# DepthAI C++ API DepthAI C++ API can be found on Github [luxonis/depthai-core](https://github.com/luxonis/depthai-core). Below is the reference documentation for the C++ API. ### dai Kind: namespace #### dai::bootloader Kind: namespace ##### dai::bootloader::request Kind: namespace ###### dai::bootloader::request::BaseRequest Kind: struct ###### Command cmd Kind: variable ###### BaseRequest(Command command) Kind: function ###### dai::bootloader::request::UsbRomBoot Kind: struct ###### UsbRomBoot() Kind: function ###### dai::bootloader::request::BootApplication Kind: struct ###### BootApplication() Kind: function ###### dai::bootloader::request::UpdateFlash Kind: struct ###### uint32_t Storage Kind: enum ###### SBR Kind: enum_value ###### BOOTLOADER Kind: enum_value ###### Storage storage Kind: variable ###### uint32_t totalSize Kind: variable ###### uint32_t numPackets Kind: variable ###### UpdateFlash() Kind: function ###### dai::bootloader::request::GetBootloaderVersion Kind: struct ###### GetBootloaderVersion() Kind: function ###### dai::bootloader::request::BootMemory Kind: struct ###### uint32_t totalSize Kind: variable ###### uint32_t numPackets Kind: variable ###### BootMemory() Kind: function ###### dai::bootloader::request::UpdateFlashEx Kind: struct ###### Memory memory Kind: variable ###### Section section Kind: variable ###### uint32_t totalSize Kind: variable ###### uint32_t numPackets Kind: variable ###### UpdateFlashEx() Kind: function ###### dai::bootloader::request::UpdateFlashEx2 Kind: struct ###### Memory memory Kind: variable ###### uint32_t offset Kind: variable ###### uint32_t totalSize Kind: variable ###### uint32_t numPackets Kind: variable ###### UpdateFlashEx2() Kind: function ###### dai::bootloader::request::GetBootloaderType Kind: struct ###### GetBootloaderType() Kind: function ###### dai::bootloader::request::SetBootloaderConfig Kind: struct ###### Memory memory Kind: variable ###### int64_t offset Kind: variable ###### uint32_t clearConfig Kind: variable ###### uint32_t totalSize Kind: variable ###### uint32_t numPackets Kind: variable ###### SetBootloaderConfig() Kind: function ###### dai::bootloader::request::GetBootloaderConfig Kind: struct ###### Memory memory Kind: variable ###### int64_t offset Kind: variable ###### uint32_t maxSize Kind: variable ###### GetBootloaderConfig() Kind: function ###### dai::bootloader::request::BootloaderMemory Kind: struct ###### BootloaderMemory() Kind: function ###### dai::bootloader::request::GetBootloaderCommit Kind: struct ###### GetBootloaderCommit() Kind: function ###### dai::bootloader::request::UpdateFlashBootHeader Kind: struct ###### int32_t Type Kind: enum ###### GPIO_MODE Kind: enum_value ###### USB_RECOVERY Kind: enum_value ###### NORMAL Kind: enum_value ###### FAST Kind: enum_value ###### Type type Kind: variable ###### int64_t offset Kind: variable ###### int64_t location Kind: variable ###### int32_t dummyCycles Kind: variable ###### int32_t frequency Kind: variable ###### int32_t gpioMode Kind: variable ###### UpdateFlashBootHeader() Kind: function ###### dai::bootloader::request::ReadFlash Kind: struct ###### Memory memory Kind: variable ###### uint32_t offset Kind: variable ###### uint32_t totalSize Kind: variable ###### ReadFlash() Kind: function ###### dai::bootloader::request::GetApplicationDetails Kind: struct ###### Memory memory Kind: variable ###### GetApplicationDetails() Kind: function ###### dai::bootloader::request::GetMemoryDetails Kind: struct ###### Memory memory Kind: variable ###### GetMemoryDetails() Kind: function ###### dai::bootloader::request::IsUserBootloader Kind: struct ###### IsUserBootloader() Kind: function ###### uint32_t Command Kind: enum ###### USB_ROM_BOOT Kind: enum_value ###### BOOT_APPLICATION Kind: enum_value ###### UPDATE_FLASH Kind: enum_value ###### GET_BOOTLOADER_VERSION Kind: enum_value ###### BOOT_MEMORY Kind: enum_value ###### UPDATE_FLASH_EX Kind: enum_value ###### UPDATE_FLASH_EX_2 Kind: enum_value ###### NO_OP Kind: enum_value ###### GET_BOOTLOADER_TYPE Kind: enum_value ###### SET_BOOTLOADER_CONFIG Kind: enum_value ###### GET_BOOTLOADER_CONFIG Kind: enum_value ###### BOOTLOADER_MEMORY Kind: enum_value ###### GET_BOOTLOADER_COMMIT Kind: enum_value ###### UPDATE_FLASH_BOOT_HEADER Kind: enum_value ###### READ_FLASH Kind: enum_value ###### GET_APPLICATION_DETAILS Kind: enum_value ###### GET_MEMORY_DETAILS Kind: enum_value ###### IS_USER_BOOTLOADER Kind: enum_value ##### dai::bootloader::response Kind: namespace ###### dai::bootloader::response::BaseResponse Kind: struct ###### Command cmd Kind: variable ###### BaseResponse(Command command) Kind: function ###### dai::bootloader::response::FlashComplete Kind: struct ###### uint32_t success Kind: variable ###### char errorMsg Kind: variable ###### FlashComplete() Kind: function ###### dai::bootloader::response::FlashStatusUpdate Kind: struct ###### float progress Kind: variable ###### FlashStatusUpdate() Kind: function ###### dai::bootloader::response::BootloaderVersion Kind: struct ###### uint32_t major Kind: variable ###### uint32_t minor Kind: variable ###### uint32_t patch Kind: variable ###### BootloaderVersion() Kind: function ###### dai::bootloader::response::BootloaderType Kind: struct ###### Type type Kind: variable ###### BootloaderType() Kind: function ###### dai::bootloader::response::GetBootloaderConfig Kind: struct ###### uint32_t success Kind: variable ###### char errorMsg Kind: variable ###### uint32_t totalSize Kind: variable ###### uint32_t numPackets Kind: variable ###### GetBootloaderConfig() Kind: function ###### dai::bootloader::response::BootloaderMemory Kind: struct ###### Memory memory Kind: variable ###### BootloaderMemory() Kind: function ###### dai::bootloader::response::BootApplication Kind: struct ###### uint32_t success Kind: variable ###### char errorMsg Kind: variable ###### BootApplication() Kind: function ###### dai::bootloader::response::BootloaderCommit Kind: struct ###### char commitStr Kind: variable ###### BootloaderCommit() Kind: function ###### dai::bootloader::response::ReadFlash Kind: struct ###### uint32_t success Kind: variable ###### char errorMsg Kind: variable ###### uint32_t totalSize Kind: variable ###### uint32_t numPackets Kind: variable ###### ReadFlash() Kind: function ###### dai::bootloader::response::ApplicationDetails Kind: struct ###### uint32_t success Kind: variable ###### char errorMsg Kind: variable ###### uint32_t hasApplication Kind: variable ###### uint32_t hasFirmwareVersion Kind: variable ###### uint32_t hasApplicationName Kind: variable ###### char firmwareVersionStr Kind: variable ###### char applicationNameStr Kind: variable ###### ApplicationDetails() Kind: function ###### dai::bootloader::response::MemoryDetails Kind: struct ###### uint32_t hasMemory Kind: variable ###### Memory memory Kind: variable ###### int64_t memorySize Kind: variable ###### char memoryInfo Kind: variable ###### MemoryDetails() Kind: function ###### dai::bootloader::response::IsUserBootloader Kind: struct ###### uint32_t isUserBootloader Kind: variable ###### IsUserBootloader() Kind: function ###### dai::bootloader::response::NoOp Kind: struct ###### uint32_t invalidOp Kind: variable ###### NoOp() Kind: function ###### uint32_t Command Kind: enum ###### FLASH_COMPLETE Kind: enum_value ###### FLASH_STATUS_UPDATE Kind: enum_value ###### BOOTLOADER_VERSION Kind: enum_value ###### BOOTLOADER_TYPE Kind: enum_value ###### GET_BOOTLOADER_CONFIG Kind: enum_value ###### BOOTLOADER_MEMORY Kind: enum_value ###### BOOT_APPLICATION Kind: enum_value ###### BOOTLOADER_COMMIT Kind: enum_value ###### READ_FLASH Kind: enum_value ###### APPLICATION_DETAILS Kind: enum_value ###### MEMORY_DETAILS Kind: enum_value ###### IS_USER_BOOTLOADER Kind: enum_value ###### NO_OP Kind: enum_value ##### dai::bootloader::NetworkConfig Kind: struct ###### int timeoutMs Kind: variable If timeout < 0 - waits forever if timeout == 0 - no timeout if timeout > 0 - waits timeout milliseconds ###### std::uint32_t ipv4 Kind: variable ###### std::uint32_t ipv4Mask Kind: variable ###### std::uint32_t ipv4Gateway Kind: variable ###### std::uint32_t ipv4Dns Kind: variable ###### std::uint32_t ipv4DnsAlt Kind: variable ###### bool staticIpv4 Kind: variable ###### std::array< uint32_t, 4 > ipv6 Kind: variable ###### std::uint32_t ipv6Prefix Kind: variable ###### std::array< uint32_t, 4 > ipv6Gateway Kind: variable ###### std::array< uint32_t, 4 > ipv6Dns Kind: variable ###### std::array< uint32_t, 4 > ipv6DnsAlt Kind: variable ###### bool staticIpv6 Kind: variable ###### std::array< uint8_t, 6 > mac Kind: variable ##### dai::bootloader::UsbConfig Kind: struct ###### int timeoutMs Kind: variable If timeout < 0 - waits forever if timeout == 0 - no timeout if timeout > 0 - waits timeout milliseconds ###### int maxUsbSpeed Kind: variable UNKNOWN = 0, LOW, FULL, HIGH, SUPER, SUPER_PLUS ###### uint16_t vid Kind: variable VID/PID pair used by bootloader. ###### uint16_t pid Kind: variable ##### dai::bootloader::Config Kind: struct ###### Memory appMem Kind: variable ###### UsbConfig usb Kind: variable ###### NetworkConfig network Kind: variable ###### uint32_t userBlSize Kind: variable ###### uint32_t userBlChecksum Kind: variable ##### dai::bootloader::Structure Kind: struct ###### std::map< Section, long > offset Kind: variable ###### std::map< Section, long > size Kind: variable ###### Structure() Kind: function ##### dai::bootloader::NetworkBootloaderStructure Kind: struct ###### NetworkBootloaderStructure() Kind: function ##### dai::bootloader::UsbBootloaderStructure Kind: struct ###### UsbBootloaderStructure() Kind: function ##### std::int32_t Memory Kind: enum ###### AUTO Kind: enum_value ###### FLASH Kind: enum_value ###### EMMC Kind: enum_value ##### std::int32_t Section Kind: enum ###### AUTO Kind: enum_value ###### HEADER Kind: enum_value ###### BOOTLOADER Kind: enum_value ###### BOOTLOADER_CONFIG Kind: enum_value ###### APPLICATION Kind: enum_value ###### USER_BOOTLOADER Kind: enum_value ##### std::int32_t Type Kind: enum ###### AUTO Kind: enum_value ###### USB Kind: enum_value ###### NETWORK Kind: enum_value ##### constexpr static const char * XLINK_CHANNEL_BOOTLOADER Kind: variable ##### constexpr static const char * XLINK_CHANNEL_WATCHDOG Kind: variable ##### constexpr static std::uint32_t XLINK_STREAM_MAX_SIZE Kind: variable ##### constexpr static const std::chrono::milliseconds XLINK_WATCHDOG_TIMEOUT Kind: variable ##### DEPTHAI_BOOTLOADER_NLOHMANN_DEFINE_TYPE_OPTIONAL_NON_INTRUSIVE(NetworkConfig, timeoutMs, ipv4, ipv4Mask, ipv4Gateway, ipv4Dns, ipv4DnsAlt, staticIpv4, ipv6, ipv6Prefix, ipv6Gateway, ipv6Dns, ipv6DnsAlt, staticIpv6, mac) Kind: function ##### DEPTHAI_BOOTLOADER_NLOHMANN_DEFINE_TYPE_OPTIONAL_NON_INTRUSIVE(UsbConfig, timeoutMs, maxUsbSpeed, vid, pid) Kind: function ##### DEPTHAI_BOOTLOADER_NLOHMANN_DEFINE_TYPE_OPTIONAL_NON_INTRUSIVE(Config, appMem, usb, network, userBlSize, userBlChecksum) Kind: function ##### const Structure getStructure(Type type) Kind: function #### dai::device Kind: namespace ##### constexpr static const char * XLINK_CHANNEL_PIPELINE_CONFIG Kind: variable ##### constexpr static const char * XLINK_CHANNEL_MAIN_RPC Kind: variable ##### constexpr static const char * XLINK_CHANNEL_TIMESYNC Kind: variable ##### constexpr static const char * XLINK_CHANNEL_LOG Kind: variable ##### constexpr static const char * XLINK_CHANNEL_WATCHDOG Kind: variable ##### constexpr static std::uint32_t XLINK_USB_BUFFER_MAX_SIZE Kind: variable ##### constexpr static const std::chrono::milliseconds XLINK_USB_WATCHDOG_TIMEOUT Kind: variable ##### constexpr static const std::chrono::milliseconds XLINK_TCP_WATCHDOG_TIMEOUT Kind: variable ##### constexpr static const int XLINK_MESSAGE_METADATA_MAX_SIZE Kind: variable #### dai::node Kind: namespace ##### dai::node::AprilTag Kind: class AprilTag node. ###### AprilTagConfig initialConfig Kind: variable Initial config to use when calculating spatial location data. ###### Input inputConfig Kind: variable Input AprilTagConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4. ###### Input inputImage Kind: variable Input message with depth data used to retrieve spatial information about detected object. Default queue is non-blocking with size 4. ###### Output out Kind: variable Outputs AprilTags message that carries spatial location results. ###### Output outConfig Kind: variable Outputs AprilTagConfig message that contains current configuration. ###### Output passthroughInputImage Kind: variable Passthrough message on which the calculation was performed. Suitable for when input queue is set to non-blocking behavior. ###### AprilTag(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### AprilTag(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### void setWaitForConfigInput(bool wait) Kind: function Specify whether or not wait until configuration message arrives to inputConfig Input. parameters: wait: True to wait for configuration message, false otherwise. ##### dai::node::Camera Kind: class Camera node. Experimental node, for both mono and color types of sensors. ###### CameraControl initialControl Kind: variable Initial control options to apply to sensor ###### Input inputConfig Kind: variable Input for ImageManipConfig message, which can modify crop parameters in runtime Default queue is non-blocking with size 8 ###### Input inputControl Kind: variable Input for CameraControl message, which can modify camera parameters in runtime Default queue is blocking with size 8 ###### Output video Kind: variable Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data. Suitable for use with VideoEncoder node ###### Output preview Kind: variable Outputs ImgFrame message that carries BGR/RGB planar/interleaved encoded frame data. Suitable for use with NeuralNetwork node ###### Output still Kind: variable Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data. The message is sent only when a CameraControl message arrives to inputControl with captureStill command set. ###### Output isp Kind: variable Outputs ImgFrame message that carries YUV420 planar (I420/IYUV) frame data. Generated by the ISP engine, and the source for the 'video', 'preview' and 'still' outputs ###### Output raw Kind: variable Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data. Captured directly from the camera sensor, and the source for the 'isp' output. ###### Output frameEvent Kind: variable Outputs metadata-only ImgFrame message as an early indicator of an incoming frame. It's sent on the MIPI SoF (start-of-frame) event, just after the exposure of the current frame has finished and before the exposure for next frame starts. Could be used to synchronize various processes with camera capture. Fields populated: camera id, sequence number, timestamp ###### Camera(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function Constructs Camera node. ###### Camera(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### void setBoardSocket(CameraBoardSocket boardSocket) Kind: function Specify which board socket to use parameters: boardSocket: Board socket to use ###### CameraBoardSocket getBoardSocket() Kind: function Retrieves which board socket to use return: Board socket to use ###### void setCamera(std::string name) Kind: function Specify which camera to use by name parameters: name: Name of the camera to use ###### std::string getCamera() Kind: function Retrieves which camera to use by name return: Name of the camera to use ###### void setImageOrientation(CameraImageOrientation imageOrientation) Kind: function Set camera image orientation. ###### CameraImageOrientation getImageOrientation() Kind: function Get camera image orientation. ###### void setSize(std::tuple< int, int > size) Kind: function Set desired resolution. Sets sensor size to best fit. ###### void setSize(int width, int height) Kind: function Set desired resolution. Sets sensor size to best fit. ###### void setPreviewSize(int width, int height) Kind: function Set preview output size. ###### void setPreviewSize(std::tuple< int, int > size) Kind: function Set preview output size, as a tuple ###### void setVideoSize(int width, int height) Kind: function Set video output size. ###### void setVideoSize(std::tuple< int, int > size) Kind: function Set video output size, as a tuple ###### void setStillSize(int width, int height) Kind: function Set still output size. ###### void setStillSize(std::tuple< int, int > size) Kind: function Set still output size, as a tuple ###### void setFps(float fps) Kind: function Set rate at which camera should produce frames parameters: fps: Rate in frames per second ###### void setIsp3aFps(int isp3aFps) Kind: function Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.). Default (0) matches the camera FPS, meaning that 3A is running on each frame. Reducing the rate of 3A reduces the CPU usage on CSS, but also increases the convergence rate of 3A. Note that camera controls will be processed at this rate. E.g. if camera is running at 30 fps, and camera control is sent at every frame, but 3A fps is set to 15, the camera control messages will be processed at 15 fps rate, which will lead to queueing. ###### float getFps() Kind: function Get rate at which camera should produce frames return: Rate in frames per second ###### std::tuple< int, int > getPreviewSize() Kind: function Get preview size as tuple. ###### int getPreviewWidth() Kind: function Get preview width. ###### int getPreviewHeight() Kind: function Get preview height. ###### std::tuple< int, int > getVideoSize() Kind: function Get video size as tuple. ###### int getVideoWidth() Kind: function Get video width. ###### int getVideoHeight() Kind: function Get video height. ###### std::tuple< int, int > getStillSize() Kind: function Get still size as tuple. ###### int getStillWidth() Kind: function Get still width. ###### int getStillHeight() Kind: function Get still height. ###### std::tuple< int, int > getSize() Kind: function Get sensor resolution as size. ###### int getWidth() Kind: function Get sensor resolution width. ###### int getHeight() Kind: function Get sensor resolution height. ###### void setMeshSource(Properties::WarpMeshSource source) Kind: function Set the source of the warp mesh or disable. ###### Properties::WarpMeshSource getMeshSource() Kind: function Gets the source of the warp mesh. ###### void loadMeshFile(const dai::Path & warpMesh) Kind: function Specify local filesystem paths to the undistort mesh calibration files. When a mesh calibration is set, it overrides the camera intrinsics/extrinsics matrices. Overrides useHomographyRectification behavior. Mesh format: a sequence of (y,x) points as 'float' with coordinates from the input image to be mapped in the output. The mesh can be subsampled, configured by With a 1280x800 resolution and the default (16,16) step, the required mesh size is: width: 1280 / 16 + 1 = 81 height: 800 / 16 + 1 = 51 ###### void loadMeshData(span< const std::uint8_t > warpMesh) Kind: function Specify mesh calibration data for undistortion See ###### void setMeshStep(int width, int height) Kind: function Set the distance between mesh points. Default: (32, 32) ###### std::tuple< int, int > getMeshStep() Kind: function Gets the distance between mesh points. ###### void setCalibrationAlpha(float alpha) Kind: function Set calibration alpha parameter that determines FOV of undistorted frames. ###### tl::optional< float > getCalibrationAlpha() Kind: function Get calibration alpha parameter that determines FOV of undistorted frames. ###### void setRawOutputPacked(bool packed) Kind: function Configures whether the camera ToF . ##### dai::node::Cast Kind: class Cast node. ###### Input input Kind: variable Input NNData or ImgFrame message. ###### Output output Kind: variable Output ImgFrame message. ###### Output passthroughInput Kind: variable Passthrough input message. ###### Cast(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### Cast(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### Cast & setNumFramesPool(int numFramesPool) Kind: function Set number of frames in pool parameters: numFramesPool: Number of frames in pool ###### Cast & setOutputFrameType(dai::RawImgFrame::Type outputType) Kind: function Set output frame type parameters: outputType: Output frame type ###### Cast & setScale(float scale) Kind: function Set scale parameters: scale: Scale ###### Cast & setOffset(float offset) Kind: function Set offset parameters: offset: Offset ##### dai::node::ColorCamera Kind: class ColorCamera node. For use with color sensors. ###### CameraControl initialControl Kind: variable Initial control options to apply to sensor ###### Input inputConfig Kind: variable Input for ImageManipConfig message, which can modify crop parameters in runtime Default queue is non-blocking with size 8 ###### Input inputControl Kind: variable Input for CameraControl message, which can modify camera parameters in runtime Default queue is blocking with size 8 ###### Output video Kind: variable Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data. Suitable for use with VideoEncoder node ###### Output preview Kind: variable Outputs ImgFrame message that carries BGR/RGB planar/interleaved encoded frame data. Suitable for use with NeuralNetwork node ###### Output still Kind: variable Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data. The message is sent only when a CameraControl message arrives to inputControl with captureStill command set. ###### Output isp Kind: variable Outputs ImgFrame message that carries YUV420 planar (I420/IYUV) frame data. Generated by the ISP engine, and the source for the 'video', 'preview' and 'still' outputs ###### Output raw Kind: variable Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data. Captured directly from the camera sensor, and the source for the 'isp' output. ###### Output frameEvent Kind: variable Outputs metadata-only ImgFrame message as an early indicator of an incoming frame. It's sent on the MIPI SoF (start-of-frame) event, just after the exposure of the current frame has finished and before the exposure for next frame starts. Could be used to synchronize various processes with camera capture. Fields populated: camera id, sequence number, timestamp ###### ColorCamera(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function Constructs ColorCamera node. ###### ColorCamera(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### int getScaledSize(int input, int num, int denom) Kind: function Computes the scaled size given numerator and denominator ###### void setBoardSocket(CameraBoardSocket boardSocket) Kind: function Specify which board socket to use parameters: boardSocket: Board socket to use ###### CameraBoardSocket getBoardSocket() Kind: function Retrieves which board socket to use return: Board socket to use ###### void setCamera(std::string name) Kind: function Specify which camera to use by name parameters: name: Name of the camera to use ###### std::string getCamera() Kind: function Retrieves which camera to use by name return: Name of the camera to use ###### void setCamId(int64_t id) Kind: function Set which color camera to use. ###### int64_t getCamId() Kind: function Get which color camera to use. ###### void setImageOrientation(CameraImageOrientation imageOrientation) Kind: function Set camera image orientation. ###### CameraImageOrientation getImageOrientation() Kind: function Get camera image orientation. ###### void setColorOrder(ColorCameraProperties::ColorOrder colorOrder) Kind: function Set color order of preview output images. RGB or BGR. ###### ColorCameraProperties::ColorOrder getColorOrder() Kind: function Get color order of preview output frames. RGB or BGR. ###### void setInterleaved(bool interleaved) Kind: function Set planar or interleaved data of preview output frames. ###### bool getInterleaved() Kind: function Get planar or interleaved data of preview output frames. ###### void setFp16(bool fp16) Kind: function Set fp16 (0..255) data type of preview output frames. ###### bool getFp16() Kind: function Get fp16 (0..255) data of preview output frames. ###### void setPreviewSize(int width, int height) Kind: function Set preview output size. ###### void setPreviewSize(std::tuple< int, int > size) Kind: function Set preview output size, as a tuple ###### void setPreviewNumFramesPool(int num) Kind: function Set number of frames in preview pool. ###### void setVideoSize(int width, int height) Kind: function Set video output size. ###### void setVideoSize(std::tuple< int, int > size) Kind: function Set video output size, as a tuple ###### void setVideoNumFramesPool(int num) Kind: function Set number of frames in preview pool. ###### void setStillSize(int width, int height) Kind: function Set still output size. ###### void setStillSize(std::tuple< int, int > size) Kind: function Set still output size, as a tuple ###### void setStillNumFramesPool(int num) Kind: function Set number of frames in preview pool. ###### void setResolution(Properties::SensorResolution resolution) Kind: function Set sensor resolution. ###### Properties::SensorResolution getResolution() Kind: function Get sensor resolution. ###### void setRawNumFramesPool(int num) Kind: function Set number of frames in raw pool. ###### void setIspNumFramesPool(int num) Kind: function Set number of frames in isp pool. ###### void setNumFramesPool(int raw, int isp, int preview, int video, int still) Kind: function Set number of frames in all pools. ###### void setIspScale(int numerator, int denominator) Kind: function Set 'isp' output scaling (numerator/denominator), preserving the aspect ratio. The fraction numerator/denominator is simplified first to a irreducible form, then a set of hardware scaler constraints applies: max numerator = 16, max denominator = 63 ###### void setIspScale(std::tuple< int, int > scale) Kind: function Set 'isp' output scaling, as a tuple ###### void setIspScale(int horizNum, int horizDenom, int vertNum, int vertDenom) Kind: function Set 'isp' output scaling, per each direction. If the horizontal scaling factor (horizNum/horizDen) is different than the vertical scaling factor (vertNum/vertDen), a distorted (stretched or squished) image is generated ###### void setIspScale(std::tuple< int, int > horizScale, std::tuple< int, int > vertScale) Kind: function Set 'isp' output scaling, per each direction, as tuples. ###### void setFps(float fps) Kind: function Set rate at which camera should produce frames parameters: fps: Rate in frames per second ###### void setIsp3aFps(int isp3aFps) Kind: function Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.). Default (0) matches the camera FPS, meaning that 3A is running on each frame. Reducing the rate of 3A reduces the CPU usage on CSS, but also increases the convergence rate of 3A. Note that camera controls will be processed at this rate. E.g. if camera is running at 30 fps, and camera control is sent at every frame, but 3A fps is set to 15, the camera control messages will be processed at 15 fps rate, which will lead to queueing. ###### void setFrameEventFilter(const std::vector< dai::FrameEvent > & events) Kind: function ###### std::vector< dai::FrameEvent > getFrameEventFilter() Kind: function ###### float getFps() Kind: function Get rate at which camera should produce frames return: Rate in frames per second ###### std::tuple< int, int > getPreviewSize() Kind: function Get preview size as tuple. ###### int getPreviewWidth() Kind: function Get preview width. ###### int getPreviewHeight() Kind: function Get preview height. ###### std::tuple< int, int > getVideoSize() Kind: function Get video size as tuple. ###### int getVideoWidth() Kind: function Get video width. ###### int getVideoHeight() Kind: function Get video height. ###### std::tuple< int, int > getStillSize() Kind: function Get still size as tuple. ###### int getStillWidth() Kind: function Get still width. ###### int getStillHeight() Kind: function Get still height. ###### std::tuple< int, int > getResolutionSize() Kind: function Get sensor resolution as size. ###### int getResolutionWidth() Kind: function Get sensor resolution width. ###### int getResolutionHeight() Kind: function Get sensor resolution height. ###### std::tuple< int, int > getIspSize() Kind: function Get 'isp' output resolution as size, after scaling. ###### int getIspWidth() Kind: function Get 'isp' output width. ###### int getIspHeight() Kind: function Get 'isp' output height. ###### void sensorCenterCrop() Kind: function Specify sensor center crop. Resolution size / video size ###### void setSensorCrop(float x, float y) Kind: function Specifies the cropping that happens when converting ISP to video output. By default, video will be center cropped from the ISP output. Note that this doesn't actually do on-sensor cropping (and MIPI-stream only that region), but it does postprocessing on the ISP (on RVC). parameters: x: Top left X coordinate; y: Top left Y coordinate ###### std::tuple< float, float > getSensorCrop() Kind: function return: Sensor top left crop coordinates ###### float getSensorCropX() Kind: function Get sensor top left x crop coordinate. ###### float getSensorCropY() Kind: function Get sensor top left y crop coordinate. ###### void setWaitForConfigInput(bool wait) Kind: function Specify to wait until inputConfig receives a configuration message, before sending out a frame. parameters: wait: True to wait for inputConfig message, false otherwise ###### bool getWaitForConfigInput() Kind: function see: setWaitForConfigInput return: True if wait for inputConfig message, false otherwise ###### void setPreviewKeepAspectRatio(bool keep) Kind: function Specifies whether preview output should preserve aspect ratio, after downscaling from video size or not. parameters: keep: If true, a larger crop region will be considered to still be able to create the final image in the specified aspect ratio. Otherwise video size is resized to fit preview size ###### bool getPreviewKeepAspectRatio() Kind: function see: setPreviewKeepAspectRatio return: Preview keep aspect ratio option ###### int getPreviewNumFramesPool() Kind: function Get number of frames in preview pool. ###### int getVideoNumFramesPool() Kind: function Get number of frames in video pool. ###### int getStillNumFramesPool() Kind: function Get number of frames in still pool. ###### int getRawNumFramesPool() Kind: function Get number of frames in raw pool. ###### int getIspNumFramesPool() Kind: function Get number of frames in isp pool. ###### void setRawOutputPacked(bool packed) Kind: function Configures whether the camera ToF . ##### dai::node::DetectionNetwork Kind: class DetectionNetwork , base for different network specializations. ###### Output out Kind: variable Outputs ImgDetections message that carries parsed detection results. Overrides NeuralNetwork 'out' with ImgDetections output message type. ###### Output outNetwork Kind: variable Outputs unparsed inference results. ###### void setConfidenceThreshold(float thresh) Kind: function Specifies confidence threshold at which to filter the rest of the detections. parameters: thresh: Detection confidence must be greater than specified threshold to be added to the list ###### float getConfidenceThreshold() Kind: function Retrieves threshold at which to filter the rest of the detections. return: Detection confidence ##### dai::node::MobileNetDetectionNetwork Kind: class MobileNetDetectionNetwork node. Parses MobileNet results. ###### MobileNetDetectionNetwork(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### MobileNetDetectionNetwork(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ##### dai::node::YoloDetectionNetwork Kind: class YoloDetectionNetwork node. Parses Yolo results. ###### YoloDetectionNetwork(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### YoloDetectionNetwork(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### void setNumClasses(int numClasses) Kind: function Set num classes. ###### void setCoordinateSize(int coordinates) Kind: function Set coordianate size. ###### void setAnchors(std::vector< float > anchors) Kind: function Set anchors. ###### void setAnchorMasks(std::map< std::string, std::vector< int >> anchorMasks) Kind: function Set anchor masks. ###### void setIouThreshold(float thresh) Kind: function Set Iou threshold. ###### int getNumClasses() Kind: function Get num classes. ###### int getCoordinateSize() Kind: function Get coordianate size. ###### std::vector< float > getAnchors() Kind: function Get anchors. ###### std::map< std::string, std::vector< int > > getAnchorMasks() Kind: function Get anchor masks. ###### float getIouThreshold() Kind: function Get Iou threshold. ##### dai::node::DetectionParser Kind: class DetectionParser node. Parses detection results from different neural networks and is being used internally by MobileNetDetectionNetwork and YoloDetectionNetwork . ###### Input input Kind: variable Input NN results with detection data to parse Default queue is blocking with size 5 ###### Output out Kind: variable Outputs image frame with detected edges ###### DetectionParser(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### DetectionParser(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### void setNumFramesPool(int numFramesPool) Kind: function Specify number of frames in pool. parameters: numFramesPool: How many frames should the pool have ###### int getNumFramesPool() Kind: function Returns number of frames in pool ###### void setBlob(const OpenVINO::Blob & blob) Kind: function Retrieves some input tensor information from the blob parameters: blob: OpenVINO blob to retrieve the information from ###### void setNNFamily(DetectionNetworkType type) Kind: function Sets NN Family to parse ###### DetectionNetworkType getNNFamily() Kind: function Gets NN Family to parse ###### void setConfidenceThreshold(float thresh) Kind: function Specifies confidence threshold at which to filter the rest of the detections. parameters: thresh: Detection confidence must be greater than specified threshold to be added to the list ###### float getConfidenceThreshold() Kind: function Retrieves threshold at which to filter the rest of the detections. return: Detection confidence ###### void setNumClasses(int numClasses) Kind: function Set num classes. ###### void setCoordinateSize(int coordinates) Kind: function Set coordianate size. ###### void setAnchors(std::vector< float > anchors) Kind: function Set anchors. ###### void setAnchorMasks(std::map< std::string, std::vector< int >> anchorMasks) Kind: function Set anchor masks. ###### void setIouThreshold(float thresh) Kind: function Set Iou threshold. ###### int getNumClasses() Kind: function Get num classes. ###### int getCoordinateSize() Kind: function Get coordianate size. ###### std::vector< float > getAnchors() Kind: function Get anchors. ###### std::map< std::string, std::vector< int > > getAnchorMasks() Kind: function Get anchor masks. ###### float getIouThreshold() Kind: function Get Iou threshold. ##### dai::node::EdgeDetector Kind: class EdgeDetector node. Performs edge detection using 3x3 Sobel filter. ###### EdgeDetectorConfig initialConfig Kind: variable Initial config to use for edge detection. ###### Input inputConfig Kind: variable Input EdgeDetectorConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4. ###### Input inputImage Kind: variable Input image on which edge detection is performed. Default queue is non-blocking with size 4. ###### Output outputImage Kind: variable Outputs image frame with detected edges ###### Output passthroughInputImage Kind: variable Passthrough message on which the calculation was performed. ###### EdgeDetector(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### EdgeDetector(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### void setWaitForConfigInput(bool wait) Kind: function Specify whether or not wait until configuration message arrives to inputConfig Input. parameters: wait: True to wait for configuration message, false otherwise. ###### bool getWaitForConfigInput() Kind: function see: setWaitForConfigInput return: True if wait for inputConfig message, false otherwise ###### void setNumFramesPool(int numFramesPool) Kind: function Specify number of frames in pool. parameters: numFramesPool: How many frames should the pool have ###### void setMaxOutputFrameSize(int maxFrameSize) Kind: function Specify maximum size of output image. parameters: maxFrameSize: Maximum frame size in bytes ##### dai::node::FeatureTracker Kind: class FeatureTracker node. Performs feature tracking and reidentification using motion estimation between 2 consecutive frames. ###### FeatureTrackerConfig initialConfig Kind: variable Initial config to use for feature tracking. ###### Input inputConfig Kind: variable Input FeatureTrackerConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4. ###### Input inputImage Kind: variable Input message with frame data on which feature tracking is performed. Default queue is non-blocking with size 4. ###### Output outputFeatures Kind: variable Outputs TrackedFeatures message that carries tracked features results. ###### Output passthroughInputImage Kind: variable Passthrough message on which the calculation was performed. Suitable for when input queue is set to non-blocking behavior. ###### FeatureTracker(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### FeatureTracker(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### void setWaitForConfigInput(bool wait) Kind: function Specify whether or not wait until configuration message arrives to inputConfig Input. parameters: wait: True to wait for configuration message, false otherwise. ###### bool getWaitForConfigInput() Kind: function see: setWaitForConfigInput return: True if wait for inputConfig message, false otherwise ###### void setHardwareResources(int numShaves, int numMemorySlices) Kind: function Specify allocated hardware resources for feature tracking. 2 shaves/memory slices are required for optical flow, 1 for corner detection only. parameters: numShaves: Number of shaves. Maximum 2.; numMemorySlices: Number of memory slices. Maximum 2. ##### dai::node::IMU Kind: class IMU node for BNO08X. ###### Output out Kind: variable Outputs IMUData message that carries IMU packets. ###### IMU(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function Constructs IMU node. ###### IMU(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### void enableIMUSensor(IMUSensorConfig sensorConfig) Kind: function Enable a new IMU sensor with explicit configuration ###### void enableIMUSensor(const std::vector< IMUSensorConfig > & sensorConfigs) Kind: function Enable a list of IMU sensors with explicit configuration ###### void enableIMUSensor(IMUSensor sensor, uint32_t reportRate) Kind: function Enable a new IMU sensor with default configuration ###### void enableIMUSensor(const std::vector< IMUSensor > & sensors, uint32_t reportRate) Kind: function Enable a list of IMU sensors with default configuration ###### void setBatchReportThreshold(std::int32_t batchReportThreshold) Kind: function Above this packet threshold data will be sent to host, if queue is not blocked ###### std::int32_t getBatchReportThreshold() Kind: function Above this packet threshold data will be sent to host, if queue is not blocked ###### void setMaxBatchReports(std::int32_t maxBatchReports) Kind: function Maximum number of IMU packets in a batch report ###### std::int32_t getMaxBatchReports() Kind: function Maximum number of IMU packets in a batch report ###### void enableFirmwareUpdate(bool enable) Kind: function ##### dai::node::ImageAlign Kind: class ImageAlign node. Calculates spatial location data on a set of ROIs on depth map. ###### ImageAlignConfig initialConfig Kind: variable Initial config to use when calculating spatial location data. ###### Input inputConfig Kind: variable Input message with ability to modify parameters in runtime. Default queue is non-blocking with size 4. ###### Input input Kind: variable Input message. Default queue is non-blocking with size 4. ###### Input inputAlignTo Kind: variable Input align to message. Default queue is non-blocking with size 1. ###### Output outputAligned Kind: variable Outputs ImgFrame message that is aligned to inputAlignTo. ###### Output passthroughInput Kind: variable Passthrough message on which the calculation was performed. Suitable for when input queue is set to non-blocking behavior. ###### ImageAlign(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### ImageAlign(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### ImageAlign & setOutputSize(int alignWidth, int alignHeight) Kind: function Specify the output size of the aligned image ###### ImageAlign & setOutKeepAspectRatio(bool keep) Kind: function Specify whether to keep aspect ratio when resizing ###### ImageAlign & setInterpolation(Interpolation interp) Kind: function Specify interpolation method to use when resizing ###### ImageAlign & setNumShaves(int numShaves) Kind: function Specify number of shaves to use for this node ###### ImageAlign & setNumFramesPool(int numFramesPool) Kind: function Specify number of frames in the pool ##### dai::node::ImageManip Kind: class ImageManip node. Capability to crop, resize, warp, ... incoming image frames. ###### ImageManipConfig initialConfig Kind: variable Initial config to use when manipulating frames ###### Input inputConfig Kind: variable Input ImageManipConfig message with ability to modify parameters in runtime Default queue is blocking with size 8 ###### Input inputImage Kind: variable Input image to be modified Default queue is blocking with size 8 ###### Output out Kind: variable Outputs ImgFrame message that carries modified image. ###### ImageManip(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### ImageManip(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### void setCropRect(float xmin, float ymin, float xmax, float ymax) Kind: function ###### void setCenterCrop(float ratio, float whRatio) Kind: function ###### void setResize(int w, int h) Kind: function ###### void setResizeThumbnail(int w, int h, int bgRed, int bgGreen, int bgBlue) Kind: function ###### void setFrameType(ImgFrame::Type name) Kind: function ###### void setHorizontalFlip(bool flip) Kind: function ###### void setKeepAspectRatio(bool keep) Kind: function ###### void setWaitForConfigInput(bool wait) Kind: function Specify whether or not wait until configuration message arrives to inputConfig Input. parameters: wait: True to wait for configuration message, false otherwise. ###### bool getWaitForConfigInput() Kind: function see: setWaitForConfigInput return: True if wait for inputConfig message, false otherwise ###### void setNumFramesPool(int numFramesPool) Kind: function Specify number of frames in pool. parameters: numFramesPool: How many frames should the pool have ###### void setMaxOutputFrameSize(int maxFrameSize) Kind: function Specify maximum size of output image. parameters: maxFrameSize: Maximum frame size in bytes ###### void setWarpMesh(const std::vector< Point2f > & meshData, int width, int height) Kind: function Set a custom warp mesh parameters: meshData: 2D plane of mesh points, starting from top left to bottom right; width: Width of mesh; height: Height of mesh ###### void setWarpMesh(const std::vector< std::pair< float, float >> & meshData, int width, int height) Kind: function ##### dai::node::MessageDemux Kind: class ###### Input input Kind: variable Input message of type MessageGroup ###### OutputMap outputs Kind: variable A map of outputs, where keys are same as in the input MessageGroup ###### MessageDemux(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### MessageDemux(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### void setProcessor(ProcessorType type) Kind: function Set on which processor the node should run parameters: type: Processor type - Leon CSS or Leon MSS ###### ProcessorType getProcessor() Kind: function Get on which processor the node should run return: Processor type - Leon CSS or Leon MSS ##### dai::node::MonoCamera Kind: class MonoCamera node. For use with grayscale sensors. ###### CameraControl initialControl Kind: variable Initial control options to apply to sensor ###### Input inputControl Kind: variable Input for CameraControl message, which can modify camera parameters in runtime Default queue is blocking with size 8 ###### Output out Kind: variable Outputs ImgFrame message that carries RAW8 encoded (grayscale) frame data. Suitable for use StereoDepth node. Processed by ISP ###### Output raw Kind: variable Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data. Captured directly from the camera sensor ###### Output frameEvent Kind: variable Outputs metadata-only ImgFrame message as an early indicator of an incoming frame. It's sent on the MIPI SoF (start-of-frame) event, just after the exposure of the current frame has finished and before the exposure for next frame starts. Could be used to synchronize various processes with camera capture. Fields populated: camera id, sequence number, timestamp ###### MonoCamera(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### MonoCamera(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### void setBoardSocket(CameraBoardSocket boardSocket) Kind: function Specify which board socket to use parameters: boardSocket: Board socket to use ###### CameraBoardSocket getBoardSocket() Kind: function Retrieves which board socket to use return: Board socket to use ###### void setCamera(std::string name) Kind: function Specify which camera to use by name parameters: name: Name of the camera to use ###### std::string getCamera() Kind: function Retrieves which camera to use by name return: Name of the camera to use ###### void setCamId(int64_t id) Kind: function ###### int64_t getCamId() Kind: function ###### void setImageOrientation(CameraImageOrientation imageOrientation) Kind: function Set camera image orientation. ###### CameraImageOrientation getImageOrientation() Kind: function Get camera image orientation. ###### void setResolution(Properties::SensorResolution resolution) Kind: function Set sensor resolution. ###### Properties::SensorResolution getResolution() Kind: function Get sensor resolution. ###### void setFrameEventFilter(const std::vector< dai::FrameEvent > & events) Kind: function ###### std::vector< dai::FrameEvent > getFrameEventFilter() Kind: function ###### void setFps(float fps) Kind: function Set rate at which camera should produce frames parameters: fps: Rate in frames per second ###### void setIsp3aFps(int isp3aFps) Kind: function Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.). Default (0) matches the camera FPS, meaning that 3A is running on each frame. Reducing the rate of 3A reduces the CPU usage on CSS, but also increases the convergence rate of 3A. Note that camera controls will be processed at this rate. E.g. if camera is running at 30 fps, and camera control is sent at every frame, but 3A fps is set to 15, the camera control messages will be processed at 15 fps rate, which will lead to queueing. ###### float getFps() Kind: function Get rate at which camera should produce frames return: Rate in frames per second ###### std::tuple< int, int > getResolutionSize() Kind: function Get sensor resolution as size. ###### int getResolutionWidth() Kind: function Get sensor resolution width. ###### int getResolutionHeight() Kind: function Get sensor resolution height. ###### void setNumFramesPool(int num) Kind: function Set number of frames in main (ISP output) pool. ###### void setRawNumFramesPool(int num) Kind: function Set number of frames in raw pool. ###### int getNumFramesPool() Kind: function Get number of frames in main (ISP output) pool. ###### int getRawNumFramesPool() Kind: function Get number of frames in raw pool. ###### void setRawOutputPacked(bool packed) Kind: function Configures whether the camera ToF . ##### dai::node::NeuralNetwork Kind: class NeuralNetwork node. Runs a neural inference on input data. ###### Input input Kind: variable Input message with data to be inferred upon Default queue is blocking with size 5 ###### Output out Kind: variable Outputs NNData message that carries inference results ###### Output passthrough Kind: variable Passthrough message on which the inference was performed. Suitable for when input queue is set to non-blocking behavior. ###### InputMap inputs Kind: variable Inputs mapped to network inputs. Useful for inferring from separate data sources Default input is non-blocking with queue size 1 and waits for messages ###### OutputMap passthroughs Kind: variable Passthroughs which correspond to specified input ###### NeuralNetwork(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### NeuralNetwork(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### void setBlobPath(const dai::Path & path) Kind: function Load network blob into assets and use once pipeline is started. parameters: Error: if file doesn't exist or isn't a valid network blob. parameters: path: Path to network blob ###### void setBlob(OpenVINO::Blob blob) Kind: function Load network blob into assets and use once pipeline is started. parameters: blob: Network blob ###### void setBlob(const dai::Path & path) Kind: function Same functionality as the setBlobPath() . Load network blob into assets and use once pipeline is started. parameters: Error: if file doesn't exist or isn't a valid network blob. parameters: path: Path to network blob ###### void setNumPoolFrames(int numFrames) Kind: function Specifies how many frames will be available in the pool parameters: numFrames: How many frames will pool have ###### void setNumInferenceThreads(int numThreads) Kind: function How many threads should the node use to run the network. parameters: numThreads: Number of threads to dedicate to this node ###### void setNumNCEPerInferenceThread(int numNCEPerThread) Kind: function How many Neural Compute Engines should a single thread use for inference parameters: numNCEPerThread: Number of NCE per thread ###### int getNumInferenceThreads() Kind: function How many inference threads will be used to run the network return: Number of threads, 0, 1 or 2. Zero means AUTO ##### dai::node::ObjectTracker Kind: class ObjectTracker node. Performs object tracking using Kalman filter and hungarian algorithm. ###### Input inputTrackerFrame Kind: variable Input ImgFrame message on which tracking will be performed. RGBp, BGRp, NV12, YUV420p types are supported. Default queue is non-blocking with size 4. ###### Input inputDetectionFrame Kind: variable Input ImgFrame message on which object detection was performed. Default queue is non-blocking with size 4. ###### Input inputDetections Kind: variable Input message with image detection from neural network. Default queue is non-blocking with size 4. ###### Input inputConfig Kind: variable Input ObjectTrackerConfig message with ability to modify parameters at runtime. Default queue is non-blocking with size 4. ###### Output out Kind: variable Outputs Tracklets message that carries object tracking results. ###### Output passthroughTrackerFrame Kind: variable Passthrough ImgFrame message on which tracking was performed. Suitable for when input queue is set to non-blocking behavior. ###### Output passthroughDetectionFrame Kind: variable Passthrough ImgFrame message on which object detection was performed. Suitable for when input queue is set to non-blocking behavior. ###### Output passthroughDetections Kind: variable Passthrough image detections message from neural network output. Suitable for when input queue is set to non-blocking behavior. ###### ObjectTracker(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### ObjectTracker(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### void setTrackerThreshold(float threshold) Kind: function Specify tracker threshold. parameters: threshold: Above this threshold the detected objects will be tracked. Default 0, all image detections are tracked. ###### void setMaxObjectsToTrack(std::int32_t maxObjectsToTrack) Kind: function Specify maximum number of object to track. parameters: maxObjectsToTrack: Maximum number of object to track. Maximum 60 in case of SHORT_TERM_KCF, otherwise 1000. ###### void setDetectionLabelsToTrack(std::vector< std::uint32_t > labels) Kind: function Specify detection labels to track. parameters: labels: Detection labels to track. Default every label is tracked from image detection network output. ###### void setTrackerType(TrackerType type) Kind: function Specify tracker type algorithm. parameters: type: Tracker type. ###### void setTrackerIdAssignmentPolicy(TrackerIdAssignmentPolicy type) Kind: function Specify tracker ID assignment policy. parameters: type: Tracker ID assignment policy. ###### void setTrackingPerClass(bool trackingPerClass) Kind: function Whether tracker should take into consideration class label for tracking. ###### void setOcclusionRatioThreshold(float occlusionRatioThreshold) Kind: function Specify occlusion ratio threshold. parameters: occlusionRatioThreshold: Occlusion ratio threshold. Used to filter out overlapping tracklets. Default 0.4. ###### void setTrackletMaxLifespan(uint32_t lifespan) Kind: function Specify tracklet lifespan. parameters: lifespan: Tracklet lifespan in number of frames. Number of frames after which a LOST tracklet is removed. Default 120. ###### void setTrackletBirthThreshold(uint32_t birthThreshold) Kind: function Specify tracklet birth threshold. parameters: threshold: Tracklet birth threshold. Minimum consecutive tracked frames required to consider a tracklet as a new instance. Default 3. ##### dai::node::PointCloud Kind: class PointCloud node. Computes point cloud from depth frames. ###### PointCloudConfig initialConfig Kind: variable Initial config to use when computing the point cloud. ###### Input inputConfig Kind: variable Input PointCloudConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4. ###### Input inputDepth Kind: variable Input message with depth data used to create the point cloud. Default queue is non-blocking with size 4. ###### Output outputPointCloud Kind: variable Outputs PointCloudData message ###### Output passthroughDepth Kind: variable Passthrough depth from which the point cloud was calculated. Suitable for when input queue is set to non-blocking behavior. ###### PointCloud(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### PointCloud(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### void setNumFramesPool(int numFramesPool) Kind: function Specify number of frames in pool. parameters: numFramesPool: How many frames should the pool have ##### dai::node::SPIIn Kind: class SPIIn node. Receives messages over SPI. ###### Output out Kind: variable Outputs message of same type as send from host. ###### SPIIn(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### SPIIn(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### void setStreamName(const std::string & name) Kind: function Specifies stream name over which the node will receive data parameters: name: Stream name ###### void setBusId(int id) Kind: function Specifies SPI Bus number to use parameters: id: SPI Bus id ###### void setMaxDataSize(std::uint32_t maxDataSize) Kind: function Set maximum message size it can receive parameters: maxDataSize: Maximum size in bytes ###### void setNumFrames(std::uint32_t numFrames) Kind: function Set number of frames in pool for sending messages forward parameters: numFrames: Maximum number of frames in pool ###### std::string getStreamName() Kind: function Get stream name. ###### int getBusId() Kind: function Get bus id. ###### std::uint32_t getMaxDataSize() Kind: function Get maximum messages size in bytes. ###### std::uint32_t getNumFrames() Kind: function Get number of frames in pool. ##### dai::node::SPIOut Kind: class SPIOut node. Sends messages over SPI. ###### Input input Kind: variable Input for any type of messages to be transferred over SPI stream Default queue is blocking with size 8 ###### SPIOut(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### SPIOut(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### void setStreamName(std::string name) Kind: function Specifies stream name over which the node will send data parameters: name: Stream name ###### void setBusId(int busId) Kind: function Specifies SPI Bus number to use parameters: id: SPI Bus id ##### dai::node::Script Kind: class ###### InputMap inputs Kind: variable Inputs to Script node. Can be accessed using subscript operator (Eg: inputs['in1']) By default inputs are set to blocking with queue size 8 ###### OutputMap outputs Kind: variable Outputs from Script node. Can be accessed subscript operator (Eg: outputs['out1']) ###### Script(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId) Kind: function ###### Script(const std::shared_ptr< PipelineImpl > & par, int64_t nodeId, std::unique_ptr< Properties > props) Kind: function ###### void setScriptPath(const dai::Path & path, const std::string & name) Kind: function Specify local filesystem path to load the script parameters: path: Filesystem path to load the script; name: Optionally set a name of this script, otherwise the name defaults to the path ###### void setScript(const std::string & script, const std::string & name) Kind: function Sets script data to be interpreted parameters: script: Script string to be interpreted; name: Optionally set a name of this script ###### void setScript(const std::vector< std::uint8_t > & data, const std::string & name) Kind: function Sets script data to be interpreted parameters: data: Binary data that represents the script to be interpreted; name: Optionally set a name of this script ###### dai::Path getScriptPath() Kind: function Get filesystem path from where script was loaded. return: dai::Path from where script was loaded, otherwise returns empty path ###### std::string getScriptName() Kind: function Get the script name in utf-8. When name set with setScript() or setScriptPath() , returns that name. When script loaded with setScriptPath() with name not provided, returns the utf-8 string of that path. Otherwise, returns "