, 3 >, 3 > sourceIntrinsicMatrix)

inline function

 ImgTransformation(size_t width, size_t height, std::array< std::array< float, 3 >, 3 > sourceIntrinsicMatrix, CameraModel distortionModel, std::vector< float > distortionCoefficients)

inline function

 ImgTransformation(size_t width, size_t height, std::array< std::array< float, 3 >, 3 > sourceIntrinsicMatrix, CameraModel distortionModel, std::vector< float > distortionCoefficients, Extrinsics extrinsics)

function

dai::Point2f transformPoint(dai::Point2f point)

Transform a point from the source frame to the current frame.

Parameters

point: Point to transform

Returns

Transformed point

function

dai::RotatedRect transformRect(dai::RotatedRect rect)

Transform a rotated rect from the source frame to the current frame.

Parameters

rect: Rectangle to transform

Returns

Transformed rectangle

function

dai::Point2f invTransformPoint(dai::Point2f point)

Transform a point from the current frame to the source frame.

Parameters

point: Point to transform

Returns

Transformed point

function

dai::RotatedRect invTransformRect(dai::RotatedRect rect)

Transform a rotated rect from the current frame to the source frame.

Parameters

rect: Rectangle to transform

Returns

Transformed rectangle

function

std::pair< size_t, size_t > getSize()

Retrieve the size of the frame. Should be equal to the size of the corresponding ImgFrame message.

Returns

Size of the frame

function

std::pair< size_t, size_t > getSourceSize()

Retrieve the size of the source frame from which this frame was derived.

Returns

Size of the frame

function

std::array< std::array< float, 3 >, 3 > getMatrix()

Retrieve the transformation matrix from the source frame to the current frame.

Returns

Transformation matrix

function

std::array< std::array< float, 3 >, 3 > getMatrixInv()

Retrieve the inverse transformation matrix from the current frame to the source frame.

Returns

Inverse transformation matrix

function

std::array< std::array< float, 3 >, 3 > getSourceIntrinsicMatrix()

Retrieve the intrinsic matrix of the source sensor.

Returns

Intrinsic matrix

function

std::array< std::array< float, 3 >, 3 > getSourceIntrinsicMatrixInv()

Retrieve the inverse intrinsic matrix of the source sensor.

Returns

Inverse intrinsic matrix

function

CameraModel getDistortionModel()

Retrieve the distortion model of the source sensor

Returns

Distortion model

function

std::vector< float > getDistortionCoefficients()

Retrieve the distortion coefficients of the source sensor

Returns

vector of distortion coefficients

function

Extrinsics getExtrinsics()

Retrieve the extrinsics to the source sensor.

Returns

Extrinsics

function

bool isEqualTransformation(const ImgTransformation & other)

Two transformations are equal if the transformation matrices, intrinsic matrices, distortion models, distortion coefficients, extrinsics, and sizes are all equal.

Parameters

other: Transformation to compare with

Returns

True if the transformations are equal, false otherwise

inline function

std::array< std::array< float, 3 >, 3 > getTransformationMatrix()

inline function

std::array< std::array< float, 3 >, 3 > getTransformationMatrixInv()

function

std::array< std::array< float, 3 >, 3 > getIntrinsicMatrix()

Retrieve the total intrinsic matrix calculated from transform * intrinsic.

Returns

total intrinsic matrix

function

std::array< std::array< float, 3 >, 3 > getIntrinsicMatrixInv()

Retrieve the inverse of the total intrinsic matrix.

Returns

inverse total intrinsic matrix

function

float getDFov(bool source)

Retrieve the diagonal field of view of the image.

Parameters

source: If true, the source field of view will be returned. Otherwise, the current field of view will be returned.

Returns

Diagonal field of view in degrees

function

float getHFov(bool source)

Retrieve the horizontal field of view of the image.

Parameters

source: If true, the source field of view will be returned. Otherwise, the current field of view will be returned.

Returns

Horizontal field of view in degrees

function

float getVFov(bool source)

Retrieve the vertical field of view of the image.

Parameters

source: If true, the source field of view will be returned. Otherwise, the current field of view will be returned.

Returns

Vertical field of view in degrees

function

std::vector< dai::RotatedRect > getSrcCrops()

function

bool getSrcMaskPt(size_t x, size_t y)

Returns true if the point is inside the transformed region of interest (determined by crops used).

function

bool getDstMaskPt(size_t x, size_t y)

Returns true if the point is inside the image region (not in the background region).

function

ImgTransformation & addTransformation(std::array< std::array< float, 3 >, 3 > matrix)

Add a new transformation.

Parameters

matrix: Transformation matrix

function

ImgTransformation & addCrop(int x, int y, int width, int height)

Add a crop transformation.

Parameters

x: X coordinate of the top-left corner of the crop
y: Y coordinate of the top-left corner of the crop
width: Width of the crop
height: Height of the crop

function

ImgTransformation & addPadding(int top, int bottom, int left, int right)

Add a pad transformation. Works like crop, but in reverse.

Parameters

top: Padding on the top
bottom: Padding on the bottom
left: Padding on the left
right: Padding on the right

function

ImgTransformation & addFlipVertical()

Add a vertical flip transformation.

function

ImgTransformation & addFlipHorizontal()

Add a horizontal flip transformation.

function

ImgTransformation & addRotation(float angle, dai::Point2f rotationPoint)

Add a rotation transformation.

Parameters

angle: Angle in degrees
rotationPoint: Point around which to rotate

function

ImgTransformation & addScale(float scaleX, float scaleY)

Add a scale transformation.

Parameters

scaleX: Scale factor in the horizontal direction
scaleY: Scale factor in the vertical direction

function

ImgTransformation & addSrcCrops(const std::vector< dai::RotatedRect > & crops)

function

ImgTransformation & setSize(size_t width, size_t height)

function

ImgTransformation & setSourceSize(size_t width, size_t height)

function

ImgTransformation & setExtrinsics(const Extrinsics & extrinsics)

function

ImgTransformation & setIntrinsicMatrix(std::array< std::array< float, 3 >, 3 > intrinsicMatrix)

function

ImgTransformation & setDistortionModel(CameraModel model)

function

ImgTransformation & setDistortionCoefficients(std::vector< float > coefficients)

function

dai::Point2f remapPointTo(const ImgTransformation & to, dai::Point2f point)

Remap a point from this transformation to another. If the intrinsics are different (e.g. different camera), the function will also use the intrinsics to remap the point.

Parameters

to: Transformation to remap to
point: Point to remap

Parameters

This function assumes both transformations have the same source (eg. same source camera socket). If they don't, remapping will be inaccurate.

function

dai::Point2f remapPointFrom(const ImgTransformation & from, dai::Point2f point)

Remap a point to this transformation from another. If the intrinsics are different (e.g. different camera), the function will also use the intrinsics to remap the point.

Parameters

from: Transformation to remap from
point: Point to remap

function

dai::RotatedRect remapRectTo(const ImgTransformation & to, dai::RotatedRect rect)

Remap a rotated rect from this transformation to another. If the intrinsics are different (e.g. different camera), the function will also use the intrinsics to remap the rect.

Parameters

to: Transformation to remap to
rect: RotatedRect to remap

function

dai::RotatedRect remapRectFrom(const ImgTransformation & from, dai::RotatedRect rect)

Remap a rotated rect to this transformation from another. If the intrinsics are different (e.g. different camera), the function will also use the intrinsics to remap the rect.

Parameters

from: Transformation to remap from
rect: RotatedRect to remap

function

dai::Point2f project3DPoint(const dai::Point3f & point)

Project a 3D spatial point into 2D point in the current frame defined by this transformation.

Parameters

point: 3D point to project

Returns

Projected 2D point in the current frame

Parameters

This function assumes that the point is in the coordinate system of the current frame.

function

dai::Point2f projectPointTo(const ImgTransformation & to, dai::Point2f & point, float depth)

Project a 2D point from the source frame defined by this transformation into a 2D point in the target frame defined by the to transformation. This function will use the depth of the point to project it into 3D space and then reproject it back to 2D in the target frame.

Parameters

to: Target transformation to project to
point2f: Source 2D point in the current frame
depth: (mm) Depth of the point to project

Returns

Projected 2D point in the target frame (to transformation)

function

dai::Point2f project3DPointTo(const ImgTransformation & to, const dai::Point3f & point)

Project a 3D spatial point from the source coordinate system (this transformation) into a 2D point in the target frame (to transformation).

Parameters

to: Target transformation to project to
point3f: 3D point to project

Returns

Projected 2D point in the target frame (to transformation)

Parameters

This function assumes that the point3f is in the coordinate system of the current frame.

function

dai::Point2f project3DPointFrom(const ImgTransformation & from, const dai::Point3f & point)

Project a 3D point from the source frame (from transformation) into a 2D point in the current frame (this transformation).

Parameters

from: Transformation to project from
point3f: 3D point to project

Returns

Projected 2D point in the current frame

Parameters

This function assumes that the point3f is in the coordinate system of the source frame.

function

dai::Point3f remap3DPointTo(const ImgTransformation & to, const dai::Point3f & point)

Remap a 3D point from the source coordinate system of this transformation to the coordinate system of the target transformation (to transformation).

Parameters

to: Target transformation to remap to
point: 3D point to remap

Returns

Remapped 3D point in the target coordinate system

Parameters

This function assumes that the point is in the coordinate system of the current frame.

function

dai::Point3f remap3DPointFrom(const ImgTransformation & from, const dai::Point3f & point)

Remap a 3D point to the coordinate system of this transformation from the source coordinate system of the from transformation.

Parameters

from: Transformation to remap from
point: 3D point to remap

Returns

Remapped 3D point in the current coordinate system

Parameters

This function assumes that the point is in the coordinate system of the source frame.

function

std::array< std::array< float, 4 >, 4 > getExtrinsicsTransformationMatrixTo(const ImgTransformation & to, bool useSpecTranslation, LengthUnit sourceUnit)

Get the extrinsic transformation matrix from the source coordinate system of this transformation to the target coordinate system of the to transformation.

Parameters

to: Target transformation to get extrinsics to

Returns

4x4 homogeneous transformation matrix representing the extrinsics from this transformation to the target transformation

Parameters

Both transformations must have a common toCameraSocket. Otherwise extrinsics cannot be calculated.

function

std::array< std::array< float, 3 >, 3 > getRotationMatrixTo(const ImgTransformation & to)

Get the extrinsic rotation matrix from the source coordinate system of this transformation to the target coordinate system of the to transformation.

Parameters

to: Transformation to get extrinsics to

Returns

3x3 rotation matrix representing the extrinsic rotation from this transformation to the target transformation

function

std::array< float, 3 > getTranslationVectorTo(const ImgTransformation & to, bool useSpecTranslation, LengthUnit sourceUnit)

Get the extrinsic translation vector from the source coordinate system of this transformation to the target coordinate system of the to transformation.

Parameters

to: Transformation to get extrinsics to

Returns

3x1 translation vector representing the extrinsic translation from this transformation to the target transformation

function

bool isAlignedTo(const ImgTransformation & to)

Check if the transformations are aligned

Parameters

to: Transformation to compare with

function

bool isValid()

Check if the transformations are valid. The transformations are valid if the source frame size and the current frame size are set.

function

 DEPTHAI_SERIALIZE(ImgTransformation, extrinsics, transformationMatrix, transformationMatrixInv, sourceIntrinsicMatrix, sourceIntrinsicMatrixInv, distortionModel, distortionCoefficients, srcWidth, srcHeight, width, height, srcCrops)

struct

dai::AccelAxisNoiseParams

variable

float noiseDensity

variable

float randomWalk

variable

float biasStability

function

DEPTHAI_SERIALIZE(AccelAxisNoiseParams, noiseDensity, randomWalk, biasStability)

struct

dai::GyroAxisNoiseParams

variable

float noiseDensity

variable

float randomWalk

variable

float biasStability

function

DEPTHAI_SERIALIZE(GyroAxisNoiseParams, noiseDensity, randomWalk, biasStability)

struct

dai::AccelerometerNoiseParams

variable

AccelAxisNoiseParams x

variable

AccelAxisNoiseParams y

variable

AccelAxisNoiseParams z

function

DEPTHAI_SERIALIZE(AccelerometerNoiseParams, x, y, z)

struct

dai::GyroscopeNoiseParams

variable

GyroAxisNoiseParams x

variable

GyroAxisNoiseParams y

variable

GyroAxisNoiseParams z

function

DEPTHAI_SERIALIZE(GyroscopeNoiseParams, x, y, z)

struct

dai::ImuNoiseParameters

#include ImuParameters.hpp

variable

std::string name

variable

AccelerometerNoiseParams accelerometer

variable

GyroscopeNoiseParams gyroscope

function

DEPTHAI_SERIALIZE(ImuNoiseParameters, name, accelerometer, gyroscope)

struct

dai::ImuCalibrationParams

#include ImuParameters.hpp

variable

ImuNoiseParameters noise

variable

std::vector< std::vector< float > > accelerometer

variable

std::vector< std::vector< float > > gyroscope

function

DEPTHAI_SERIALIZE(ImuCalibrationParams, noise, accelerometer, gyroscope)

struct

dai::Keypoint

variable

Point3f imageCoordinates

variable

float confidence

variable

uint32_t label

variable

std::string labelName

function

Keypoint()

inline explicit function

Keypoint(Point3f imageCoordinates, float conf, uint32_t label, std::string labelName)

inline explicit function

Keypoint(Point2f imageCoordinates, float confidence, uint32_t label, std::string labelName)

inline explicit function

Keypoint(float x, float y, float z, float confidence, uint32_t label, std::string labelName)

function

DEPTHAI_SERIALIZE(dai::Keypoint, imageCoordinates, confidence, label, labelName)

struct

dai::KeypointsList

inline function

void setKeypoints(const std::vector< Point3f > & kps3)

Sets the keypoints list.

Parameters

keypoints: list of Point3f objects to set.

Parameters

This will clear any existing keypoints and edges.

inline function

void setKeypoints(const std::vector< Point2f > & kps2)

Sets the keypoints list.

Parameters

keypoints: list of Point2f objects to set.

Parameters

This will clear any existing keypoints and edges.

function

DEPTHAI_SERIALIZE(KeypointsList, keypoints, edges)

enum

KeypointsListT< Keypoint > Base

struct

dai::KeypointsListT

function

KeypointsListT()

inline explicit function

KeypointsListT(std::vector< KeypointT > keypoints, std::vector< Edge > edges)

inline explicit function

KeypointsListT(std::vector< KeypointT > keypoints)

function

~KeypointsListT()

inline function

iterator begin()

inline function

iterator end()

inline function

const_iterator begin()

inline function

const_iterator end()

inline function

const_iterator cbegin()

inline function

const_iterator cend()

inline function

bool empty()

inline function

size_t size()

inline function

value_type & operator[](size_t i)

inline function

const value_type & operator[](size_t i)

inline function

void setKeypoints(const std::vector< KeypointT > kps)

Sets the keypoints list.

Parameters

keypoints: list of Keypoint objects to set.

Parameters

This will clear any existing keypoints and edges.

inline function

void setKeypoints(std::vector< KeypointT > keypoints, std::vector< Edge > edges)

Sets the keypoints list.

Parameters

keypoints: list of Keypoint objects and edges to set.

Parameters

This will clear any existing keypoints and edges.

inline function

void setEdges(std::vector< Edge > edges)

Set the indices of the edges.

Parameters

edges: Vector of edge indices.

inline function

std::vector< KeypointT > getKeypoints()

Get keypoints.

Returns

Vector of Keypoint objects.

inline function

std::vector< Edge > getEdges()

Get the indices of the edges.

Returns

Vector of edge indices.

inline function

std::vector< Point3f > getPoints3f()

Get only image coordinates of the keypoints.

Returns

Vector of Point3f coordinates.

inline function

std::vector< Point2f > getPoints2f()

Get only image 2D coordinates of the keypoints and drop the z axis values.

Returns

Vector of Point2f coordinates.

enum

KeypointT value_type

enum

typename std::vector< KeypointT >::iterator iterator

enum

typename std::vector< KeypointT >::const_iterator const_iterator

struct

dai::MemoryInfo

#include MemoryInfo.hpp

variable

int64_t remaining

variable

int64_t used

variable

int64_t total

struct

dai::Point2f

#include Point2f.hpp

variable

float x

variable

float y

variable

bool normalized

variable

bool hasNormalized

function

Point2f()

inline function

Point2f(float x, float y)

inline function

Point2f(float x, float y, bool normalized)

inline function

bool isNormalized()

struct

dai::Point3d

#include Point3d.hpp

variable

double x

variable

double y

variable

double z

function

Point3d()

inline function

Point3d(double x, double y, double z)

struct

dai::Point3f

#include Point3f.hpp

variable

float x

variable

float y

variable

float z

function

Point3f()

inline function

Point3f(float x, float y, float z)

struct

dai::Point3fRGBA

#include Point3fRGBA.hpp

variable

float x

variable

float y

variable

float z

variable

uint8_t r

variable

uint8_t g

variable

uint8_t b

variable

uint8_t a

function

Point3fRGBA()

inline function

Point3fRGBA(float x, float y, float z, uint8_t r, uint8_t g, uint8_t b, uint8_t a)

struct

dai::Quaterniond

#include Quaterniond.hpp

variable

double qx

variable

double qy

variable

double qz

variable

double qw

function

Quaterniond()

inline function

Quaterniond(double qx, double qy, double qz, double qw)

struct

dai::Rect

#include Rect.hpp

variable

float x

variable

float y

variable

float width

variable

float height

variable

bool normalized

variable

bool hasNormalized

function

Rect()

inline function

Rect(float x, float y, float width, float height)

Construct Rectangle from (x, y) coordinates of the top-left corner, width and height.

inline function

Rect(float x, float y, float width, float height, bool normalized)

Construct Rectangle from (x, y) coordinates of the top-left corner, width, height and normalization flag.

Parameters

x: Top-left x coordinate
y: Top-left y coordinate
width: Width of the rectangle
height: Height of the rectangle
normalized: Whether the rectangle is normalized (coordinates in [0,1] range) or not

inline function

Rect(const Rect & r)

Copy constructor

inline function

Rect(const Point2f & org, const Size2f & sz)

Construct Rectangle from top left point and size

inline function

Rect(const Point2f & org, const Size2f & sz, bool normalized)

Construct Rectangle from top left point, size and normalization flag.

Parameters

: if normalized is true, the coordinates are in [0,1] range

inline function

Rect(const Point2f & pt1, const Point2f & pt2)

Construct Rectangle between any two given points. Constructor will determine top-left and bottom-right points.

Parameters

pt1: First point
pt2: Second point

inline function

Rect(const Point2f & pt1, const Point2f & pt2, bool normalized)

Construct Rectangle between any two given points with normalization flag. Constructor will determine top-left and bottom-right points.

Parameters

pt1: First point
pt2: Second point
normalized: Whether the rectangle is normalized (coordinates in [0,1] range) or not

function

Rect & operator=(const Rect & r)

function

Rect & operator=(Rect && r)

inline function

Point2f topLeft()

The top-left corner.

inline function

Point2f bottomRight()

The bottom-right corner

inline function

Size2f size()

Size (width, height) of the rectangle

inline function

float area()

Area (width*height) of the rectangle

inline function

bool empty()

True if rectangle is empty.

inline function

bool contains(const Point2f & pt)

Checks whether the rectangle contains the point.

inline function

bool isNormalized()

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

inline function

Rect denormalize(int destWidth, int destHeight)

Denormalize rectangle.

Parameters

destWidth: Destination frame width.
destHeight: Destination frame height.

inline function

Rect normalize(int srcWidth, int srcHeight)

Normalize rectangle.

Parameters

srcWidth: Source frame width.
srcHeight: Source frame height.

struct

dai::RotatedRect

#include RotatedRect.hpp

variable

Point2f center

variable

Size2f size

variable

float angle

function

RotatedRect()

inline function

RotatedRect(const Point2f & center, const Size2f & size, float angle)

A rotated rectangle is specified by the center point, size, and rotation angle in degrees.

inline function

RotatedRect(const Rect & rect, float angle)

Construct RotatedRect from provided dai::Rect rect and angle

Parameters

rect: dai::Rect rectangle
angle: Rotation angle in degrees

inline function

operator Rect()

inline function

bool isNormalized()

inline function

RotatedRect normalize(unsigned int width, unsigned int height)

Normalize the rotated rectangle. The normalized rectangle will have center and size coordinates in range [0,1]

Returns

Normalized rotated rectangle

inline function

RotatedRect denormalize(unsigned int width, unsigned int height, bool force)

Denormalize the rotated rectangle. The denormalized rectangle will have center and size coordinates in range [0, width] and [0, height]

Returns

Denormalized rotated rectangle

inline function

std::array< dai::Point2f, 4 > getPoints()

Get the 4 corner points of the rotated rectangle

Returns

4 corner points

inline function

std::array< float, 4 > getOuterRect()

Returns the outer non-rotated rectangle

Returns

[minx, miny, maxx, maxy]

inline function

std::tuple< dai::Point2f, dai::Size2f > getOuterXYWH()

Returns the outer non-rotated rectangle in the COCO (xmin, ymin, width, height) format.

Returns

(top-left point, size)

inline function

std::tuple< dai::Point2f, dai::Size2f > getOuterCXCYWH()

Returns the outer non-rotated rectangle in the YOLO (xcenter, ycenter, width, height) format.

Returns

(center point, size)

struct

dai::Size2f

#include Size2f.hpp

variable

float width

variable

float height

variable

bool normalized

variable

bool hasNormalized

function

Size2f()

inline function

Size2f(float width, float height)

inline function

Size2f(float width, float height, bool normalized)

inline function

bool isNormalized()

struct

dai::SpatialKeypoint

variable

Point3f imageCoordinates

variable

float confidence

variable

uint32_t label

variable

std::string labelName

variable

Point3f spatialCoordinates

function

SpatialKeypoint()

inline explicit function

 SpatialKeypoint(Point3f imageCoordinates, Point3f spatialCoordinates, float conf, uint32_t label, std::string labelName)

inline explicit function

 SpatialKeypoint(Point2f imageCoordinates, Point3f spatialCoordinates, float conf, uint32_t label, std::string labelName)

inline explicit function

 SpatialKeypoint(float x, float y, float z, float sx, float sy, float sz, float conf, uint32_t label, std::string labelName)

function

DEPTHAI_SERIALIZE(dai::SpatialKeypoint, imageCoordinates, confidence, label, labelName, spatialCoordinates)

struct

dai::SpatialKeypointsList

inline function

void setKeypoints(const std::vector< Point3f > & kps3)

Sets the keypoints list.

Parameters

keypoints: list of Point3f objects to set.

Parameters

This will clear any existing keypoints and edges.

inline function

void setSpatialCoordinates(const std::vector< Point3f > & spatialCoordinates)

Sets the keypoints from a vector of 3D spatial points.

Parameters

spatialCoordinates: vector of Point3f objects to set as spatial coordinates.

Parameters

The size of spatialCoordinates must match the number of keypoints.

inline function

std::vector< Point3f > getSpatialCoordinates()

Get spatial coordinates of the keypoints.

Returns

Vector of Point3f spatial coordinates.

function

DEPTHAI_SERIALIZE(SpatialKeypointsList, keypoints, edges)

enum

KeypointsListT< SpatialKeypoint > Base

struct

dai::StereoPair

#include StereoPair.hpp

variable

CameraBoardSocket left

variable

CameraBoardSocket right

variable

float baseline

Baseline in centimeters.

variable

bool isVertical

function

DEPTHAI_SERIALIZE(StereoPair, left, right, baseline, isVertical)

struct

dai::StereoRectification

#include StereoRectification.hpp

variable

std::vector< std::vector< float > > rectifiedRotationLeft

variable

std::vector< std::vector< float > > rectifiedRotationRight

variable

CameraBoardSocket leftCameraSocket

variable

CameraBoardSocket rightCameraSocket

struct

dai::TensorInfo

#include TensorInfo.hpp

variable

StorageOrder order

variable

DataType dataType

variable

unsigned int numDimensions

variable

std::vector< unsigned > dims

variable

std::vector< unsigned > strides

variable

std::string name

variable

unsigned int offset

variable

bool quantization

variable

float qpScale

variable

float qpZp

inline function

void validateStorageOrder()

inline function

int getDataTypeSize()

inline function

int getWidth()

inline function

int getHeight()

inline function

std::size_t getTensorSize()

inline function

int getChannels()

inline function

size_t getChannelStride()

inline function

size_t getWidthStride()

inline function

size_t getHeightStride()

enum

int StorageOrder

enumerator

NHWC

enumerator

NHCW

enumerator

NCHW

enumerator

HWC

enumerator

CHW

enumerator

WHC

enumerator

HCW

enumerator

WCH

enumerator

CWH

enumerator

enum

int DataType

enumerator

FP16

enumerator

U8F

enumerator

INT

enumerator

FP32

enumerator

FP64

struct

dai::Timestamp

#include Timestamp.hpp

variable

int64_t sec

variable

int64_t nsec

inline function

std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > get()

struct

dai::BoardConfig

variable

USB usb

variable

Network network

variable

std::vector< std::string > sysctl

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

variable

std::optional< uint32_t > watchdogTimeoutMs

variable

std::optional< uint32_t > watchdogInitialDelayMs

variable

std::unordered_map< std::int8_t, GPIO > gpio

variable

std::unordered_map< std::int8_t, UART > uart

variable

std::optional< bool > pcieInternalClock

variable

std::optional< bool > usb3PhyInternalClock

variable

std::optional< bool > mipi4LaneRgb

variable

std::optional< bool > emmc

variable

std::optional< std::string > logPath

variable

std::optional< size_t > logSizeMax

variable

std::optional< LogLevel > logVerbosity

variable

std::optional< bool > logDevicePrints

variable

bool nonExclusiveMode

variable

std::unordered_map< CameraBoardSocket, Camera > camera

variable

std::optional< IMU > imu

variable

std::optional< UVC > uvc

variable

std::unordered_map< std::string, Extrinsics > defaultImuExtr

struct

dai::BoardConfig::Camera

#include BoardConfig.hpp

variable

std::string name

variable

std::optional< CameraSensorType > sensorType

variable

std::optional< CameraImageOrientation > orientation

struct

dai::BoardConfig::GPIO

#include BoardConfig.hpp

variable

Mode mode

variable

Direction direction

variable

Level level

variable

Pull pull

variable

Drive drive

variable

bool schmitt

variable

bool slewFast

function

GPIO()

inline function

GPIO(Direction direction)

inline function

GPIO(Direction direction, Level level)

inline function

GPIO(Direction direction, Level level, Pull pull)

inline function

GPIO(Direction direction, Mode mode)

inline function

GPIO(Direction direction, Mode mode, Pull pull)

enum

std::int8_t Mode

enumerator

ALT_MODE_0

enumerator

ALT_MODE_1

enumerator

ALT_MODE_2

enumerator

ALT_MODE_3

enumerator

ALT_MODE_4

enumerator

ALT_MODE_5

enumerator

ALT_MODE_6

enumerator

DIRECT

enum

std::int8_t Direction

enumerator

INPUT

enumerator

OUTPUT

enum

std::int8_t Level

enumerator

LOW

enumerator

HIGH

enum

std::int8_t Pull

enumerator

NO_PULL

enumerator

PULL_UP

enumerator

PULL_DOWN

enumerator

BUS_KEEPER

enum

std::int8_t Drive

enumerator

MA_2

enumerator

MA_4

enumerator

MA_8

enumerator

MA_12

struct

dai::BoardConfig::IMU

variable

int8_t bus

variable

int8_t interrupt

variable

int8_t wake

variable

int8_t csGpio

variable

int8_t boot

variable

int8_t reset

inline function

IMU()

struct

dai::BoardConfig::Network

#include BoardConfig.hpp

variable

uint16_t mtu

Network MTU, 0 is auto (usually 1500 for Ethernet) or forwarded from bootloader (not yet implemented there). Note: not advised to increase past 1500 for now

variable

bool xlinkTcpNoDelay

Sets the

struct

dai::BoardConfig::UART

#include BoardConfig.hpp

variable

std::int8_t tmp

struct

dai::BoardConfig::USB

#include BoardConfig.hpp

variable

uint16_t vid

variable

uint16_t pid

variable

uint16_t flashBootedVid

variable

uint16_t flashBootedPid

variable

UsbSpeed maxSpeed

variable

std::string productName

variable

std::string manufacturer

struct

dai::BoardConfig::UVC

#include BoardConfig.hpp

variable

std::string cameraName

variable

uint16_t width

variable

uint16_t height

variable

ImgFrame::Type frameType

variable

bool enable

inline function

UVC(uint16_t width, uint16_t height)

inline function

UVC()

class

dai::CalibrationHandler

#include CalibrationHandler.hpp

function

CalibrationHandler()

explicit function

CalibrationHandler(std::filesystem::path eepromDataPath, std::optional< bool > validateCalibration)

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

Parameters

eepromDataPath: takes the full path to the json file containing the calibration and device info.
validateCalibration: Enable internal check for extrinsics cycling links or dangling references.

function

 CalibrationHandler(std::filesystem::path calibrationDataPath, std::filesystem::path boardConfigPath, std::optional< bool > validateCalibration)

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

Parameters

calibrationDataPath: Full Path to the .calib binary file from the gen1 calibration. (Supports only Version 5)
boardConfigPath: Full Path to the board config json file containing device information.
validateCalibration: Enable internal check for extrinsics cycling links or dangling references.

explicit function

CalibrationHandler(EepromData eepromData, std::optional< bool > validateCalibration)

Construct a new Calibration Handler object from EepromData object.

Parameters

eepromData: EepromData data structure containing the calibration data.
validateCalibration: Enable internal check for extrinsics cycling links or dangling references.

function

dai::EepromData getEepromData()

Get the Eeprom Data object

Returns

EepromData object which contains the raw calibration data

function

bool hasCalibrationData()

function

bool hasCameraCalibration(CameraBoardSocket cameraId)

function

std::vector< std::vector< float > > getCameraIntrinsics(CameraBoardSocket cameraId, int resizeWidth, int resizeHeight, Point2f topLeftPixelId, Point2f bottomRightPixelId, bool keepAspectRatio)

Get the Camera Intrinsics object

Parameters

cameraId: Uses the cameraId to identify which camera intrinsics to return
resizewidth: resized width of the image for which intrinsics is requested. resizewidth = -1 represents width is same as default intrinsics
resizeHeight: resized height of the image for which intrinsics is requested. resizeHeight = -1 represents height is same as default intrinsics
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
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
keepAspectRatio: Enabling this will scale on width or height depending on which provides the max resolution and crops the remaining part of the other side

Returns

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

function

std::vector< std::vector< float > > getCameraIntrinsics(CameraBoardSocket cameraId, Size2f destShape, Point2f topLeftPixelId, Point2f bottomRightPixelId, bool keepAspectRatio)

Get the Camera Intrinsics object

Parameters

cameraId: Uses the cameraId to identify which camera intrinsics to return
destShape: resized width and height of the image for which intrinsics is requested.
topLeftPixelId: (x, y) point represents the top left corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
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
keepAspectRatio: Enabling this will scale on width or height depending on which provides the max resolution and crops the remaining part of the other side

Returns

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

function

std::vector< std::vector< float > > getCameraIntrinsics(CameraBoardSocket cameraId, std::tuple< int, int > destShape, Point2f topLeftPixelId, Point2f bottomRightPixelId, bool keepAspectRatio)

Get the Camera Intrinsics object

Parameters

cameraId: Uses the cameraId to identify which camera intrinsics to return
destShape: resized width and height of the image for which intrinsics is requested.
topLeftPixelId: (x, y) point represents the top left corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
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
keepAspectRatio: Enabling this will scale on width or height depending on which provides the max resolution and crops the remaining part of the other side

Returns

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

function

std::tuple< std::vector< std::vector< float > >, int, int > getDefaultIntrinsics(CameraBoardSocket cameraId)

Get the Default Intrinsics object

Parameters

cameraId: Uses the cameraId to identify which camera intrinsics to return

Returns

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

function

uint32_t getSourceHeight(CameraBoardSocket cameraId)

Get the source height of the camera from the calibration data.

Parameters

cameraId: Uses the cameraId to identify which camera source height to return

Returns

the source height of the camera from the calibration data.

function

uint32_t getSourceWidth(CameraBoardSocket cameraId)

Get the source width of the camera from the calibration data.

Parameters

cameraId: Uses the cameraId to identify which camera source width to return

Returns

the source width of the camera from the calibration data.

function

std::vector< float > getDistortionCoefficients(CameraBoardSocket cameraId)

Get the Distortion Coefficients object

Parameters

cameraId: Uses the cameraId to identify which distortion Coefficients to return.

Returns

the distortion coefficients of the requested camera in this order: [k1,k2,p1,p2,k3,k4,k5,k6,s1,s2,s3,s4,τx,τy] for CameraModel::Perspective or [k1, k2, k3, k4] for CameraModel::Fisheye see Perspective model (Rational Polynomial Model) see

function

float getFov(CameraBoardSocket cameraId, bool useSpec)

Get the Fov of the camera

Parameters

cameraId: of the camera of which we are fetching fov.
useSpec: Disabling this bool will calculate the fov based on intrinsics (focal length, image width), instead of getting it from the camera specs

Returns

field of view of the camera with given cameraId.

function

uint8_t getLensPosition(CameraBoardSocket cameraId)

Get the lens position of the given camera

Parameters

cameraId: of the camera with lens position is requested.

Returns

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

function

CameraModel getDistortionModel(CameraBoardSocket cameraId)

Get the distortion model of the given camera

Parameters

cameraId: of the camera with lens position is requested.

Returns

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

function

std::vector< std::vector< float > > getCameraExtrinsics(CameraBoardSocket srcCamera, CameraBoardSocket dstCamera, bool useSpecTranslation, LengthUnit unit)

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

Parameters

srcCamera: Camera Id of the camera which will be considered as origin.
dstCamera: Camera Id of the destination camera to which we are fetching the rotation and translation from the SrcCamera
useSpecTranslation: Enabling this bool uses the translation information from the board design data
unit: Units of the returned translation (default: centimeters)

Returns

a transformationMatrix which is 4x4 in homogeneous coordinate system

function

std::vector< std::vector< float > > getHousingCalibration(CameraBoardSocket srcCamera, const HousingCoordinateSystem housingCS, bool useSpecTranslation, LengthUnit unit)

Get the transformation matrix between a camera and a chosen housing coordinate system. The returned 4x4 homogeneous transformation matrix maps points from the camera's coordinate system into the specified housing coordinate system.The transformation consists of a rotation matrix and translation vector extracted either from the calibration data or from the board design (specification) data, depending on the

Parameters

srcCamera: Camera whose coordinate frame will be treated as the origin.
housingCS: The housing coordinate system to which the camera transformation is requested (e.g. VESA_RIGHT, FRONT_COVER_LEFT, etc.).
useSpecTranslation: If true, uses board-design (spec) translation values. If false, uses calibrated translation values.
unit: Units of the returned translation (default: centimeters)

Returns

A 4x4 homogeneous transformation matrix.

function

std::vector< float > getCameraTranslationVector(CameraBoardSocket srcCamera, CameraBoardSocket dstCamera, bool useSpecTranslation, LengthUnit unit)

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

Parameters

srcCamera: Camera Id of the camera which will be considered as origin.
dstCamera: Camera Id of the destination camera to which we are fetching the translation vector from the SrcCamera
useSpecTranslation: Disabling this bool uses the translation information from the calibration data (not the board design data)
unit: Units of the returned translation (default: centimeters)

Returns

a translation vector like [x, y, z]

function

std::vector< std::vector< float > > getCameraRotationMatrix(CameraBoardSocket srcCamera, CameraBoardSocket dstCamera)

Get the Camera rotation matrix between two cameras from the calibration data.

Parameters

srcCamera: Camera Id of the camera which will be considered as origin.
dstCamera: Camera Id of the destination camera to which we are fetching the rotation vector from the SrcCamera

Returns

a 3x3 rotation matrix Matrix representation of rotation matrix

function

float getBaselineDistance(CameraBoardSocket cam1, CameraBoardSocket cam2, bool useSpecTranslation, LengthUnit unit)

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

Parameters

cam1: First camera
cam2: Second camera
useSpecTranslation: Enabling this bool uses the translation information from the board design data (not the calibration data)
unit: Units of the returned baseline distance (default: centimeters)

Returns

baseline distance

function

std::vector< std::vector< float > > getCameraToImuExtrinsics(CameraBoardSocket cameraId, bool useSpecTranslation, LengthUnit unit)

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.

Parameters

cameraId: Camera Id of the camera which will be considered as origin. from which Transformation matrix to the IMU will be found
useSpecTranslation: Enabling this bool uses the translation information from the board design data
unit: Units of the returned translation (default: centimeters)

Returns

Returns a transformationMatrix which is 4x4 in homogeneous coordinate system

function

std::vector< std::vector< float > > getImuToCameraExtrinsics(CameraBoardSocket cameraId, bool useSpecTranslation, LengthUnit unit)

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.

Parameters

cameraId: Camera Id of the camera which will be considered as destination. To which Transformation matrix from the IMU will be found.
useSpecTranslation: Enabling this bool uses the translation information from the board design data
unit: Units of the returned translation (default: centimeters)

Returns

Returns a transformationMatrix which is 4x4 in homogeneous coordinate system

function

std::vector< std::vector< float > > getStereoRightRectificationRotation()

Get the Stereo Right Rectification Rotation object

Returns

returns a 3x3 rectification rotation matrix

function

std::vector< std::vector< float > > getStereoLeftRectificationRotation()

Get the Stereo Left Rectification Rotation object

Returns

returns a 3x3 rectification rotation matrix

function

dai::CameraBoardSocket getStereoLeftCameraId()

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

function

dai::CameraBoardSocket getStereoRightCameraId()

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

function

std::vector< std::vector< float > > getAccelerometerCalibration()

Get canonical accelerometer calibration matrix [Q|b].The linear transform Q is dimensionless. The bias column b is stored in SI units of [m/s^2].

Returns

returns 3x4 matrix in the form [[q00, q01, q02, b0], [q10, q11, q12, b1], [q20, q21, q22, b2]]

function

std::vector< std::vector< float > > getGyroscopeCalibration()

Get canonical gyroscope calibration matrix [Q|b].The linear transform Q is dimensionless. The bias column b is stored in SI units of [rad/s].

Returns

returns 3x4 matrix in the form [[q00, q01, q02, b0], [q10, q11, q12, b1], [q20, q21, q22, b2]]

function

dai::ImuNoiseParameters getImuNoiseParameters()

Get complete IMU noise parameters.Accelerometer noise terms are stored in [m/s^2]-based units. Gyroscope noise terms are stored in [rad/s]-based units.

Returns

returns IMU noise parameters

function

dai::ImuCalibrationParams getImuParameters()

Get full IMU parameter payload.Accelerometer calibration bias terms are stored in [m/s^2]. Gyroscope calibration bias terms are stored in [rad/s].

Returns

returns IMU parameters containing noise + calibration matrices

function

bool eepromToJsonFile(std::filesystem::path destPath)

Write raw calibration/board data to json file.

Parameters

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

Returns

True on success, false otherwise

function

nlohmann::json eepromToJson()

Get JSON representation of calibration data

Returns

JSON structure

function

void setBoardInfo(std::string boardName, std::string boardRev)

Set the Board Info object

Parameters

version: Sets the version of the Calibration data(Current version is 6)
boardName: Sets your board name.
boardRev: set your board revision id.

function

void setBoardInfo(std::string productName, std::string boardName, std::string boardRev, std::string boardConf, std::string hardwareConf, std::string batchName, uint64_t batchTime, uint32_t boardOptions, std::string boardCustom)

Set the Board Info object. Creates version 7 EEPROM data

Parameters

productName: Sets product name (alias).
boardName: Sets board name.
boardRev: Sets board revision id.
boardConf: Sets board configuration id.
hardwareConf: Sets hardware configuration id.
batchName: Sets batch name.
batchTime: Sets batch time (unix timestamp).
boardCustom: Sets a custom board (Default empty string).

function

void setBoardInfo(std::string deviceName, std::string productName, std::string boardName, std::string boardRev, std::string boardConf, std::string hardwareConf, std::string batchName, uint64_t batchTime, uint32_t boardOptions, std::string boardCustom)

Set the Board Info object. Creates version 7 EEPROM data

Parameters

deviceName: Sets device name.
productName: Sets product name (alias).
boardName: Sets board name.
boardRev: Sets board revision id.
boardConf: Sets board configuration id.
hardwareConf: Sets hardware configuration id.
batchName: Sets batch name. Not supported anymore
batchTime: Sets batch time (unix timestamp).
boardCustom: Sets a custom board (Default empty string).

function

void setDeviceName(std::string deviceName)

Set the deviceName which responses to getDeviceName of Device

Parameters

deviceName: Sets device name.

function

void setProductName(std::string productName)

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

Parameters

productName: Sets product name (alias).

function

void setCameraIntrinsics(CameraBoardSocket cameraId, std::vector< std::vector< float >> intrinsics, Size2f frameSize)

Set the Camera Intrinsics object

Parameters

cameraId: CameraId of the camera for which Camera intrinsics are being loaded
intrinsics: 3x3 intrinsics matrix
frameSize: Represents the width and height of the image at which intrinsics are calculated.

function

void setCameraIntrinsics(CameraBoardSocket cameraId, std::vector< std::vector< float >> intrinsics, int width, int height)

Set the Camera Intrinsics object

Parameters

cameraId: CameraId of the camera for which Camera intrinsics are being loaded
intrinsics: 3x3 intrinsics matrix
width: Represents the width of the image at which intrinsics are calculated.
height: Represents the height of the image at which intrinsics are calculated.

function

void setCameraIntrinsics(CameraBoardSocket cameraId, std::vector< std::vector< float >> intrinsics, std::tuple< int, int > frameSize)

Set the Camera Intrinsics object

Parameters

cameraId: CameraId of the camera for which Camera intrinsics are being loaded
intrinsics: 3x3 intrinsics matrix
frameSize: Represents the width and height of the image at which intrinsics are calculated.

function

void setDistortionCoefficients(CameraBoardSocket cameraId, std::vector< float > distortionCoefficients)

Sets the distortion Coefficients obtained from camera calibration

Parameters

cameraId: Camera Id of the camera for which distortion coefficients are computed
distortionCoefficients: Distortion Coefficients of the respective Camera.

function

void setFov(CameraBoardSocket cameraId, float hfov)

Set the Fov of the Camera

Parameters

cameraId: Camera Id of the camera
hfov: Horizontal fov of the camera from Camera Datasheet

function

void setLensPosition(CameraBoardSocket cameraId, uint8_t lensPosition)

Sets the distortion Coefficients obtained from camera calibration

Parameters

cameraId: Camera Id of the camera
lensPosition: lens posiotion value of the camera at the time of calibration

function

void setCameraType(CameraBoardSocket cameraId, CameraModel cameraModel)

Set the Camera Type object

Parameters

cameraId: CameraId of the camera for which cameraModel Type is being updated.
cameraModel: Type of the model the camera represents

function

void setCameraExtrinsics(CameraBoardSocket srcCameraId, CameraBoardSocket destCameraId, std::vector< std::vector< float >> rotationMatrix, std::vector< float > translation, std::vector< float > specTranslation)

Set the Camera Extrinsics object

Parameters

srcCameraId: Camera Id of the camera which will be considered as relative origin.
destCameraId: Camera Id of the camera which will be considered as destination from srcCameraId.
rotationMatrix: Rotation between srcCameraId and destCameraId origins.
translation: Translation between srcCameraId and destCameraId origins.
specTranslation: Translation between srcCameraId and destCameraId origins from the design.

function

void setImuExtrinsics(CameraBoardSocket destCameraId, std::vector< std::vector< float >> rotationMatrix, std::vector< float > translation, std::vector< float > specTranslation)

Set the Imu to Camera Extrinsics object

Parameters

destCameraId: Camera Id of the camera which will be considered as destination from IMU.
rotationMatrix: Rotation between srcCameraId and destCameraId origins.
translation: Translation between IMU and destCameraId origins.
specTranslation: Translation between IMU and destCameraId origins from the design.

function

void setStereoLeft(CameraBoardSocket cameraId, std::vector< std::vector< float >> rectifiedRotation)

Set the Stereo Left Rectification object

Parameters

cameraId: CameraId of the camera which will be used as left Camera of stereo Setup
rectifiedRotation: Rectification rotation of the left camera required for feature matching

function

void setStereoRight(CameraBoardSocket cameraId, std::vector< std::vector< float >> rectifiedRotation)

Set the Stereo Right Rectification object

Parameters

cameraId: CameraId of the camera which will be used as left Camera of stereo Setup
rectifiedRotation: Rectification rotation of the left camera required for feature matching

function

bool validateCameraArray()

Using left camera as the head it iterates over the camera extrinsics connection to check if all the camera extrinsics are connected and no loop exists.

Returns

true on proper connection with no loops.

function

void setAccelerometerCalibration(const std::vector< std::vector< float >> & calibration)

Set canonical accelerometer calibration [Q|b].

Parameters

calibration: 3x4 matrix in the form [[q00, q01, q02, b0], [q10, q11, q12, b1], [q20, q21, q22, b2]]

function

void setGyroscopeCalibration(const std::vector< std::vector< float >> & calibration)

Set canonical gyroscope calibration [Q|b].

Parameters

calibration: 3x4 matrix in the form [[q00, q01, q02, b0], [q10, q11, q12, b1], [q20, q21, q22, b2]]

function

void setImuParameters(const ImuCalibrationParams & params)

Set full IMU parameter payload.

Parameters

params: noise + accelerometer + gyroscope calibration parameters

function

void validateCalibrationHandler(bool throwOnError)

Validate Calibration handler properties and how they are set, so there is no:

Cycling links
Missing links
Dangling connections

Parameters

throwOnError: Throw runtime error on failture.

function

dai::CameraBoardSocket getCameraWithLowestId()

Get the lowest camera socket

Returns

the lowest camera socket

class

dai::CallbackHandler

function

void setCallback(std::function< std::shared_ptr< ADatatype >(std::shared_ptr< ADatatype >)> cb)

function

 CallbackHandler(std::shared_ptr< XLinkConnection > conn, const std::string & streamName, std::function< std::shared_ptr< ADatatype >(std::shared_ptr< ADatatype >)> cb)

function

~CallbackHandler()

class

dai::CrashDump

#include CrashDump.hppDerived by dai::CrashDumpRVC2, dai::CrashDumpRVC4

variable

std::string depthaiVersion

variable

std::string depthaiVersionMajor

variable

std::string depthaiVersionMinor

variable

std::string depthaiVersionPatch

variable

std::string depthaiVersionPreReleaseType

variable

std::string depthaiVersionPreReleaseVersion

variable

std::string depthaiVersionBuildInfo

variable

std::string depthaiCommitHash

variable

std::string depthaiCommitDatetime

variable

std::string depthaiBuildDatetime

variable

std::string depthaiDeviceVersion

variable

std::string depthaiBootloaderVersion

variable

std::string depthaiDeviceRVC3Version

variable

std::string depthaiDeviceRVC4Version

variable

std::string osPlatform

variable

std::string crashdumpTimestamp

variable

std::string deviceId

variable

nlohmann::json extra

function

~CrashDump()

function

Platform getPlatform()

function

std::string getCrashDumpVersion()

function

nlohmann::json & operator[](const std::string & key)

function

const nlohmann::json & operator[](const std::string & key)

function

void toTar(const std::filesystem::path & tarPath)

function

void fromTar(const std::filesystem::path & tarPath)

function

std::vector< uint8_t > toBytes()

class

dai::CrashDumpRVC2

variable

CrashReportCollection crashReports

function

CrashDumpRVC2()

explicit function

CrashDumpRVC2(const std::filesystem::path & tarFile)

inline function

Platform getPlatform()

inline function

std::string getCrashDumpVersion()

function

void toTar(const std::filesystem::path & tarPath)

function

void fromTar(const std::filesystem::path & tarPath)

struct

dai::CrashDumpRVC2::CrashReport

variable

ProcessorType processor

variable

std::string errorSource

variable

uint32_t crashedThreadId

variable

ErrorSourceInfo errorSourceInfo

variable

std::vector< ThreadCallstack > threadCallstack

variable

std::vector< std::string > prints

variable

uint64_t uptimeNs

variable

uint64_t timerRaw

variable

uint64_t statusFlags

function

 DEPTHAI_SERIALIZE(CrashReport, processor, errorSource, crashedThreadId, errorSourceInfo, threadCallstack, prints, uptimeNs, timerRaw, statusFlags)

struct

dai::CrashDumpRVC2::CrashReport::ErrorSourceInfo

variable

AssertContext assertContext

variable

TrapContext trapContext

variable

uint32_t errorId

function

DEPTHAI_SERIALIZE(ErrorSourceInfo, assertContext, trapContext, errorId)

struct

dai::CrashDumpRVC2::CrashReport::ErrorSourceInfo::AssertContext

variable

std::string fileName

variable

std::string functionName

variable

uint32_t line

function

DEPTHAI_SERIALIZE(AssertContext, fileName, functionName, line)

struct

dai::CrashDumpRVC2::CrashReport::ErrorSourceInfo::TrapContext

variable

uint32_t trapNumber

variable

uint32_t trapAddress

variable

std::string trapName

function

DEPTHAI_SERIALIZE(TrapContext, trapNumber, trapAddress, trapName)

struct

dai::CrashDumpRVC2::CrashReport::ThreadCallstack

variable

uint32_t threadId

variable

std::string threadName

variable

std::string threadStatus

variable

uint32_t stackBottom

variable

uint32_t stackTop

variable

uint32_t stackPointer

variable

uint32_t instructionPointer

variable

std::vector< CallstackContext > callStack

function

 DEPTHAI_SERIALIZE(ThreadCallstack, threadId, threadName, threadStatus, stackBottom, stackTop, stackPointer, instructionPointer, callStack)

struct

dai::CrashDumpRVC2::CrashReport::ThreadCallstack::CallstackContext

variable

uint32_t callSite

variable

uint32_t calledTarget

variable

uint32_t framePointer

variable

std::string context

function

DEPTHAI_SERIALIZE(CallstackContext, callSite, calledTarget, framePointer, context)

struct

dai::CrashDumpRVC2::CrashReportCollection

variable

std::vector< CrashReport > crashReports

variable

std::string depthaiCommitHash

variable

std::string deviceId

function

DEPTHAI_SERIALIZE(CrashReportCollection, crashReports, depthaiCommitHash, deviceId)

class

dai::CrashDumpRVC4

variable

std::vector< uint8_t > data

variable

std::string filename

function

CrashDumpRVC4()

explicit function

CrashDumpRVC4(const std::filesystem::path & tarFile)

inline function

Platform getPlatform()

inline function

std::string getCrashDumpVersion()

function

void toTar(const std::filesystem::path & tarPath)

function

void fromTar(const std::filesystem::path & tarPath)

class

dai::Device

#include Device.hpp

function

Device()

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

function

~Device()

function

DeviceBase()

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

function

DeviceBase(UsbSpeed maxUsbSpeed)

Connects to device

Parameters

maxUsbSpeed: Maximum allowed USB speed

function

DeviceBase(const DeviceInfo & devInfo, UsbSpeed maxUsbSpeed)

Connects to device specified by devInfo.

Parameters

devInfo: DeviceInfo which specifies which device to connect to
maxUsbSpeed: Maximum allowed USB speed

function

DeviceBase(const DeviceInfo & devInfo, const std::filesystem::path & pathToCmd)

Connects to device specified by devInfo.

Parameters

devInfo: DeviceInfo which specifies which device to connect to
pathToCmd: Path to custom device firmware

explicit function

DeviceBase(Config config)

Connects to any available device with custom config.

Parameters

config: Device custom configuration to boot with

function

DeviceBase(Config config, const DeviceInfo & devInfo)

Connects to device 'devInfo' with custom config.

Parameters

config: Device custom configuration to boot with
devInfo: DeviceInfo which specifies which device to connect to

explicit function

DeviceBase(const DeviceInfo & devInfo)

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

Parameters

devInfo: DeviceInfo which specifies which device to connect to

function

DeviceBase(std::string nameOrDeviceId)

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

Parameters

nameOrDeviceId: Creates DeviceInfo with nameOrDeviceId to connect to

function

DeviceBase(std::string nameOrDeviceId, UsbSpeed maxUsbSpeed)

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

Parameters

nameOrDeviceId: Creates DeviceInfo with nameOrDeviceId to connect to
maxUsbSpeed: Maximum allowed USB speed

function

DeviceBase(Config config, UsbSpeed maxUsbSpeed)

Connects to device specified by devInfo.

Parameters

config: Config with which the device will be booted with
maxUsbSpeed: Maximum allowed USB speed

function

DeviceBase(Config config, const std::filesystem::path & pathToCmd)

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameters

config: Config with which the device will be booted with
pathToCmd: Path to custom device firmware

function

DeviceBase(Config config, const DeviceInfo & devInfo, UsbSpeed maxUsbSpeed)

Connects to device specified by devInfo.

Parameters

config: Config with which the device will be booted with
devInfo: DeviceInfo which specifies which device to connect to
maxUsbSpeed: Maximum allowed USB speed

function

DeviceBase(Config config, const DeviceInfo & devInfo, const std::filesystem::path & pathToCmd, bool dumpOnly)

Connects to device specified by devInfo.

Parameters

config: Config with which the device will be booted with
devInfo: DeviceInfo which specifies which device to connect to
pathToCmd: Path to custom device firmware
dumpOnly: If true only the minimal connection is established to retrieve the crash dump

enum

ReconnectionStatus

class

dai::DeviceBase

#include DeviceBase.hppDerived by dai::Device

function

DeviceBase()

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

function

DeviceBase(UsbSpeed maxUsbSpeed)

Connects to device

Parameters

maxUsbSpeed: Maximum allowed USB speed

function

DeviceBase(const DeviceInfo & devInfo, UsbSpeed maxUsbSpeed)

Connects to device specified by devInfo.

Parameters

devInfo: DeviceInfo which specifies which device to connect to
maxUsbSpeed: Maximum allowed USB speed

function

DeviceBase(const DeviceInfo & devInfo, const std::filesystem::path & pathToCmd)

Connects to device specified by devInfo.

Parameters

devInfo: DeviceInfo which specifies which device to connect to
pathToCmd: Path to custom device firmware

explicit function

DeviceBase(Config config)

Connects to any available device with custom config.

Parameters

config: Device custom configuration to boot with

function

DeviceBase(Config config, const DeviceInfo & devInfo)

Connects to device 'devInfo' with custom config.

Parameters

config: Device custom configuration to boot with
devInfo: DeviceInfo which specifies which device to connect to

explicit function

DeviceBase(const DeviceInfo & devInfo)

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

Parameters

devInfo: DeviceInfo which specifies which device to connect to

function

DeviceBase(std::string nameOrDeviceId)

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

Parameters

nameOrDeviceId: Creates DeviceInfo with nameOrDeviceId to connect to

function

DeviceBase(std::string nameOrDeviceId, UsbSpeed maxUsbSpeed)

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

Parameters

nameOrDeviceId: Creates DeviceInfo with nameOrDeviceId to connect to
maxUsbSpeed: Maximum allowed USB speed

function

DeviceBase(Config config, UsbSpeed maxUsbSpeed)

Connects to device specified by devInfo.

Parameters

config: Config with which the device will be booted with
maxUsbSpeed: Maximum allowed USB speed

function

DeviceBase(Config config, const std::filesystem::path & pathToCmd)

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameters

config: Config with which the device will be booted with
pathToCmd: Path to custom device firmware

function

DeviceBase(Config config, const DeviceInfo & devInfo, UsbSpeed maxUsbSpeed)

Connects to device specified by devInfo.

Parameters

config: Config with which the device will be booted with
devInfo: DeviceInfo which specifies which device to connect to
maxUsbSpeed: Maximum allowed USB speed

function

DeviceBase(Config config, const DeviceInfo & devInfo, const std::filesystem::path & pathToCmd, bool dumpOnly)

Connects to device specified by devInfo.

Parameters

config: Config with which the device will be booted with
devInfo: DeviceInfo which specifies which device to connect to
pathToCmd: Path to custom device firmware
dumpOnly: If true only the minimal connection is established to retrieve the crash dump

function

~DeviceBase()

Device destructor

Parameters

In the destructor of the derived class, remember to call close()

function

Platform getPlatform()

function

std::string getPlatformAsString()

function

std::optional< Version > getBootloaderVersion()

Gets Bootloader version if it was booted through Bootloader

Returns

DeviceBootloader::Version if booted through Bootloader or none otherwise

function

bool isPipelineRunning()

Checks if devices pipeline is already running

Returns

True if running, false otherwise

function

bool startPipeline(const Pipeline & pipeline)

Starts the execution of a given pipeline

Parameters

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

Returns

True if pipeline started, false otherwise

function

void setLogLevel(LogLevel level)

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

Parameters

level: Logging severity

function

void setNodeLogLevel(int64_t id, LogLevel level)

Sets the logging severity level for a specific node with a given ID.

Parameters

id: Node ID
level: Logging severity

function

LogLevel getLogLevel()

Gets current logging severity level of the device.

Returns

Logging severity level

function

LogLevel getNodeLogLevel(int64_t id)

Gets the logging severity level for a specific node with a given ID.

Parameters

id: Node ID

Returns

Logging severity level

function

void setProperties(const DeviceProperties & properties)

Sets properties for the device.

Parameters

properties: DeviceProperties struct with properties to set. Only properties which are supported by the device and have different values than current ones will be applied. Some properties are only applied before starting the pipeline.

function

DeviceProperties getProperties()

Gets current properties set on the device. Some properties might be not supported by the device, in that case they will have default values.

Returns

DeviceProperties struct with current device properties

function

void setCameraTuningBlob(const std::string & uri, uint32_t size)

Sets the camera tuning blob for the device.

Parameters

uri: URI of the tuning blob retrieved using the asset manager
size: size of the tuning blob in bytes

function

void setCameraSocketTuningBlobs(const std::unordered_map< CameraBoardSocket, std::pair< std::string, uint32_t >> & blobs)

Sets the camera socket specific tuning blobs for the device.

Parameters

blobs: Unordered map of CameraBoardSocket to pair of URI and size of the tuning blob in bytes. The URI should be retrieved using the asset manager

function

void setCameraSocketTuningBlob(CameraBoardSocket socket, const std::string & uri, uint32_t size)

Sets the camera socket specific tuning blob for the device.

Parameters

socket: CameraBoardSocket for which the tuning blob will be set
uri: URI of the tuning blob retrieved using the asset manager
size: size of the tuning blob in bytes

function

void setXLinkChunkSize(int sizeBytes)

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

Parameters

sizeBytes: XLink chunk size in bytes

function

int getXLinkChunkSize()

Gets current XLink chunk size.

Returns

XLink chunk size in bytes

function

void setSippBufferSize(int sizeBytes)

Sets the size of the SIPP buffer on the device.

Parameters

sizeBytes: SIPP buffer size in bytes. Device default is 18 * 1024 bytes

function

void setSippDmaBufferSize(int sizeBytes)

Sets the size of the SIPP DMA buffer on the device.

Parameters

sizeBytes: SIPP DMA buffer size in bytes. Device default is 16 * 1024 bytes

function

void setXLinkRateLimit(int maxRateBytesPerSecond, int burstSize, int waitUs)

Sets the maximum transmission rate for the XLink connection on device side, using a simple token bucket algorithm. Useful for bandwidth throttling

Parameters

maxRateBytesPerSecond: Rate limit in Bytes/second
burstSize: Size in Bytes for how much to attempt to send once, 0 = auto
waitUs: Time in microseconds to wait for replenishing tokens, 0 = auto

function

DeviceInfo getDeviceInfo()

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

Returns

DeviceInfo of the current device in execution

function

std::string getDeviceName()

Get device name if available

Returns

device name or empty string if not available

function

std::string getProductName()

Get product name if available

Returns

product name or empty string if not available

function

std::string getMxId()

Get MxId of device

Returns

MxId of connected device

function

std::string getDeviceId()

Get DeviceId of device

Returns

DeviceId of connected device

function

void setLogOutputLevel(LogLevel level)

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

Parameters

level: Standard output printing severity

function

LogLevel getLogOutputLevel()

Gets logging level which decides printing level to standard output.

Returns

Standard output printing severity

function

bool setIrLaserDotProjectorIntensity(float intensity, int mask)

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

Parameters

intensity: Intensity on range 0 to 1, that will determine brightness. 0 or negative to turn off
mask: Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W-DEV

Returns

True on success, false if not found or other failure

function

bool setIrFloodLightIntensity(float intensity, int mask)

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

Parameters

intensity: Intensity on range 0 to 1, that will determine brightness, 0 or negative to turn off
mask: Optional mask to modify only Left (0x1) or Right (0x2) sides on OAK-D-Pro-W-DEV

Returns

True on success, false if not found or other failure

function

std::vector< std::tuple< std::string, int, int > > getIrDrivers()

Retrieves detected IR laser/LED drivers.

Returns

Vector of tuples containing: driver name, I2C bus, I2C address. For OAK-D-Pro it should be

function

std::unique_ptr< CrashDump > getState()

Retrieves current device state in a crash dump format. It halts the device temporarily and might affect the running pipeline, it's best to close the device after this operation. Supported only on RVC2.

function

std::unique_ptr< CrashDump > getCrashDump(bool clearCrashDump)

Retrieves crash dump for debugging.

Parameters

clearCrashDump: Clear the cached crash dump on device after collection

Returns

Unique pointer to the CrashDump. Platform-specific crash dump payload may be empty if no crash dump is available.

function

bool hasCrashDump()

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

function

ProfilingData getProfilingData()

Get current accumulated profiling data

Returns

ProfilingData from the specific device

function

int addLogCallback(std::function< void(LogMessage)> callback)

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

Parameters

callback: Callback to call whenever a log message arrives

Returns

Id which can be used to later remove the callback

function

bool removeLogCallback(int callbackId)

Removes a callback

Parameters

callbackId: Id of callback to be removed

Returns

True if callback was removed, false otherwise

function

void setSystemInformationLoggingRate(float rateHz)

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

Parameters

rateHz: Logging rate in Hz

function

float getSystemInformationLoggingRate()

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

Returns

Logging rate in Hz

function

std::vector< CameraBoardSocket > getConnectedCameras()

Get cameras that are connected to the device

Returns

Vector of connected cameras

function

std::vector< ConnectionInterface > getConnectionInterfaces()

Get connection interfaces for device

Returns

Vector of connection type

function

std::vector< CameraFeatures > getConnectedCameraFeatures()

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

Returns

Vector of connected camera features

function

std::vector< StereoPair > getStereoPairs()

Get stereo pairs based on the device type.

Returns

Vector of stereo pairs

function

std::vector< StereoPair > getAvailableStereoPairs()

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

Parameters

This method will always return a subset of

Returns

Vector of stereo pairs

function

std::unordered_map< CameraBoardSocket, std::string > getCameraSensorNames()

Get sensor names for cameras that are connected to the device

Returns

Map/dictionary with camera sensor names, indexed by socket

function

std::string getConnectedIMU()

Get connected IMU type

Returns

IMU type

function

dai::Version getIMUFirmwareVersion()

Get connected IMU firmware version

Returns

IMU firmware version

function

dai::Version getEmbeddedIMUFirmwareVersion()

Get embedded IMU firmware version to which IMU can be upgraded

Returns

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

function

bool startIMUFirmwareUpdate(bool forceUpdate)

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

Parameters

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

Returns

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

function

std::tuple< bool, float > getIMUFirmwareUpdateStatus()

Get IMU firmware update status

Returns

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

function

MemoryInfo getDdrMemoryUsage()

Retrieves current DDR memory information from device

Returns

Used, remaining and total ddr memory

function

MemoryInfo getCmxMemoryUsage()

Retrieves current CMX memory information from device

Returns

Used, remaining and total cmx memory

function

MemoryInfo getLeonCssHeapUsage()

Retrieves current CSS Leon CPU heap information from device

Returns

Used, remaining and total heap memory

function

MemoryInfo getLeonMssHeapUsage()

Retrieves current MSS Leon CPU heap information from device

Returns

Used, remaining and total heap memory

function

ChipTemperature getChipTemperature()

Retrieves current chip temperature as measured by device

Returns

Temperature of various onboard sensors

function

CpuUsage getLeonCssCpuUsage()

Retrieves average CSS Leon CPU usage

Returns

Average CPU usage and sampling duration

function

CpuUsage getLeonMssCpuUsage()

Retrieves average MSS Leon CPU usage

Returns

Average CPU usage and sampling duration

function

int64_t getProcessMemoryUsage()

Retrieves current Rss memory usage of the device process

Returns

Current Rss memory used

function

bool isEepromAvailable()

Check if EEPROM is available

Returns

True if EEPROM is present on board, false otherwise

function

bool isCalibrationAvailable()

Check if Calibration is available on the device

Returns

True if calibration is present on device, false otherwise

function

bool tryFlashCalibration(CalibrationHandler calibrationDataHandler)

Stores the Calibration and Device information to the Device EEPROM

Parameters

calibrationObj: CalibrationHandler object which is loaded with calibration information.

Returns

true on successful flash, false on failure

function

void flashCalibration(CalibrationHandler calibrationDataHandler)

Stores the Calibration and Device information to the Device EEPROM

Parameters

std::runtime_error: if failed to flash the calibration

Parameters

calibrationObj: CalibrationHandler object which is loaded with calibration information.

function

void setCalibration(CalibrationHandler calibrationDataHandler)

Sets the Calibration at runtime. This is not persistent and will be lost after device reset.

Parameters

std::runtime_error: if failed to set the calibration

Parameters

calibrationObj: CalibrationHandler object which is loaded with calibration information.

function

void setCalibration(const std::optional< EepromData > & eepromData)

Sets the Calibration at runtime using EepromData. This is not persistent and will be lost after device reset.

Parameters

std::runtime_error: if failed to set the calibration

Parameters

eepromData: EepromData struct which contains the calibration information.

function

std::shared_ptr< CalibrationHandler > tryGetCalibration()

Retrieves the CalibrationHandler shared pointer; If can not get calibration returns nullptr

Returns

The CalibrationHandler object containing the non-persistent calibration

function

CalibrationHandler getCalibration()

Retrieves the CalibrationHandler object containing the non-persistent calibration

Parameters

std::runtime_error: if failed to get the calibration

Returns

The CalibrationHandler object containing the non-persistent calibration

function

CalibrationHandler readCalibration()

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

Returns

The CalibrationHandler object containing the calibration currently flashed on device EEPROM

function

CalibrationHandler readCalibration2()

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

Parameters

std::runtime_error: if no calibration is flashed

Returns

The CalibrationHandler object containing the calibration currently flashed on device EEPROM

function

CalibrationHandler readCalibrationOrDefault()

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

Returns

The CalibrationHandler object containing the calibration currently flashed on device EEPROM

function

void factoryResetCalibration()

Factory reset EEPROM data if factory backup is available.

Parameters

std::runtime_error: If factory reset was unsuccessful

function

void flashFactoryCalibration(CalibrationHandler calibrationHandler)

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

Parameters

std::runtime_error: if failed to flash the calibration

Returns

True on successful flash, false on failure

function

void flashEepromClear()

Destructive action, deletes User area EEPROM contents Requires PROTECTED permissions

Parameters

std::runtime_error: if failed to flash the calibration

Returns

True on successful flash, false on failure

function

void flashFactoryEepromClear()

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

Parameters

std::runtime_error: if failed to flash the calibration

Returns

True on successful flash, false on failure

function

CalibrationHandler readFactoryCalibration()

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

Parameters

std::runtime_error: if no calibration is flashed

Returns

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

function

CalibrationHandler readFactoryCalibrationOrDefault()

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

Returns

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

function

std::vector< std::uint8_t > readCalibrationRaw()

Fetches the raw EEPROM data from User area

Parameters

std::runtime_error: if any error occurred

Returns

Binary dump of User area EEPROM data

function

std::vector< std::uint8_t > readFactoryCalibrationRaw()

Fetches the raw EEPROM data from Factory area

Parameters

std::runtime_error: if any error occurred

Returns

Binary dump of Factory area EEPROM data

function

UsbSpeed getUsbSpeed()

Retrieves USB connection speed

Returns

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

function

bool isNeuralDepthSupported()

Checks if Neural Depth is supported on the device

Returns

True if supported, false otherwise

function

std::vector< DeviceModelZoo > getSupportedDeviceModels()

Returns the subset of device zoo models currently available on the device.

Returns

Supported device zoo models

function

void setTimesync(std::chrono::milliseconds period, int numSamples, bool random)

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

Parameters

period: Interval between timesync runs
numSamples: Number of timesync samples per run which are used to compute a better value. Set to zero to disable timesync
random: If true partial timesync requests will be performed at random intervals, otherwise at fixed intervals

function

void setTimesync(bool enable)

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

Parameters

enable: Enables or disables consistent timesyncing

function

void close()

Explicitly closes connection to device.

Parameters

This function does not need to be explicitly called as destructor closes the device automatically

function

bool isClosed()

Is the device already closed (or disconnected)

Parameters

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

function

void registerCrashdumpCallback(std::function< void(std::shared_ptr< CrashDump >)> callback)

Register a callback that will be called when the device crashes. The callback receives a shared pointer to the CrashDump, which can be modified before it is stored. Only one callback can be registered at a time.

Parameters

callback: Callback to call when a crash dump is collected

function

void removeCrashdumpCallback()

Removes the registered crash dump callback

function

bool hasCrashed()

Check if the device has crashed

Returns

True if the device has crashed (watchdog timeout detected), false otherwise

function

void crashDevice()

Crashes the device

Parameters

ONLY FOR TESTING PURPOSES, it causes an unrecoverable crash on the device

function

void overrideCameraFeatures(const std::vector< CameraFeatures > & features, const std::string & imu)

Sets connected camera features. Used for holistic record and replay

Parameters

features: Vector of camera features to set
imu: IMU type to set (if any)

inline function

std::shared_ptr< XLinkConnection > getConnection()

Returns underlying XLinkConnection

inline function

std::shared_ptr< const XLinkConnection > getConnection()

Returns underlying XLinkConnection

function

void setMaxReconnectionAttempts(int maxAttempts, std::function< void(ReconnectionStatus)> callBack)

Sets max number of automatic reconnection attempts

Parameters

maxAttempts: Maximum number of reconnection attempts, 0 to disable reconnection
callBack: Callback to be called when reconnection is attempted

function

std::tuple< bool, std::string > setExternalFrameSyncRole(ExternalFrameSyncRole role)

Sets external frame sync role for the device

Parameters

role: External frame sync role to be set, AUTO_DETECT by default

Returns

Tuple of bool and string. Bool specifies if role was set without failures. String is the error message describing the failure reason.

function

ExternalFrameSyncRole getExternalFrameSyncRole()

Gets external frame sync role for the device

Returns

Gets external frame sync role

function

std::tuple< bool, std::string > setExternalStrobeRelativeLimits(float min, float max)

Sets the relative external strobe limits. Limits the strobe duty cycle, between 0 and 1, as a fraction of the whole period. 0 means always off, 1 means always on. The rising edge of the strobe signal is always synced to end of exposure. The falling edge of the strobe signal is then limited according to the min and max values. Default values are 0.005 and 0.995

Parameters

min: Minimum strobe value
max: Maximum strobe value

Returns

Tuple of bool and string. Bool specifies if role was set without failures. String is the error message describing the failure reason.

function

void setExternalStrobeEnable(bool enable)

Set whether the external strobe should be enabled. External strobe signal is low for the duration of exposure, and high for the rest of the frame.

Parameters

enable: Enables or disables strobe

function

void mockCameraFeatures(const std::filesystem::path & replayPath)

Mock camera features from a recording. Used for holistic record and replay.

struct

dai::DeviceBase::Config

#include DeviceBase.hpp

variable

OpenVINO::Version version

variable

BoardConfig board

variable

bool nonExclusiveMode

variable

std::optional< LogLevel > outputLogLevel

variable

std::optional< LogLevel > logLevel

enum

ReconnectionStatus

enumerator

RECONNECTED

enumerator

RECONNECTING

enumerator

RECONNECT_FAILED

class

dai::DeviceBootloader

#include DeviceBootloader.hpp

function

DeviceBootloader()

explicit function

DeviceBootloader(const DeviceInfo & devInfo)

Connects to or boots device in bootloader mode depending on devInfo state; flashing not allowed

Parameters

devInfo: DeviceInfo of which to boot or connect to

function

DeviceBootloader(const DeviceInfo & devInfo, T allowFlashingBootloader)

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

Parameters

devInfo: DeviceInfo of which to boot or connect to
allowFlashingBootloader: (bool) Set to true to allow flashing the devices bootloader

function

DeviceBootloader(const DeviceInfo & devInfo, Type type, bool allowFlashingBootloader)

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

Parameters

devInfo: DeviceInfo of which to boot or connect to
type: Type of bootloader to boot/connect to.
allowFlashingBootloader: Set to true to allow flashing the devices bootloader. Defaults to false

function

DeviceBootloader(const DeviceInfo & devInfo, const fs::path & pathToBootloader, bool allowFlashingBootloader)

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

Parameters

devInfo: DeviceInfo of which to boot or connect to
pathToBootloader: Custom bootloader firmware to boot
allowFlashingBootloader: Set to true to allow flashing the devices bootloader. Defaults to false

function

DeviceBootloader(std::string nameOrDeviceId, bool allowFlashingBootloader)

Connects to device with specified name/device id

Parameters

nameOrDeviceId: Creates DeviceInfo with nameOrDeviceId to connect to
allowFlashingBootloader: Set to true to allow flashing the devices bootloader. Defaults to false

function

~DeviceBootloader()

function

std::tuple< bool, std::string > flash(std::function< void(float)> progressCallback, const Pipeline & pipeline, bool compress, std::string applicationName, Memory memory, bool checkChecksum)

Flashes a given pipeline to the device.

Parameters

progressCallback: Callback that sends back a value between 0..1 which signifies current flashing progress
pipeline: Pipeline to flash to the board
compress: Compresses application to reduce needed memory size
applicationName: Name the application that is flashed

function

std::tuple< bool, std::string > flash(const Pipeline & pipeline, bool compress, std::string applicationName, Memory memory, bool checkChecksum)

Flashes a given pipeline to the device.

Parameters

pipeline: Pipeline to flash to the board
compress: Compresses application to reduce needed memory size
applicationName: Optional name the application that is flashed

function

ApplicationInfo readApplicationInfo(Memory memory)

Reads information about flashed application in specified memory from device

Parameters

memory: Specifies which memory to query

function

std::tuple< bool, std::string > flashDepthaiApplicationPackage(std::function< void(float)> progressCallback, std::vector< uint8_t > package, Memory memory)

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

Parameters

progressCallback: Callback that sends back a value between 0..1 which signifies current flashing progress
package: Depthai application package to flash to the board

function

std::tuple< bool, std::string > flashDepthaiApplicationPackage(std::vector< uint8_t > package, Memory memory)

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

Parameters

package: Depthai application package to flash to the board

function

std::tuple< bool, std::string > flashClear(Memory memory)

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

function

std::tuple< bool, std::string > flashBootloader(std::function< void(float)> progressCallback, const fs::path & path)

Flashes bootloader to the current board

Parameters

progressCallback: Callback that sends back a value between 0..1 which signifies current flashing progress
path: Optional parameter to custom bootloader to flash

function

std::tuple< bool, std::string > flashBootloader(Memory memory, Type type, std::function< void(float)> progressCallback, const fs::path & path)

Flash selected bootloader to the current board

Parameters

memory: Memory to flash
type: Bootloader type to flash
progressCallback: Callback that sends back a value between 0..1 which signifies current flashing progress
path: Optional parameter to custom bootloader to flash

function

std::tuple< bool, std::string > flashUserBootloader(std::function< void(float)> progressCallback, const fs::path & path)

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

Parameters

progressCallback: Callback that sends back a value between 0..1 which signifies current flashing progress
path: Optional parameter to custom bootloader to flash

function

std::tuple< bool, std::string > flashGpioModeBootHeader(Memory memory, int gpioMode)

Flash boot header which boots same as equivalent GPIO mode would

Parameters

gpioMode: GPIO mode equivalent

function

std::tuple< bool, std::string > flashUsbRecoveryBootHeader(Memory memory)

Flash USB recovery boot header. Switches to USB ROM Bootloader

Parameters

memory: Which memory to flash the header to

function

std::tuple< bool, std::string > flashBootHeader(Memory memory, int32_t frequency, int64_t location, int32_t dummyCycles, int64_t offset)

Flash optimized boot header

Parameters

memory: Which memory to flasht the header to
frequency: SPI specific parameter, frequency in MHz
location: Target location the header should boot to. Default to location of bootloader
dummyCycles: SPI specific parameter
offset: Offset in memory to flash the header to. Defaults to offset of boot header

Returns

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

function

std::tuple< bool, std::string > flashFastBootHeader(Memory memory, int32_t frequency, int64_t location, int32_t dummyCycles, int64_t offset)

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

Parameters

memory: Which memory to flash the header to
frequency: SPI specific parameter, frequency in MHz
location: Target location the header should boot to. Default to location of bootloader
dummyCycles: SPI specific parameter
offset: Offset in memory to flash the header to. Defaults to offset of boot header

Returns

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

function

std::tuple< bool, std::string > flashCustom(Memory memory, size_t offset, const std::vector< uint8_t > & data, std::function< void(float)> progressCb)

Flash arbitrary data at custom offset in specified memory

Parameters

memory: Memory to flash
offset: Offset at which to flash the given data in bytes
progressCallback: Callback that sends back a value between 0..1 which signifies current flashing progress
data: Data to flash

function

std::tuple< bool, std::string > flashCustom(Memory memory, size_t offset, const uint8_t * data, size_t size, std::function< void(float)> progressCb)

function

std::tuple< bool, std::string > flashCustom(Memory memory, size_t offset, std::string filename, std::function< void(float)> progressCb)

function

std::tuple< bool, std::string > readCustom(Memory memory, size_t offset, size_t size, std::vector< uint8_t > & data, std::function< void(float)> progressCb)

Reads arbitrary data at custom offset in specified memory

Parameters

memory: Memory to read
offset: Offset at which to read the specified bytes
size: Number of bytes to read
data: Data to read to. Must be at least 'size' number of bytes big
progressCallback: Callback that sends back a value between 0..1 which signifies current reading progress

function

std::tuple< bool, std::string > readCustom(Memory memory, size_t offset, size_t size, uint8_t * data, std::function< void(float)> progressCb)

function

std::tuple< bool, std::string > readCustom(Memory memory, size_t offset, size_t size, std::string filename, std::function< void(float)> progressCb)

function

std::tuple< bool, std::string, std::vector< uint8_t > > readCustom(Memory memory, size_t offset, size_t size, std::function< void(float)> progressCb)

function

nlohmann::json readConfigData(Memory memory, Type type)

Reads configuration data from bootloader

Returns

Unstructured configuration data

Parameters

memory: Optional - from which memory to read configuration data
type: Optional - from which type of bootloader to read configuration data

function

std::tuple< bool, std::string > flashConfigData(nlohmann::json configData, Memory memory, Type type)

Flashes configuration data to bootloader

Parameters

configData: Unstructured configuration data
memory: Optional - to which memory flash configuration
type: Optional - for which type of bootloader to flash configuration

function

std::tuple< bool, std::string > flashConfigFile(const fs::path & configPath, Memory memory, Type type)

Flashes configuration data to bootloader

Parameters

configPath: Unstructured configuration data
memory: Optional - to which memory flash configuration
type: Optional - for which type of bootloader to flash configuration

function

std::tuple< bool, std::string > flashConfigClear(Memory memory, Type type)

Clears configuration data

Parameters

memory: Optional - on which memory to clear configuration data
type: Optional - for which type of bootloader to clear configuration data

function

Config readConfig(Memory memory, Type type)

Reads configuration from bootloader

Parameters

memory: Optional - from which memory to read configuration
type: Optional - from which type of bootloader to read configuration

Returns

Configuration structure

function

std::tuple< bool, std::string > flashConfig(const Config & config, Memory memory, Type type)

Flashes configuration to bootloader

Parameters

configData: Configuration structure
memory: Optional - to which memory flash configuration
type: Optional - for which type of bootloader to flash configuration

function

MemoryInfo getMemoryInfo(Memory memory)

Retrieves information about specified memory

Parameters

memory: Specifies which memory to query

function

bool isUserBootloaderSupported()

Checks whether User Bootloader is supported with current bootloader

Returns

true of User Bootloader is supported, false otherwise

function

bool isUserBootloader()

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

function

void bootMemory(const std::vector< uint8_t > & fw)

Boots a custom FW in memory

Parameters

A: runtime exception if there are any communication issues

function

void bootUsbRomBootloader()

Boots into integrated ROM bootloader in USB mode

Parameters

A: runtime exception if there are any communication issues

function

Version getVersion()

Returns

Version of current running bootloader

function

bool isEmbeddedVersion()

Returns

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

function

Type getType()

Returns

Type of currently connected bootloader

function

bool isAllowedFlashingBootloader()

Returns

True if allowed to flash bootloader

function

void close()

Explicitly closes connection to device.

Parameters

This function does not need to be explicitly called as destructor closes the device automatically

function

bool isClosed()

Is the device already closed (or disconnected)

Parameters

struct

dai::DeviceBootloader::ApplicationInfo

variable

Memory memory

variable

bool hasApplication

variable

std::string firmwareVersion

variable

std::string applicationName

struct

dai::DeviceBootloader::Config

function

void setStaticIPv4(std::string ip, std::string mask, std::string gateway)

function

void setDynamicIPv4(std::string ip, std::string mask, std::string gateway)

function

bool isStaticIPV4()

function

std::string getIPv4()

function

std::string getIPv4Mask()

function

std::string getIPv4Gateway()

function

void setDnsIPv4(std::string dns, std::string dnsAlt)

function

std::string getDnsIPv4()

function

std::string getDnsAltIPv4()

function

void setUsbTimeout(std::chrono::milliseconds ms)

function

std::chrono::milliseconds getUsbTimeout()

function

void setNetworkTimeout(std::chrono::milliseconds ms)

function

std::chrono::milliseconds getNetworkTimeout()

function

void setMacAddress(std::string mac)

function

std::string getMacAddress()

function

void setUsbMaxSpeed(UsbSpeed speed)

function

UsbSpeed getUsbMaxSpeed()

function

nlohmann::json toJson()

struct

dai::DeviceBootloader::MemoryInfo

variable

bool available

variable

std::int64_t size

variable

std::string info

enum

dai::bootloader::Type Type

enum

dai::bootloader::Memory Memory

enum

dai::bootloader::Section Section

enum

dai::bootloader::UsbConfig UsbConfig

enum

dai::bootloader::NetworkConfig NetworkConfig

enum

dai::Version Version

class

dai::DeviceGate

#include DeviceGate.hpp

function

DeviceGate(const DeviceInfo & deviceInfo)

Connects to DepthAI Gate

Parameters

deviceInfo: Device to connect to

function

~DeviceGate()

function

bool isOkay()

function

bool createSession(bool exclusive)

function

bool startSession()

function

bool stopSession()

function

bool deleteSession()

function

bool destroySession()

function

SessionState getState()

function

void waitForSessionEnd()

function

std::optional< CrashDump > getCrashDump()

function

Version getVersion()

function

VersionInfo getAllVersion()

struct

dai::DeviceGate::CrashDump

variable

std::vector< uint8_t > data

variable

std::string filename

struct

dai::DeviceGate::VersionInfo

variable

std::string gate

variable

std::string os

enum

SessionState

enumerator

NOT_CREATED

enumerator

CREATED

enumerator

RUNNING

enumerator

STOPPED

enumerator

STOPPING

enumerator

CRASHED

enumerator

DESTROYED

enumerator

ERROR_STATE

struct

dai::EepromError

struct

dai::Version

#include Version.hpp

explicit function

Version(const std::string & v)

function

 Version(unsigned major, unsigned minor, unsigned patch, const PreReleaseType & type, const std::optional< uint16_t > & preReleaseVersion, const std::string & buildInfo)

inline function

Version(unsigned major, unsigned minor, unsigned patch, const std::string & buildInfo)

function

bool operator==(const Version & other)

function

bool operator<(const Version & other)

inline function

bool operator!=(const Version & rhs)

inline function

bool operator>(const Version & rhs)

inline function

bool operator<=(const Version & rhs)

inline function

bool operator>=(const Version & rhs)

function

std::string toString()

function

std::string toStringSemver()

function

std::string getBuildInfo()

enum

uint16_t PreReleaseType

enumerator

ALPHA

enumerator

BETA

enumerator

NONE

struct

dai::LogMessage

variable

std::string nodeIdName

variable

LogLevel level

variable

Timestamp time

variable

size_t colorRangeStart

variable

size_t colorRangeEnd

variable

std::string payload

struct

dai::SlugComponents

variable

std::string teamName

variable

std::string modelSlug

variable

std::string modelVariantSlug

variable

std::string modelRef

function

std::string merge()

struct

dai::NNModelDescription

variable

std::string model

Model slug = REQUIRED parameter

variable

std::string platform

Hardware platform - RVC2, RVC3, RVC4, ... = REQUIRED parameter

variable

std::string optimizationLevel

Optimization level = OPTIONAL parameter

variable

std::string compressionLevel

Compression level = OPTIONAL parameter

variable

std::string snpeVersion

SNPE version = OPTIONAL parameter

variable

std::string modelPrecisionType

modelPrecisionType = OPTIONAL parameter

variable

std::string globalMetadataEntryName

Name of the entry in the global metadata file

function

void saveToYamlFile(const fs::path & yamlPath)

function

bool check()

function

std::string toString()

struct

dai::NNArchiveOptions

function

DEPTAHI_ARG_DEFAULT(NNArchiveEntry::Compression, compression, NNArchiveEntry::Compression::AUTO)

class

dai::NNArchive

function

NNArchive(const std::filesystem::path & archivePath, NNArchiveOptions options)

function

std::optional< OpenVINO::Blob > getBlob()

function

std::optional< OpenVINO::SuperBlob > getSuperBlob()

function

std::optional< std::vector< uint8_t > > getOtherModelFormat()

function

const NNArchiveVersionedConfig & getVersionedConfig()

function

std::optional< std::pair< uint32_t, uint32_t > > getInputSize(uint32_t index)

function

std::optional< uint32_t > getInputWidth(uint32_t index)

function

std::optional< uint32_t > getInputHeight(uint32_t index)

function

std::vector< dai::Platform > getSupportedPlatforms()

inline function

const T & getConfig()

function

dai::nn_archive::v1::Head getHeadConfig(uint32_t index)

function

model::ModelType getModelType()

class

dai::NNArchiveEntry

enum

uint8_t Compression

enumerator

AUTO

Try to guess the file format from the file extension. .json -> RAW_FS everything else use libarchive to guess the format supported formats are:

enumerator

RAW_FS

The entry isn't compressed. Access it directly on the filesystem.

enumerator

TAR

Force libarchive to treat the file as .tar

enumerator

TAR_GZ

Force libarchive to treat the file as .tar.gz

enumerator

TAR_XZ

Force libarchive to treat the file as .tar.xz

enum

uint8_t Seek

Check stdio.h SEEK_SET, SEEK_CUR, SEEK_END for meaning.

enumerator

SET

enumerator

CUR

enumerator

END

class

dai::NNArchiveVersionedConfig

explicit function

NNArchiveVersionedConfig(const std::vector< uint8_t > & data, NNArchiveEntry::Compression compression)

@data Should point to a whole compressed NNArchive read to memory if compression is not set to RAW_FS. If compression is set to RAW_FS, then this should point to just the config.json file read to memory.

explicit function

NNArchiveVersionedConfig(const std::filesystem::path & path, NNArchiveEntry::Compression compression)

@path Should point to: 1) if compression is set to RAW_FS: to just the config.json file. 2) if compression is set to AUTO: to whole compressed NNArchive or just the config.json file which must end in .json . 3) else: to whole compressed NNArchive. see NNArchive class for parameter explanation

function

 NNArchiveVersionedConfig(const std::function< int()> & openCallback, const std::function< std::shared_ptr< std::vector< uint8_t >>()> & readCallback, const std::function< int64_t(int64_t offset, NNArchiveEntry::Seek whence)> & seekCallback, const std::function< int64_t(int64_t request)> & skipCallback, const std::function< int()> & closeCallback, NNArchiveEntry::Compression compression)

Returned data should be just the config.json if compression == RAW_FS or the whole NNArchive otherwise see NNArchive class for parameter explanation

inline function

NNArchiveVersionedConfig(const NNArchiveConfig & config)

inline function

NNArchiveConfigVersion getVersion()

inline function

const T & getConfig()

inline function

const NNArchiveConfig & getConfig()

class

dai::OpenVINO

#include OpenVINO.hpp

struct

dai::OpenVINO::Blob

#include OpenVINO.hpp

variable

Version version

variable

Device device

variable

std::unordered_map< std::string, TensorInfo > networkInputs

variable

std::unordered_map< std::string, TensorInfo > networkOutputs

variable

uint32_t stageCount

variable

uint32_t numShaves

variable

uint32_t numSlices

variable

std::vector< uint8_t > data

function

Blob(std::vector< uint8_t > data)

function

Blob(const std::filesystem::path & path)

class

dai::OpenVINO::SuperBlob

#include OpenVINO.hpp

function

SuperBlob(std::vector< uint8_t > data)

function

SuperBlob(const std::filesystem::path & pathToSuperBlobFile)

function

dai::OpenVINO::Blob getBlobWithNumShaves(int numShaves)

enum

Version

enumerator

VERSION_2020_3

enumerator

VERSION_2020_4

enumerator

VERSION_2021_1

enumerator

VERSION_2021_2

enumerator

VERSION_2021_3

enumerator

VERSION_2021_4

enumerator

VERSION_2022_1

enumerator

VERSION_UNIVERSAL

enum

Device

enumerator

VPU

enumerator

VPUX

struct

dai::Asset

#include AssetManager.hpp

variable

const std::string key

variable

std::vector< std::uint8_t > data

variable

std::uint32_t alignment

function

Asset()

inline explicit function

Asset(std::string k)

function

std::string getRelativeUri()

class

dai::AssetsMutable

function

void set(std::string, std::uint32_t offset, std::uint32_t size, std::uint32_t alignment)

class

dai::AssetManager

#include AssetManager.hpp

function

AssetManager()

function

AssetManager(std::string rootPath)

function

void addExisting(std::vector< std::shared_ptr< Asset >> assets)

Adds all assets in an array to the AssetManager

Parameters

assets: Vector of assets to add

function

std::string getRootPath()

Get root path of the asset manager

Returns

Root path

function

void setRootPath(const std::string & rootPath)

Set root path of the asset manager

Parameters

rootPath: Root path

function

std::shared_ptr< dai::Asset > set(Asset asset)

Adds or overwrites an asset object to AssetManager.

Parameters

asset: Asset to add

Returns

Shared pointer to asset

function

std::shared_ptr< dai::Asset > set(const std::string & key, Asset asset)

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

Parameters

key: Key under which the asset should be stored
asset: Asset to store

Returns

Shared pointer to asset

function

std::shared_ptr< dai::Asset > set(const std::string & key, const std::filesystem::path & path, int alignment)

Loads file into asset manager under specified key.

Parameters

key: Key under which the asset should be stored
path: Path to file which to load as asset
alignment: [Optional] alignment of asset data in asset storage. Default is 64B

function

std::shared_ptr< dai::Asset > set(const std::string & key, const std::vector< std::uint8_t > & data, int alignment)

Loads file into asset manager under specified key.

Parameters

key: Key under which the asset should be stored
data: Asset data
alignment: [Optional] alignment of asset data in asset storage. Default is 64B

Returns

Shared pointer to asset

function

std::shared_ptr< dai::Asset > set(const std::string & key, std::vector< std::uint8_t > && data, int alignment)

function

std::shared_ptr< const Asset > get(const std::string & key)

Returns

Asset assigned to the specified key or a nullptr otherwise

function

std::shared_ptr< Asset > get(const std::string & key)

Returns

Asset assigned to the specified key or a nullptr otherwise

function

std::vector< std::shared_ptr< const Asset > > getAll()

Returns

All asset stored in the AssetManager

function

std::vector< std::shared_ptr< Asset > > getAll()

Returns

All asset stored in the AssetManager

function

std::size_t size()

Returns

Number of asset stored in the AssetManager

function

void remove(const std::string & key)

Removes asset with key

Parameters

key: Key of asset to remove

function

void serialize(AssetsMutable & assets, std::vector< std::uint8_t > & assetStorage, std::string prefix)

struct

dai::AssetView

variable

std::uint8_t * data

variable

std::uint32_t size

variable

std::uint32_t alignment

inline function

AssetView(std::uint8_t * d, std::uint32_t s, std::uint32_t a)

class

dai::Assets

Derived by dai::AssetsMutable

inline function

void setStorage(std::uint8_t * ps)

inline function

bool has(const std::string & key)

inline function

AssetView get(const std::string & key)

inline function

std::vector< std::pair< std::string, AssetView > > getAll()

function

DEPTHAI_SERIALIZE(Assets, map)

class

dai::DeviceNode

variable

copyable_unique_ptr< Properties > propertiesHolder

function

DeviceNode()

function

~DeviceNode()

function

void run()

inline function

bool runOnHost()

function

const std::shared_ptr< Device > getDevice()

function

Properties & getProperties()

function

void setLogLevel(dai::LogLevel level)

function

dai::LogLevel getLogLevel()

class

dai::DeviceNodeCRTP

variable

Properties & properties

function

~DeviceNodeCRTP()

inline function

const char * getName()

enum

Props Properties

class

dai::HostRunnable

Derived by dai::node::AprilTag, dai::node::AutoCalibration, dai::node::BenchmarkIn, dai::node::BenchmarkOut, dai::node::DetectionParser, dai::node::DynamicCalibration, dai::node::ImageAlign, dai::node::ImageFilters, dai::node::ImageManip, dai::node::MessageDemux, dai::node::ObjectTracker, dai::node::PointCloud, dai::node::Rectification, dai::node::SegmentationParser, dai::node::SpatialLocationCalculator, dai::node::Sync, dai::node::ToFDepthConfidenceFilter, dai::node::internal::PipelineEventAggregation

function

HostRunnable()

function

~HostRunnable()

class

dai::DeviceNodeGroup

Derived by dai::node::DetectionNetwork, dai::node::NeuralAssistedStereo, dai::node::SpatialDetectionNetwork, dai::node::ToF

inline function

const char * getName()

function

~DeviceNodeGroup()

inline function

DeviceNodeGroup(const std::shared_ptr< Device > & device)

function

void setLogLevel(dai::LogLevel level)

function

dai::LogLevel getLogLevel()

function

DeviceNode()

function

DeviceNode(const std::shared_ptr< Device > & device, std::unique_ptr< Properties > props, bool conf)

function

DeviceNode(std::unique_ptr< Properties > props, bool conf)

class

dai::InputQueue

function

void send(const std::shared_ptr< ADatatype > & msg)

class

dai::MessageQueue

#include MessageQueue.hppDerived by dai::Node::Input

variable

std::mutex callbacksMtx

variable

std::unordered_map< CallbackId, std::function< void(std::string, std::shared_ptr< ADatatype >)> > callbacks

variable

CallbackId uniqueCallbackId

explicit function

MessageQueue(unsigned int maxSize, bool blocking)

explicit function

 MessageQueue(std::string name, unsigned int maxSize, bool blocking, utility::PipelineEventDispatcherInterface * pipelineEventDispatcher)

inline function

MessageQueue(const MessageQueue & c)

inline function

MessageQueue(MessageQueue && m)

inline function

MessageQueue & operator=(const MessageQueue & c)

inline function

MessageQueue & operator=(MessageQueue && m)

function

~MessageQueue()

function

std::string getName()

function

void setName(std::string name)

Set the name of the queue

function

bool isClosed()

Check whether queue is closed

function

void close()

Closes the queue and unblocks any waiting consumers or producers

function

void setBlocking(bool blocking)

Sets queue behavior when full (maxSize)

Parameters

blocking: Specifies if block or overwrite the oldest message in the queue

function

bool getBlocking()

Gets current queue behavior when full (maxSize)

Returns

True if blocking, false otherwise

function

void setMaxSize(unsigned int maxSize)

Sets queue maximum size

Parameters

maxSize: Specifies maximum number of messages in the queue

Parameters

If maxSize is smaller than size, queue will not be truncated immediately, only after messages are popped

function

unsigned int getMaxSize()

Gets queue maximum size

Returns

Maximum queue size

function

unsigned int getSize()

Gets queue current size

Returns

Current queue size

function

unsigned int isFull()

Gets whether queue is full

Returns

True if queue is full, false otherwise

function

CallbackId addCallback(std::function< void(std::string, std::shared_ptr< ADatatype >)>)

Adds a callback on message received

Parameters

callback: Callback function with queue name and message pointer

Returns

Callback id

function

CallbackId addCallback(const std::function< void(std::shared_ptr< ADatatype >)> &)

Adds a callback on message received

Parameters

callback: Callback function with message pointer

Returns

Callback id

function

CallbackId addCallback(const std::function< void()> & callback)

Adds a callback on message received

Parameters

callback: Callback function without any parameters

Returns

Callback id

function

CallbackId addCondVar(std::shared_ptr< std::condition_variable > cv)

Adds a condition variable to be notified on message queue destruction

Parameters

cv: Condition variable to be notified

Returns

Condition variable id

function

bool removeCallback(CallbackId callbackId)

Removes a callback

Parameters

callbackId: Id of callback to be removed

Returns

True if callback was removed, false otherwise

function

bool removeCondVar(CallbackId condVarId)

Removes a condition variable

Parameters

condVarId: Id of condition variable to be removed

Returns

True if condition variable was removed, false otherwise

inline function

bool has()

Check whether front of the queue has message of type T

Returns

True if queue isn't empty and the first element is of type T, false otherwise

inline function

bool has()

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

Returns

True if queue isn't empty, false otherwise

inline function

std::shared_ptr< T > tryGet()

Try to retrieve message T from queue. If message isn't of type T it returns nullptr

Returns

Message of type T or nullptr if no message available

inline function

std::shared_ptr< ADatatype > tryGet()

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

Returns

Message or nullptr if no message available

inline function

std::shared_ptr< T > get()

Block until a message is available.

Returns

Message of type T or nullptr if no message available

inline function

std::shared_ptr< ADatatype > get()

Block until a message is available.

Returns

Message or nullptr if no message available

inline function

std::shared_ptr< T > front()

Gets first message in the queue.

Returns

Message of type T or nullptr if no message available

inline function

std::shared_ptr< ADatatype > front()

Gets first message in the queue.

Returns

Message or nullptr if no message available

inline function

std::shared_ptr< T > get(std::chrono::duration< Rep, Period > timeout, bool & hasTimedout)

Block until a message is available with a timeout.

Parameters

timeout: Duration for which the function should block
hasTimedout: Outputs true if timeout occurred, false otherwise

Returns

Message of type T otherwise nullptr if message isn't type T or timeout occurred

inline function

std::shared_ptr< ADatatype > get(std::chrono::duration< Rep, Period > timeout, bool & hasTimedout)

Block until a message is available with a timeout.

Parameters

timeout: Duration for which the function should block
hasTimedout: Outputs true if timeout occurred, false otherwise

Returns

Message of type T otherwise nullptr if message isn't type T or timeout occurred

inline function

std::vector< std::shared_ptr< T > > tryGetAll()

Try to retrieve all messages in the queue.

Returns

Vector of messages which can either be of type T or nullptr

inline function

std::vector< std::shared_ptr< ADatatype > > tryGetAll()

Try to retrieve all messages in the queue.

Returns

Vector of messages

inline function

std::vector< std::shared_ptr< T > > getAll()

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

Returns

Vector of messages which can either be of type T or nullptr

inline function

std::vector< std::shared_ptr< ADatatype > > getAll()

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

Returns

Vector of messages

inline function

std::vector< std::shared_ptr< T > > getAll(std::chrono::duration< Rep, Period > timeout, bool & hasTimedout)

Block for maximum timeout duration. Then return all messages from the queue.

Parameters

timeout: Maximum duration to block
hasTimedout: Outputs true if timeout occurred, false otherwise

Returns

Vector of messages which can either be of type T or nullptr

inline function

std::vector< std::shared_ptr< ADatatype > > getAll(std::chrono::duration< Rep, Period > timeout, bool & hasTimedout)

Block for maximum timeout duration. Then return all messages from the queue.

Parameters

timeout: Maximum duration to block
hasTimedout: Outputs true if timeout occurred, false otherwise

Returns

Vector of messages

function

void send(const std::shared_ptr< ADatatype > & msg)

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

Parameters

msg: Message to add to the queue

function

bool send(const std::shared_ptr< ADatatype > & msg, std::chrono::milliseconds timeout)

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

Parameters

msg: Message to add to the queue
timeout: Maximum duration to block in milliseconds

function

bool send(const ADatatype & msg, std::chrono::milliseconds timeout)

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

Parameters

msg: Message to add to the queue
timeout: Maximum duration to block in milliseconds

function

bool trySend(const std::shared_ptr< ADatatype > & msg)

Tries sending a message

Parameters

msg: message to send

class

dai::MessageQueue::QueueException

inline explicit function

QueueException(const std::string & message)

function

~QueueException()

enum

int CallbackId

class

dai::Node

#include Node.hppDerived by dai::NodeGroup, dai::ThreadedNode

variable

Id id

variable

Id inputId

variable

Id outputId

variable

std::string alias

function

Node(const Node &)

function

Node & operator=(const Node &)

function

Node(Node &&)

function

Node & operator=(Node &&)

function

std::string createUniqueInputName()

function

std::string createUniqueOutputName()

function

Pipeline getParentPipeline()

function

const Pipeline getParentPipeline()

inline function

std::string getAlias()

inline function

void setAlias(std::string alias)

function

const char * getName()

inline function

void start()

inline function

void wait()

inline function

void stop()

function

void stopPipeline()

function

void buildStage1()

function

void buildStage2()

function

void buildStage3()

function

void postBuildStage()

function

std::vector< Output > getOutputs()

function

std::vector< Input > getInputs()

function

std::vector< Output * > getOutputRefs()

function

std::vector< const Output * > getOutputRefs()

function

std::vector< Input * > getInputRefs()

function

std::vector< const Input * > getInputRefs()

function

std::vector< OutputMap * > getOutputMapRefs()

function

std::vector< InputMap * > getInputMapRefs()

function

Output * getOutputRef(std::string name)

function

Output * getOutputRef(std::string group, std::string name)

function

Input * getInputRef(std::string name)

function

Input * getInputRef(std::string group, std::string name)

function

OutputMap * getOutputMapRef(std::string group)

function

InputMap * getInputMapRef(std::string group)

function

bool isSourceNode()

function

~Node()

function

const AssetManager & getAssetManager()

function

AssetManager & getAssetManager()

function

std::vector< uint8_t > loadResource(std::filesystem::path uri)

function

std::vector< uint8_t > moveResource(std::filesystem::path uri)

inline function

std::shared_ptr< N > create()

function

void add(std::shared_ptr< Node > node)

function

std::vector< std::shared_ptr< Node > > getAllNodes()

function

std::shared_ptr< const Node > getNode(Node::Id id)

function

std::shared_ptr< Node > getNode(Node::Id id)

function

void remove(std::shared_ptr< Node > node)

function

ConnectionMap getConnectionMap()

function

void link(const Node::Output & out, const Node::Input & in)

function

void unlink(const Node::Output & out, const Node::Input & in)

function

void link(std::shared_ptr< Node > in)

function

Node::Output * requestOutput(const Capability & capability, bool onHost)

function

std::vector< std::pair< Input &, std::shared_ptr< Capability > > > getRequiredInputs()

function

bool runOnHost()

inline function

const NodeMap & getNodeMap()

inline function

void buildInternal()

struct

dai::Node::Connection

#include Node.hpp

variable

Id outputId

variable

std::string outputName

variable

std::string outputGroup

variable

Id inputId

variable

std::string inputName

variable

std::string inputGroup

function

Connection(Output out, Input in)

function

Connection(ConnectionInternal c)

function

bool operator==(const Connection & rhs)

struct

dai::Node::ConnectionInternal

#include Node.hpp

variable

std::weak_ptr< Node > outputNode

variable

std::string outputName

variable

std::string outputGroup

variable

std::weak_ptr< Node > inputNode

variable

std::string inputName

variable

std::string inputGroup

variable

Output * out

variable

Input * in

function

ConnectionInternal(Output & out, Input & in)

function

bool operator==(const ConnectionInternal & rhs)

struct

dai::Node::ConnectionInternal::Hash

function

size_t operator()(const dai::Node::ConnectionInternal & obj)

struct

dai::Node::DatatypeHierarchy

variable

DatatypeEnum datatype

variable

bool descendants

inline function

DatatypeHierarchy(DatatypeEnum d, bool c)

class

dai::Node::Input

variable

std::vector< DatatypeHierarchy > possibleDatatypes

function

~Input()

inline explicit function

Input(Node & par, InputDescription desc, bool ref)

inline function

const Node & getParent()

Get the parent node

inline function

Node & getParent()

Get the parent node

inline function

Type getType()

Get type

function

std::string toString()

Input to string representation

function

void setWaitForMessage(bool waitForMessage)

Overrides default wait for message behavior. Applicable for nodes with multiple inputs. Specifies behavior whether to wait for this input when a Node processes certain data or not.

Parameters

waitForMessage: Whether to wait for message to arrive to this input or not

function

bool getWaitForMessage()

Get behavior whether to wait for this input when a Node processes certain data or not

Returns

Whether to wait for message to arrive to this input or not

function

std::vector< DatatypeHierarchy > getPossibleDatatypes()

Get possible datatypes that can be received

function

void setPossibleDatatypes(std::vector< DatatypeHierarchy > types)

Set possible datatypes that can be received

function

void setReusePreviousMessage(bool reusePreviousMessage)

Equivalent to setWaitForMessage but with inverted logic.

function

bool getReusePreviousMessage()

Equivalent to getWaitForMessage but with inverted logic.

function

void setGroup(std::string group)

Set group name for this input

function

std::string getGroup()

Get group name for this input

function

bool isConnected()

Check if this input is connected

function

std::shared_ptr< InputQueue > createInputQueue(unsigned int maxSize, bool blocking)

function

std::shared_ptr< dai::node::internal::XLinkInBridge > getXLinkBridge()

enum

Type

enumerator

SReceiver

enumerator

MReceiver

struct

dai::Node::InputDescription

variable

std::string name

variable

std::string group

variable

bool blocking

variable

int queueSize

variable

std::vector< DatatypeHierarchy > types DEFAULT_TYPES

variable

bool waitForMessage

class

dai::Node::InputMap

#include Node.hpp

variable

std::string name

function

InputMap(Node & parent, InputDescription defaultInput)

function

InputMap(Node & parent, std::string name, InputDescription defaultInput)

function

Input & operator[](const std::string & key)

function

Input & operator[](std::pair< std::string, std::string > groupKey)

function

bool has(const std::string & key)

class

dai::Node::Output

function

~Output()

inline function

Output(Node & par, OutputDescription desc, bool ref)

inline function

Node & getParent()

inline function

const Node & getParent()

function

std::string toString()

inline function

std::string getName()

Get name of the output

inline function

std::string getGroup()

Get group of the output

inline function

void setGroup(std::string group)

Set group name for this output

inline function

void setName(std::string name)

Set name for this output

inline function

Type getType()

Get type of the output

function

std::vector< DatatypeHierarchy > getPossibleDatatypes()

Get possible datatypes that can be sent

function

void setPossibleDatatypes(std::vector< DatatypeHierarchy > types)

Set possible datatypes that can be sent

function

bool isSamePipeline(const Input & in)

Check if this output and given input are on the same pipeline.

Parameters

canConnect for checking if connection is possible

Returns

True if output and input are on the same pipeline

function

bool canConnect(const Input & in)

Check if connection is possible

Parameters

in: Input to connect to

Returns

True if connection is possible, false otherwise

function

std::vector< ConnectionInternal > getConnections()

Retrieve all connections from this output

Returns

Vector of connections

inline function

std::vector< QueueConnection > getQueueConnections()

Retrieve all queue connections from this output

Returns

Vector of queue connections

function

std::shared_ptr< dai::MessageQueue > createOutputQueue(unsigned int maxSize, bool blocking)

function

void link(Input & in)

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

Parameters

in: Input to link to

function

void link(std::shared_ptr< Node > in)

function

void unlink(Input & in)

Unlink a previously linked connectionThrows an error if not linked.

Parameters

in: Input from which to unlink from

function

void send(const std::shared_ptr< ADatatype > & msg)

Sends a Message to all connected inputs

Parameters

msg: Message to send to all connected inputs

function

bool trySend(const std::shared_ptr< ADatatype > & msg)

Try sending a message to all connected inputs

Parameters

msg: Message to send to all connected inputs

Returns

True if ALL connected inputs got the message, false otherwise

function

std::shared_ptr< dai::node::internal::XLinkOutBridge > getXLinkBridge()

struct

dai::Node::Output::QueueConnection

variable

Output * output

variable

std::shared_ptr< MessageQueue > queue

inline function

bool operator==(const QueueConnection & rhs)

enum

Type

enumerator

MSender

enumerator

SSender

struct

dai::Node::OutputDescription

variable

std::string name

variable

std::string group

variable

std::vector< DatatypeHierarchy > types DEFAULT_TYPES

class

dai::Node::OutputMap

#include Node.hpp

variable

std::string name

function

OutputMap(Node & parent, std::string name, OutputDescription defaultOutput, bool ref)

function

OutputMap(Node & parent, OutputDescription defaultOutput, bool ref)

function

Output & operator[](const std::string & key)

function

Output & operator[](std::pair< std::string, std::string > groupKey)

struct

dai::Node::PairHash

inline function

std::size_t operator()(const std::pair< T1, T2 > & pair)

enum

std::int64_t Id

class

dai::SourceNode

Derived by dai::node::Camera, dai::node::ColorCamera, dai::node::IMU, dai::node::MonoCamera

function

~SourceNode()

function

NodeRecordParams getNodeRecordParams()

function

Node::Output & getRecordOutput()

function

Node::Input & getReplayInput()

class

dai::NodeCRTP

Derived by dai::node::PipelineStateMerge

variable

friend Derived

variable

friend Base

function

~NodeCRTP()

inline function

const char * getName()

struct

dai::NodeConnectionSchema

#include NodeConnectionSchema.hpp

variable

int64_t node1Id

variable

std::string node1OutputGroup

variable

std::string node1Output

variable

int64_t node2Id

variable

std::string node2InputGroup

variable

std::string node2Input

inline function

bool operator==(const NodeConnectionSchema & rhs)

class

dai::NodeGroup

function

NodeGroup()

function

~NodeGroup()

inline function

const char * getName()

struct

dai::NodeIoInfo

#include NodeIoInfo.hpp

variable

std::string group

variable

std::string name

variable

Type type

variable

bool blocking

variable

int queueSize

variable

bool waitForMessage

variable

uint32_t id

enum

Type

enumerator

MSender

enumerator

SSender

enumerator

MReceiver

enumerator

SReceiver

struct

dai::NodeObjInfo

#include NodeObjInfo.hpp

variable

int64_t id

variable

int64_t parentId

variable

std::string name

variable

std::string alias

variable

std::string deviceId

variable

bool deviceNode

variable

std::vector< std::uint8_t > properties

variable

LogLevel logLevel

variable

std::unordered_map< std::tuple< std::string, std::string >, NodeIoInfo, IoInfoKey > ioInfo

struct

dai::NodeObjInfo::IoInfoKey

inline function

std::size_t operator()(const std::tuple< std::string, std::string > & k)

class

dai::PipelineImpl

inline function

PipelineImpl(bool createImplicitDevice)

inline function

PipelineImpl(std::shared_ptr< Device > device)

function

PipelineImpl(const PipelineImpl &)

function

PipelineImpl & operator=(const PipelineImpl &)

function

PipelineImpl(PipelineImpl &&)

function

PipelineImpl & operator=(PipelineImpl &&)

function

~PipelineImpl()

class

dai::Pipeline

#include Pipeline.hpp

inline function

PipelineImpl * impl()

inline function

const PipelineImpl * impl()

inline function

std::vector< std::shared_ptr< Node > > getSourceNodes()

explicit function

Pipeline(bool createImplicitDevice)

Creates a pipeline

Parameters

createImplicitDevice: If true, creates a default device (default = true)

explicit function

Pipeline(std::shared_ptr< Device > device)

Creates a pipeline with specified device

explicit function

Pipeline(std::shared_ptr< PipelineImpl > pimpl)

Creates a pipeline with specified device

inline function

GlobalProperties getGlobalProperties()

Returns

Global properties of current pipeline

inline function

void setGlobalProperties(GlobalProperties globalProperties)

Sets global properties of pipeline

inline function

void setDefaultDeviceProperties(DeviceProperties deviceProperties)

Sets default device properties

inline function

void setDefaultDevicePropertiesRef(DeviceProperties * deviceProperties)

Sets default device properties reference. The properties should live at least as long as the pipeline.

inline function

std::optional< DeviceProperties > getDefaultDeviceProperties()

Gets a copy of default device properties. If pipeline is in host only mode, returns host properties, otherwise returns device properties

function

PipelineSchema getPipelineSchema(SerializationType type, bool includePipelineDebugging)

Returns

Pipeline schema

function

PipelineSchema getDevicePipelineSchema(SerializationType type, bool includePipelineDebugging)

Returns

Device pipeline schema (without host only nodes and connections)

inline function

DepthAI C++ APIView as Markdown

dai

ImgResizeMode

int32_t CameraBoardSocket

int32_t CameraExposureOffset

int32_t CameraImageOrientation

int8_t CameraModel

int32_t CameraSensorType

int32_t Colormap

int32_t ConnectionInterface

int32_t SIPrefix

int32_t LengthUnit

int32_t AngleUnit

DeviceModelZoo

int32_t ExternalFrameSyncRole

int32_t FrameEvent

int32_t HousingCoordinateSystem

std::int32_t Interpolation

int32_t ProcessorType

int32_t UsbSpeed

Platform

std::int32_t LogLevel

NNArchiveConfigVersion

int PipelineAutoCalibrationMode

std::int32_t DatatypeEnum

std::uint32_t ImageFiltersPresetMode

std::uint8_t PointsAnnotationType

uint32_t SpatialLocationCalculatorAlgorithm

std::int32_t IMUSensor

std::int32_t TrackerType

std::int32_t TrackerIdAssignmentPolicy

LockingQueueState

SerializationType

dai::Capability

dai::CapabilityCRTP

dai::CapabilityRange

dai::ImgFrameCapability

dai::CameraSensorConfig

dai::CameraFeatures

dai::CameraInfo

dai::ChipTemperature

dai::ChipTemperatureRVC4

dai::Color

dai::CpuUsage

dai::DetectionParserOptions

dai::EepromData

dai::Extrinsics

dai::ImgTransformation

dai::AccelAxisNoiseParams

dai::GyroAxisNoiseParams

dai::AccelerometerNoiseParams

dai::GyroscopeNoiseParams

dai::ImuNoiseParameters

dai::ImuCalibrationParams

dai::Keypoint

dai::KeypointsList

KeypointsListT< Keypoint > Base

dai::KeypointsListT

KeypointT value_type

typename std::vector< KeypointT >::iterator iterator

typename std::vector< KeypointT >::const_iterator const_iterator

dai::MemoryInfo

dai::Point2f

dai::Point3d

dai::Point3f

dai::Point3fRGBA

dai::Quaterniond

dai::Rect

dai::RotatedRect

dai::Size2f

dai::SpatialKeypoint

dai::SpatialKeypointsList

KeypointsListT< SpatialKeypoint > Base

dai::StereoPair

dai::StereoRectification

dai::TensorInfo

int StorageOrder

int DataType

dai::Timestamp

dai::BoardConfig

DepthAI C++ API