# DepthAI Python API DepthAI Python API can be found on Github [luxonis/depthai-python](https://github.com/luxonis/depthai-python). Below is the reference documentation for the Python API. ### depthai Kind: Package #### node Kind: Module ##### depthai.node.AprilTag(depthai.Node) Kind: Class AprilTag node. ###### setWaitForConfigInput(self, wait: bool) Kind: Method Specify whether or not wait until configuration message arrives to inputConfig Input. Parameter ``wait``: True to wait for configuration message, false otherwise. ###### initialConfig Kind: Property Initial config to use when calculating spatial location data. ###### inputConfig Kind: Property Input AprilTagConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4. ###### inputImage Kind: Property Input message with depth data used to retrieve spatial information about detected object. Default queue is non-blocking with size 4. ###### out Kind: Property Outputs AprilTags message that carries spatial location results. ###### passthroughInputImage Kind: Property Passthrough message on which the calculation was performed. Suitable for when input queue is set to non-blocking behavior. ##### depthai.node.Camera(depthai.Node) Kind: Class Camera node. Experimental node, for both mono and color types of sensors ###### getBoardSocket(self) -> depthai.CameraBoardSocket: depthai.CameraBoardSocket Kind: Method Retrieves which board socket to use Returns: Board socket to use ###### getCalibrationAlpha(self) -> float|None: float|None Kind: Method Get calibration alpha parameter that determines FOV of undistorted frames ###### getCamera(self) -> str: str Kind: Method Retrieves which camera to use by name Returns: Name of the camera to use ###### getFps(self) -> float: float Kind: Method Get rate at which camera should produce frames Returns: Rate in frames per second ###### getHeight(self) -> int: int Kind: Method Get sensor resolution height ###### getImageOrientation(self) -> depthai.CameraImageOrientation: depthai.CameraImageOrientation Kind: Method Get camera image orientation ###### getMeshSource(self) -> depthai.CameraProperties.WarpMeshSource: depthai.CameraProperties.WarpMeshSource Kind: Method Gets the source of the warp mesh ###### getMeshStep(self) -> tuple[int, int]: tuple[int, int] Kind: Method Gets the distance between mesh points ###### getPreviewHeight(self) -> int: int Kind: Method Get preview height ###### getPreviewSize(self) -> tuple[int, int]: tuple[int, int] Kind: Method Get preview size as tuple ###### getPreviewWidth(self) -> int: int Kind: Method Get preview width ###### getSize(self) -> tuple[int, int]: tuple[int, int] Kind: Method Get sensor resolution as size ###### getStillHeight(self) -> int: int Kind: Method Get still height ###### getStillSize(self) -> tuple[int, int]: tuple[int, int] Kind: Method Get still size as tuple ###### getStillWidth(self) -> int: int Kind: Method Get still width ###### getVideoHeight(self) -> int: int Kind: Method Get video height ###### getVideoSize(self) -> tuple[int, int]: tuple[int, int] Kind: Method Get video size as tuple ###### getVideoWidth(self) -> int: int Kind: Method Get video width ###### getWidth(self) -> int: int Kind: Method Get sensor resolution width ###### loadMeshData(self, warpMesh: typing_extensions.Buffer) Kind: Method Specify mesh calibration data for undistortion See `loadMeshFiles` for the expected data format ###### loadMeshFile(self, warpMesh: Path) Kind: Method Specify local filesystem paths to the undistort mesh calibration files. When a mesh calibration is set, it overrides the camera intrinsics/extrinsics matrices. Overrides useHomographyRectification behavior. Mesh format: a sequence of (y,x) points as 'float' with coordinates from the input image to be mapped in the output. The mesh can be subsampled, configured by `setMeshStep`. With a 1280x800 resolution and the default (16,16) step, the required mesh size is: width: 1280 / 16 + 1 = 81 height: 800 / 16 + 1 = 51 ###### setBoardSocket(self, boardSocket: depthai.CameraBoardSocket) Kind: Method Specify which board socket to use Parameter ``boardSocket``: Board socket to use ###### setCalibrationAlpha(self, alpha: typing.SupportsFloat) Kind: Method Set calibration alpha parameter that determines FOV of undistorted frames ###### setCamera(self, name: str) Kind: Method Specify which camera to use by name Parameter ``name``: Name of the camera to use ###### setFps(self, fps: typing.SupportsFloat) Kind: Method Set rate at which camera should produce frames Parameter ``fps``: Rate in frames per second ###### setImageOrientation(self, imageOrientation: depthai.CameraImageOrientation) Kind: Method Set camera image orientation ###### setIsp3aFps(self, isp3aFps: typing.SupportsInt) Kind: Method Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.). Default (0) matches the camera FPS, meaning that 3A is running on each frame. Reducing the rate of 3A reduces the CPU usage on CSS, but also increases the convergence rate of 3A. Note that camera controls will be processed at this rate. E.g. if camera is running at 30 fps, and camera control is sent at every frame, but 3A fps is set to 15, the camera control messages will be processed at 15 fps rate, which will lead to queueing. ###### setMeshSource(self, source: depthai.CameraProperties.WarpMeshSource) Kind: Method Set the source of the warp mesh or disable ###### setMeshStep(self, width: typing.SupportsInt, height: typing.SupportsInt) Kind: Method Set the distance between mesh points. Default: (32, 32) ###### setPreviewSize() Kind: Method ###### setRawOutputPacked(self, packed: bool) Kind: Method Configures whether the camera `raw` frames are saved as MIPI-packed to memory. The packed format is more efficient, consuming less memory on device, and less data to send to host: RAW10: 4 pixels saved on 5 bytes, RAW12: 2 pixels saved on 3 bytes. When packing is disabled (`false`), data is saved lsb-aligned, e.g. a RAW10 pixel will be stored as uint16, on bits 9..0: 0b0000'00pp'pppp'pppp. Default is auto: enabled for standard color/monochrome cameras where ISP can work with both packed/unpacked, but disabled for other cameras like ToF. ###### setSize() Kind: Method ###### setStillSize() Kind: Method ###### setVideoSize() Kind: Method ###### frameEvent Kind: Property 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 ###### initialControl Kind: Property Initial control options to apply to sensor ###### inputConfig Kind: Property Input for ImageManipConfig message, which can modify crop parameters in runtime Default queue is non-blocking with size 8 ###### inputControl Kind: Property Input for CameraControl message, which can modify camera parameters in runtime Default queue is blocking with size 8 ###### isp Kind: Property 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 ###### preview Kind: Property Outputs ImgFrame message that carries BGR/RGB planar/interleaved encoded frame data. Suitable for use with NeuralNetwork node ###### raw Kind: Property 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. ###### still Kind: Property 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. ###### video Kind: Property Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data. Suitable for use with VideoEncoder node ##### depthai.node.Cast(depthai.Node) Kind: Class Cast node. ###### setNumFramesPool(self, arg0: typing.SupportsInt) -> Cast: Cast Kind: Method Set number of frames in pool Parameter ``numFramesPool``: Number of frames in pool ###### setOffset(self, arg0: typing.SupportsFloat) -> Cast: Cast Kind: Method Set offset Parameter ``offset``: Offset ###### setOutputFrameType(self, arg0: depthai.RawImgFrame.Type) -> Cast: Cast Kind: Method Set output frame type Parameter ``outputType``: Output frame type ###### setScale(self, arg0: typing.SupportsFloat) -> Cast: Cast Kind: Method Set scale Parameter ``scale``: Scale ###### input Kind: Property Input NNData or ImgFrame message. ###### output Kind: Property Output ImgFrame message. ###### passthroughInput Kind: Property Passthrough input message. ##### depthai.node.ColorCamera(depthai.Node) Kind: Class ColorCamera node. For use with color sensors. ###### getBoardSocket(self) -> depthai.CameraBoardSocket: depthai.CameraBoardSocket Kind: Method Retrieves which board socket to use Returns: Board socket to use ###### getCamId(self) -> int: int Kind: Method ###### getCamera(self) -> str: str Kind: Method Retrieves which camera to use by name Returns: Name of the camera to use ###### getColorOrder(self) -> depthai.ColorCameraProperties.ColorOrder: depthai.ColorCameraProperties.ColorOrder Kind: Method Get color order of preview output frames. RGB or BGR ###### getFp16(self) -> bool: bool Kind: Method Get fp16 (0..255) data of preview output frames ###### getFps(self) -> float: float Kind: Method Get rate at which camera should produce frames Returns: Rate in frames per second ###### getFrameEventFilter(self) -> list[depthai.FrameEvent]: list[depthai.FrameEvent] Kind: Method ###### getImageOrientation(self) -> depthai.CameraImageOrientation: depthai.CameraImageOrientation Kind: Method Get camera image orientation ###### getInterleaved(self) -> bool: bool Kind: Method Get planar or interleaved data of preview output frames ###### getIspHeight(self) -> int: int Kind: Method Get 'isp' output height ###### getIspNumFramesPool(self) -> int: int Kind: Method Get number of frames in isp pool ###### getIspSize(self) -> tuple[int, int]: tuple[int, int] Kind: Method Get 'isp' output resolution as size, after scaling ###### getIspWidth(self) -> int: int Kind: Method Get 'isp' output width ###### getPreviewHeight(self) -> int: int Kind: Method Get preview height ###### getPreviewKeepAspectRatio(self) -> bool: bool Kind: Method See also: setPreviewKeepAspectRatio Returns: Preview keep aspect ratio option ###### getPreviewNumFramesPool(self) -> int: int Kind: Method Get number of frames in preview pool ###### getPreviewSize(self) -> tuple[int, int]: tuple[int, int] Kind: Method Get preview size as tuple ###### getPreviewWidth(self) -> int: int Kind: Method Get preview width ###### getRawNumFramesPool(self) -> int: int Kind: Method Get number of frames in raw pool ###### getResolution(self) -> depthai.ColorCameraProperties.SensorResolution: depthai.ColorCameraProperties.SensorResolution Kind: Method Get sensor resolution ###### getResolutionHeight(self) -> int: int Kind: Method Get sensor resolution height ###### getResolutionSize(self) -> tuple[int, int]: tuple[int, int] Kind: Method Get sensor resolution as size ###### getResolutionWidth(self) -> int: int Kind: Method Get sensor resolution width ###### getSensorCrop(self) -> tuple[float, float]: tuple[float, float] Kind: Method Returns: Sensor top left crop coordinates ###### getSensorCropX(self) -> float: float Kind: Method Get sensor top left x crop coordinate ###### getSensorCropY(self) -> float: float Kind: Method Get sensor top left y crop coordinate ###### getStillHeight(self) -> int: int Kind: Method Get still height ###### getStillNumFramesPool(self) -> int: int Kind: Method Get number of frames in still pool ###### getStillSize(self) -> tuple[int, int]: tuple[int, int] Kind: Method Get still size as tuple ###### getStillWidth(self) -> int: int Kind: Method Get still width ###### getVideoHeight(self) -> int: int Kind: Method Get video height ###### getVideoNumFramesPool(self) -> int: int Kind: Method Get number of frames in video pool ###### getVideoSize(self) -> tuple[int, int]: tuple[int, int] Kind: Method Get video size as tuple ###### getVideoWidth(self) -> int: int Kind: Method Get video width ###### getWaitForConfigInput(self) -> bool: bool Kind: Method See also: setWaitForConfigInput Returns: True if wait for inputConfig message, false otherwise ###### sensorCenterCrop(self) Kind: Method Specify sensor center crop. Resolution size / video size ###### setBoardSocket(self, boardSocket: depthai.CameraBoardSocket) Kind: Method Specify which board socket to use Parameter ``boardSocket``: Board socket to use ###### setCamId(self, arg0: typing.SupportsInt) Kind: Method ###### setCamera(self, name: str) Kind: Method Specify which camera to use by name Parameter ``name``: Name of the camera to use ###### setColorOrder(self, colorOrder: depthai.ColorCameraProperties.ColorOrder) Kind: Method Set color order of preview output images. RGB or BGR ###### setFp16(self, fp16: bool) Kind: Method Set fp16 (0..255) data type of preview output frames ###### setFps(self, fps: typing.SupportsFloat) Kind: Method Set rate at which camera should produce frames Parameter ``fps``: Rate in frames per second ###### setFrameEventFilter(self, events: collections.abc.Sequence [ depthai.FrameEvent ]) Kind: Method ###### setImageOrientation(self, imageOrientation: depthai.CameraImageOrientation) Kind: Method Set camera image orientation ###### setInterleaved(self, interleaved: bool) Kind: Method Set planar or interleaved data of preview output frames ###### setIsp3aFps(self, isp3aFps: typing.SupportsInt) Kind: Method Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.). Default (0) matches the camera FPS, meaning that 3A is running on each frame. Reducing the rate of 3A reduces the CPU usage on CSS, but also increases the convergence rate of 3A. Note that camera controls will be processed at this rate. E.g. if camera is running at 30 fps, and camera control is sent at every frame, but 3A fps is set to 15, the camera control messages will be processed at 15 fps rate, which will lead to queueing. ###### setIspNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Set number of frames in isp pool ###### setIspScale() Kind: Method ###### setNumFramesPool(self, raw: typing.SupportsInt, isp: typing.SupportsInt, preview: typing.SupportsInt, video: typing.SupportsInt, still: typing.SupportsInt) Kind: Method Set number of frames in all pools ###### setPreviewKeepAspectRatio(self, keep: bool) Kind: Method Specifies whether preview output should preserve aspect ratio, after downscaling from video size or not. Parameter ``keep``: If true, a larger crop region will be considered to still be able to create the final image in the specified aspect ratio. Otherwise video size is resized to fit preview size ###### setPreviewNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Set number of frames in preview pool ###### setPreviewSize() Kind: Method ###### setRawNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Set number of frames in raw pool ###### setRawOutputPacked(self, packed: bool) Kind: Method Configures whether the camera `raw` frames are saved as MIPI-packed to memory. The packed format is more efficient, consuming less memory on device, and less data to send to host: RAW10: 4 pixels saved on 5 bytes, RAW12: 2 pixels saved on 3 bytes. When packing is disabled (`false`), data is saved lsb-aligned, e.g. a RAW10 pixel will be stored as uint16, on bits 9..0: 0b0000'00pp'pppp'pppp. Default is auto: enabled for standard color/monochrome cameras where ISP can work with both packed/unpacked, but disabled for other cameras like ToF. ###### setResolution(self, resolution: depthai.ColorCameraProperties.SensorResolution) Kind: Method Set sensor resolution ###### setSensorCrop(self, x: typing.SupportsFloat, y: typing.SupportsFloat) Kind: Method Specifies the cropping that happens when converting ISP to video output. By default, video will be center cropped from the ISP output. Note that this doesn't actually do on-sensor cropping (and MIPI-stream only that region), but it does postprocessing on the ISP (on RVC). Parameter ``x``: Top left X coordinate Parameter ``y``: Top left Y coordinate ###### setStillNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Set number of frames in preview pool ###### setStillSize() Kind: Method ###### setVideoNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Set number of frames in preview pool ###### setVideoSize() Kind: Method ###### setWaitForConfigInput(self, wait: bool) Kind: Method Specify to wait until inputConfig receives a configuration message, before sending out a frame. Parameter ``wait``: True to wait for inputConfig message, false otherwise ###### frameEvent Kind: Property 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 ###### initialControl Kind: Property Initial control options to apply to sensor ###### inputConfig Kind: Property Input for ImageManipConfig message, which can modify crop parameters in runtime Default queue is non-blocking with size 8 ###### inputControl Kind: Property Input for CameraControl message, which can modify camera parameters in runtime Default queue is blocking with size 8 ###### isp Kind: Property 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 ###### preview Kind: Property Outputs ImgFrame message that carries BGR/RGB planar/interleaved encoded frame data. Suitable for use with NeuralNetwork node ###### raw Kind: Property 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. ###### still Kind: Property 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. ###### video Kind: Property Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data. Suitable for use with VideoEncoder node ##### depthai.node.DetectionNetwork(depthai.node.NeuralNetwork) Kind: Class DetectionNetwork, base for different network specializations ###### getConfidenceThreshold(self) -> float: float Kind: Method Retrieves threshold at which to filter the rest of the detections. Returns: Detection confidence ###### setConfidenceThreshold(self, thresh: typing.SupportsFloat) Kind: Method Specifies confidence threshold at which to filter the rest of the detections. Parameter ``thresh``: Detection confidence must be greater than specified threshold to be added to the list ###### input Kind: Property Input message with data to be inferred upon Default queue is blocking with size 5 ###### out Kind: Property Outputs ImgDetections message that carries parsed detection results. Overrides NeuralNetwork 'out' with ImgDetections output message type. ###### outNetwork Kind: Property Outputs unparsed inference results. ###### passthrough Kind: Property Passthrough message on which the inference was performed. Suitable for when input queue is set to non-blocking behavior. ##### depthai.node.DetectionParser(depthai.Node) Kind: Class DetectionParser node. Parses detection results from different neural networks and is being used internally by MobileNetDetectionNetwork and YoloDetectionNetwork. ###### getAnchorMasks(self) -> dict[str, list[int]]: dict[str, list[int]] Kind: Method Get anchor masks ###### getAnchors(self) -> list[float]: list[float] Kind: Method Get anchors ###### getConfidenceThreshold(self) -> float: float Kind: Method Retrieves threshold at which to filter the rest of the detections. Returns: Detection confidence ###### getCoordinateSize(self) -> int: int Kind: Method Get coordianate size ###### getIouThreshold(self) -> float: float Kind: Method Get Iou threshold ###### getNNFamily(self) -> depthai.DetectionNetworkType: depthai.DetectionNetworkType Kind: Method Gets NN Family to parse ###### getNumClasses(self) -> int: int Kind: Method Get num classes ###### getNumFramesPool(self) -> int: int Kind: Method Returns number of frames in pool ###### setAnchorMasks(self, anchorMasks: collections.abc.Mapping [ str , collections.abc.Sequence [ typing.SupportsInt ] ]) Kind: Method Set anchor masks ###### setAnchors(self, anchors: collections.abc.Sequence [ typing.SupportsFloat ]) Kind: Method Set anchors ###### setBlob(self, blob: depthai.OpenVINO.Blob) Kind: Method Retrieves some input tensor information from the blob Parameter ``blob``: OpenVINO blob to retrieve the information from ###### setConfidenceThreshold(self, thresh: typing.SupportsFloat) Kind: Method Specifies confidence threshold at which to filter the rest of the detections. Parameter ``thresh``: Detection confidence must be greater than specified threshold to be added to the list ###### setCoordinateSize(self, coordinates: typing.SupportsInt) Kind: Method Set coordianate size ###### setIouThreshold(self, thresh: typing.SupportsFloat) Kind: Method Set Iou threshold ###### setNNFamily(self, type: depthai.DetectionNetworkType) Kind: Method Sets NN Family to parse ###### setNumClasses(self, numClasses: typing.SupportsInt) Kind: Method Set num classes ###### setNumFramesPool(self, numFramesPool: typing.SupportsInt) Kind: Method Specify number of frames in pool. Parameter ``numFramesPool``: How many frames should the pool have ###### input Kind: Property Input NN results with detection data to parse Default queue is blocking with size 5 ###### out Kind: Property Outputs image frame with detected edges ##### depthai.node.EdgeDetector(depthai.Node) Kind: Class EdgeDetector node. Performs edge detection using 3x3 Sobel filter ###### getWaitForConfigInput(self) -> bool: bool Kind: Method See also: setWaitForConfigInput Returns: True if wait for inputConfig message, false otherwise ###### setMaxOutputFrameSize(self, arg0: typing.SupportsInt) Kind: Method Specify maximum size of output image. Parameter ``maxFrameSize``: Maximum frame size in bytes ###### setNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Specify number of frames in pool. Parameter ``numFramesPool``: How many frames should the pool have ###### setWaitForConfigInput(self, wait: bool) Kind: Method Specify whether or not wait until configuration message arrives to inputConfig Input. Parameter ``wait``: True to wait for configuration message, false otherwise. ###### initialConfig Kind: Property Initial config to use for edge detection. ###### inputConfig Kind: Property Input EdgeDetectorConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4. ###### inputImage Kind: Property Input image on which edge detection is performed. Default queue is non-blocking with size 4. ###### outputImage Kind: Property Outputs image frame with detected edges ##### depthai.node.FeatureTracker(depthai.Node) Kind: Class FeatureTracker node. Performs feature tracking and reidentification using motion estimation between 2 consecutive frames. ###### getWaitForConfigInput(self) -> bool: bool Kind: Method See also: setWaitForConfigInput Returns: True if wait for inputConfig message, false otherwise ###### setHardwareResources(self, numShaves: typing.SupportsInt, numMemorySlices: typing.SupportsInt) Kind: Method Specify allocated hardware resources for feature tracking. 2 shaves/memory slices are required for optical flow, 1 for corner detection only. Parameter ``numShaves``: Number of shaves. Maximum 2. Parameter ``numMemorySlices``: Number of memory slices. Maximum 2. ###### setWaitForConfigInput(self, wait: bool) Kind: Method Specify whether or not wait until configuration message arrives to inputConfig Input. Parameter ``wait``: True to wait for configuration message, false otherwise. ###### initialConfig Kind: Property Initial config to use for feature tracking. ###### inputConfig Kind: Property Input FeatureTrackerConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4. ###### inputImage Kind: Property Input message with frame data on which feature tracking is performed. Default queue is non-blocking with size 4. ###### outputFeatures Kind: Property Outputs TrackedFeatures message that carries tracked features results. ###### passthroughInputImage Kind: Property Passthrough message on which the calculation was performed. Suitable for when input queue is set to non-blocking behavior. ##### depthai.node.IMU(depthai.Node) Kind: Class IMU node for BNO08X. ###### enableFirmwareUpdate(self, arg0: bool) Kind: Method ###### enableIMUSensor() Kind: Method ###### getBatchReportThreshold(self) -> int: int Kind: Method Above this packet threshold data will be sent to host, if queue is not blocked ###### getMaxBatchReports(self) -> int: int Kind: Method Maximum number of IMU packets in a batch report ###### setBatchReportThreshold(self, batchReportThreshold: typing.SupportsInt) Kind: Method Above this packet threshold data will be sent to host, if queue is not blocked ###### setMaxBatchReports(self, maxBatchReports: typing.SupportsInt) Kind: Method Maximum number of IMU packets in a batch report ###### out Kind: Property Outputs IMUData message that carries IMU packets. ##### depthai.node.ImageAlign(depthai.Node) Kind: Class ImageAlign node. Calculates spatial location data on a set of ROIs on depth map. ###### setInterpolation(self, arg0: depthai.Interpolation) -> ImageAlign: ImageAlign Kind: Method Specify interpolation method to use when resizing ###### setNumFramesPool(self, arg0: typing.SupportsInt) -> ImageAlign: ImageAlign Kind: Method Specify number of frames in the pool ###### setNumShaves(self, arg0: typing.SupportsInt) -> ImageAlign: ImageAlign Kind: Method Specify number of shaves to use for this node ###### setOutKeepAspectRatio(self, arg0: bool) -> ImageAlign: ImageAlign Kind: Method Specify whether to keep aspect ratio when resizing ###### setOutputSize(self, arg0: typing.SupportsInt, arg1: typing.SupportsInt) -> ImageAlign: ImageAlign Kind: Method Specify the output size of the aligned image ###### initialConfig Kind: Property Initial config to use when calculating spatial location data. ###### input Kind: Property Input message. Default queue is non-blocking with size 4. ###### inputAlignTo Kind: Property Input align to message. Default queue is non-blocking with size 1. ###### inputConfig Kind: Property Input message with ability to modify parameters in runtime. Default queue is non-blocking with size 4. ###### outputAligned Kind: Property Outputs ImgFrame message that is aligned to inputAlignTo. ###### passthroughInput Kind: Property Passthrough message on which the calculation was performed. Suitable for when input queue is set to non-blocking behavior. ##### depthai.node.ImageManip(depthai.Node) Kind: Class ImageManip node. Capability to crop, resize, warp, ... incoming image frames ###### getWaitForConfigInput(self) -> bool: bool Kind: Method See also: setWaitForConfigInput Returns: True if wait for inputConfig message, false otherwise ###### setCenterCrop(self, arg0: typing.SupportsFloat, arg1: typing.SupportsFloat) Kind: Method ###### setCropRect(self, arg0: typing.SupportsFloat, arg1: typing.SupportsFloat, arg2: typing.SupportsFloat, arg3: typing.SupportsFloat) Kind: Method ###### setFrameType(self, arg0: depthai.RawImgFrame.Type) Kind: Method ###### setHorizontalFlip(self, arg0: bool) Kind: Method ###### setKeepAspectRatio(self, arg0: bool) Kind: Method ###### setMaxOutputFrameSize(self, arg0: typing.SupportsInt) Kind: Method Specify maximum size of output image. Parameter ``maxFrameSize``: Maximum frame size in bytes ###### setNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Specify number of frames in pool. Parameter ``numFramesPool``: How many frames should the pool have ###### setResize(self, arg0: typing.SupportsInt, arg1: typing.SupportsInt) Kind: Method ###### setResizeThumbnail(self, arg0: typing.SupportsInt, arg1: typing.SupportsInt, arg2: typing.SupportsInt, arg3: typing.SupportsInt, arg4: typing.SupportsInt) Kind: Method ###### setWaitForConfigInput(self, wait: bool) Kind: Method Specify whether or not wait until configuration message arrives to inputConfig Input. Parameter ``wait``: True to wait for configuration message, false otherwise. ###### setWarpMesh() Kind: Method ###### initialConfig Kind: Property Initial config to use when manipulating frames ###### inputConfig Kind: Property Input ImageManipConfig message with ability to modify parameters in runtime Default queue is blocking with size 8 ###### inputImage Kind: Property Input image to be modified Default queue is blocking with size 8 ###### out Kind: Property Outputs ImgFrame message that carries modified image. ##### depthai.node.MessageDemux(depthai.Node) Kind: Class ###### getProcessor(self) -> depthai.ProcessorType: depthai.ProcessorType Kind: Method Get on which processor the node should run Returns: Processor type - Leon CSS or Leon MSS ###### setProcessor(self, arg0: depthai.ProcessorType) Kind: Method Set on which processor the node should run Parameter ``type``: Processor type - Leon CSS or Leon MSS ###### input Kind: Property Input message of type MessageGroup ###### outputs Kind: Property A map of outputs, where keys are same as in the input MessageGroup ##### depthai.node.MobileNetDetectionNetwork(depthai.node.DetectionNetwork) Kind: Class MobileNetDetectionNetwork node. Parses MobileNet results ##### depthai.node.MobileNetSpatialDetectionNetwork(depthai.node.SpatialDetectionNetwork) Kind: Class MobileNetSpatialDetectionNetwork node. Mobilenet-SSD based network with spatial location data. ##### depthai.node.MonoCamera(depthai.Node) Kind: Class MonoCamera node. For use with grayscale sensors. ###### getBoardSocket(self) -> depthai.CameraBoardSocket: depthai.CameraBoardSocket Kind: Method Retrieves which board socket to use Returns: Board socket to use ###### getCamId(self) -> int: int Kind: Method ###### getCamera(self) -> str: str Kind: Method Retrieves which camera to use by name Returns: Name of the camera to use ###### getFps(self) -> float: float Kind: Method Get rate at which camera should produce frames Returns: Rate in frames per second ###### getFrameEventFilter(self) -> list[depthai.FrameEvent]: list[depthai.FrameEvent] Kind: Method ###### getImageOrientation(self) -> depthai.CameraImageOrientation: depthai.CameraImageOrientation Kind: Method Get camera image orientation ###### getNumFramesPool(self) -> int: int Kind: Method Get number of frames in main (ISP output) pool ###### getRawNumFramesPool(self) -> int: int Kind: Method Get number of frames in raw pool ###### getResolution(self) -> depthai.MonoCameraProperties.SensorResolution: depthai.MonoCameraProperties.SensorResolution Kind: Method Get sensor resolution ###### getResolutionHeight(self) -> int: int Kind: Method Get sensor resolution height ###### getResolutionSize(self) -> tuple[int, int]: tuple[int, int] Kind: Method Get sensor resolution as size ###### getResolutionWidth(self) -> int: int Kind: Method Get sensor resolution width ###### setBoardSocket(self, boardSocket: depthai.CameraBoardSocket) Kind: Method Specify which board socket to use Parameter ``boardSocket``: Board socket to use ###### setCamId(self, arg0: typing.SupportsInt) Kind: Method ###### setCamera(self, name: str) Kind: Method Specify which camera to use by name Parameter ``name``: Name of the camera to use ###### setFps(self, fps: typing.SupportsFloat) Kind: Method Set rate at which camera should produce frames Parameter ``fps``: Rate in frames per second ###### setFrameEventFilter(self, events: collections.abc.Sequence [ depthai.FrameEvent ]) Kind: Method ###### setImageOrientation(self, imageOrientation: depthai.CameraImageOrientation) Kind: Method Set camera image orientation ###### setIsp3aFps(self, isp3aFps: typing.SupportsInt) Kind: Method Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.). Default (0) matches the camera FPS, meaning that 3A is running on each frame. Reducing the rate of 3A reduces the CPU usage on CSS, but also increases the convergence rate of 3A. Note that camera controls will be processed at this rate. E.g. if camera is running at 30 fps, and camera control is sent at every frame, but 3A fps is set to 15, the camera control messages will be processed at 15 fps rate, which will lead to queueing. ###### setNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Set number of frames in main (ISP output) pool ###### setRawNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Set number of frames in raw pool ###### setRawOutputPacked(self, packed: bool) Kind: Method Configures whether the camera `raw` frames are saved as MIPI-packed to memory. The packed format is more efficient, consuming less memory on device, and less data to send to host: RAW10: 4 pixels saved on 5 bytes, RAW12: 2 pixels saved on 3 bytes. When packing is disabled (`false`), data is saved lsb-aligned, e.g. a RAW10 pixel will be stored as uint16, on bits 9..0: 0b0000'00pp'pppp'pppp. Default is auto: enabled for standard color/monochrome cameras where ISP can work with both packed/unpacked, but disabled for other cameras like ToF. ###### setResolution(self, resolution: depthai.MonoCameraProperties.SensorResolution) Kind: Method Set sensor resolution ###### frameEvent Kind: Property 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 ###### initialControl Kind: Property Initial control options to apply to sensor ###### inputControl Kind: Property Input for CameraControl message, which can modify camera parameters in runtime Default queue is blocking with size 8 ###### out Kind: Property Outputs ImgFrame message that carries RAW8 encoded (grayscale) frame data. Suitable for use StereoDepth node. Processed by ISP ###### raw Kind: Property Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data. Captured directly from the camera sensor ##### depthai.node.NeuralNetwork(depthai.Node) Kind: Class NeuralNetwork node. Runs a neural inference on input data. ###### getNumInferenceThreads(self) -> int: int Kind: Method How many inference threads will be used to run the network Returns: Number of threads, 0, 1 or 2. Zero means AUTO ###### setBlob() Kind: Method ###### setBlobPath(self, path: Path) Kind: Method Load network blob into assets and use once pipeline is started. Throws: Error if file doesn't exist or isn't a valid network blob. Parameter ``path``: Path to network blob ###### setNumInferenceThreads(self, numThreads: typing.SupportsInt) Kind: Method How many threads should the node use to run the network. Parameter ``numThreads``: Number of threads to dedicate to this node ###### setNumNCEPerInferenceThread(self, numNCEPerThread: typing.SupportsInt) Kind: Method How many Neural Compute Engines should a single thread use for inference Parameter ``numNCEPerThread``: Number of NCE per thread ###### setNumPoolFrames(self, numFrames: typing.SupportsInt) Kind: Method Specifies how many frames will be available in the pool Parameter ``numFrames``: How many frames will pool have ###### input Kind: Property Input message with data to be inferred upon Default queue is blocking with size 5 ###### inputs Kind: Property 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 ###### out Kind: Property Outputs NNData message that carries inference results ###### passthrough Kind: Property Passthrough message on which the inference was performed. Suitable for when input queue is set to non-blocking behavior. ###### passthroughs Kind: Property Passthroughs which correspond to specified input ##### depthai.node.ObjectTracker(depthai.Node) Kind: Class ObjectTracker node. Performs object tracking using Kalman filter and hungarian algorithm. ###### setDetectionLabelsToTrack(self, labels: collections.abc.Sequence [ typing.SupportsInt ]) Kind: Method Specify detection labels to track. Parameter ``labels``: Detection labels to track. Default every label is tracked from image detection network output. ###### setMaxObjectsToTrack(self, maxObjectsToTrack: typing.SupportsInt) Kind: Method Specify maximum number of object to track. Parameter ``maxObjectsToTrack``: Maximum number of object to track. Maximum 60 in case of SHORT_TERM_KCF, otherwise 1000. ###### setOcclusionRatioThreshold(self, occlusionRatioThreshold: typing.SupportsFloat) Kind: Method Specify occlusion ratio threshold. Parameter ``occlusionRatioThreshold``: Occlusion ratio threshold. Used to filter out overlapping tracklets. Default 0.4. ###### setTrackerIdAssignmentPolicy(self, type: depthai.TrackerIdAssignmentPolicy) Kind: Method Specify tracker ID assignment policy. Parameter ``type``: Tracker ID assignment policy. ###### setTrackerThreshold(self, threshold: typing.SupportsFloat) Kind: Method Specify tracker threshold. Parameter ``threshold``: Above this threshold the detected objects will be tracked. Default 0, all image detections are tracked. ###### setTrackerType(self, type: depthai.TrackerType) Kind: Method Specify tracker type algorithm. Parameter ``type``: Tracker type. ###### setTrackingPerClass(self, trackingPerClass: bool) Kind: Method Whether tracker should take into consideration class label for tracking. ###### setTrackletBirthThreshold(self, threshold: typing.SupportsInt) Kind: Method Specify tracklet birth threshold. Parameter ``threshold``: Tracklet birth threshold. Minimum consecutive tracked frames required to consider a tracklet as a new instance. Default 3. ###### setTrackletMaxLifespan(self, lifespan: typing.SupportsInt) Kind: Method Specify tracklet lifespan. Parameter ``lifespan``: Tracklet lifespan in number of frames. Number of frames after which a LOST tracklet is removed. Default 120. ###### inputConfig Kind: Property Input ObjectTrackerConfig message with ability to modify parameters at runtime. Default queue is non-blocking with size 4. ###### inputDetectionFrame Kind: Property Input ImgFrame message on which object detection was performed. Default queue is non-blocking with size 4. ###### inputDetections Kind: Property Input message with image detection from neural network. Default queue is non- blocking with size 4. ###### inputTrackerFrame Kind: Property Input ImgFrame message on which tracking will be performed. RGBp, BGRp, NV12, YUV420p types are supported. Default queue is non-blocking with size 4. ###### out Kind: Property Outputs Tracklets message that carries object tracking results. ###### passthroughDetectionFrame Kind: Property Passthrough ImgFrame message on which object detection was performed. Suitable for when input queue is set to non-blocking behavior. ###### passthroughDetections Kind: Property Passthrough image detections message from neural network output. Suitable for when input queue is set to non-blocking behavior. ###### passthroughTrackerFrame Kind: Property Passthrough ImgFrame message on which tracking was performed. Suitable for when input queue is set to non-blocking behavior. ##### depthai.node.PointCloud(depthai.Node) Kind: Class PointCloud node. Computes point cloud from depth frames. ###### setNumFramesPool(self, arg0: typing.SupportsInt) Kind: Method Specify number of frames in pool. Parameter ``numFramesPool``: How many frames should the pool have ###### initialConfig Kind: Property Initial config to use when computing the point cloud. ###### inputConfig Kind: Property Input PointCloudConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4. ###### inputDepth Kind: Property Input message with depth data used to create the point cloud. Default queue is non-blocking with size 4. ###### outputPointCloud Kind: Property Outputs PointCloudData message ###### passthroughDepth Kind: Property Passthrough depth from which the point cloud was calculated. Suitable for when input queue is set to non-blocking behavior. ##### depthai.node.SPIIn(depthai.Node) Kind: Class SPIIn node. Receives messages over SPI. ###### getBusId(self) -> int: int Kind: Method Get bus id ###### getMaxDataSize(self) -> int: int Kind: Method Get maximum messages size in bytes ###### getNumFrames(self) -> int: int Kind: Method Get number of frames in pool ###### getStreamName(self) -> str: str Kind: Method Get stream name ###### setBusId(self, id: typing.SupportsInt) Kind: Method Specifies SPI Bus number to use Parameter ``id``: SPI Bus id ###### setMaxDataSize(self, maxDataSize: typing.SupportsInt) Kind: Method Set maximum message size it can receive Parameter ``maxDataSize``: Maximum size in bytes ###### setNumFrames(self, numFrames: typing.SupportsInt) Kind: Method Set number of frames in pool for sending messages forward Parameter ``numFrames``: Maximum number of frames in pool ###### setStreamName(self, name: str) Kind: Method Specifies stream name over which the node will receive data Parameter ``name``: Stream name ###### out Kind: Property Outputs message of same type as send from host. ##### depthai.node.SPIOut(depthai.Node) Kind: Class SPIOut node. Sends messages over SPI. ###### setBusId(self, id: typing.SupportsInt) Kind: Method Specifies SPI Bus number to use Parameter ``id``: SPI Bus id ###### setStreamName(self, name: str) Kind: Method Specifies stream name over which the node will send data Parameter ``name``: Stream name ###### input Kind: Property Input for any type of messages to be transferred over SPI stream Default queue is blocking with size 8 ##### depthai.node.Script(depthai.Node) Kind: Class ###### getProcessor(self) -> depthai.ProcessorType: depthai.ProcessorType Kind: Method Get on which processor the script should run Returns: Processor type - Leon CSS or Leon MSS ###### getScriptName(self) -> str: str Kind: Method 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 "