Python API Reference¶

Classes:

`ADatatype`	Abstract message
`Asset`	Asset is identified with string key and can store arbitrary binary data
`AssetManager`	AssetManager can store assets and serialize
`Buffer`	Base message - buffer of binary data
`CalibrationHandler`	CalibrationHandler is an interface to read/load/write structured calibration and device data.
`CameraBoardSocket`	Which Camera socket to use.
`CameraControl`	CameraControl message.
`CameraImageOrientation`	Camera sensor image orientation / pixel readout.
`CameraInfo`	CameraInfo structure
`CameraModel`	Which CameraModel to initialize the calibration with.
`ChipTemperature`	Chip temperature information.
`Clock`
`ColorCameraProperties`	Specify properties for ColorCamera such as camera ID, …
`CpuUsage`	CpuUsage structure
`DataInputQueue`	Access to send messages through XLink stream
`DataOutputQueue`	Access to receive messages coming from XLink stream
`DetectionNetworkProperties`	Specify properties for DetectionNetwork
`DetectionNetworkType`	Members:
`Device`	Represents the DepthAI device with the methods to interact with it.
`DeviceBase`	The core of depthai device for RAII, connects to device and maintains watchdog, timesync, …
`DeviceBootloader`	Represents the DepthAI bootloader with the methods to interact with it.
`DeviceDesc`
`DeviceInfo`	Describes a connected device
`EdgeDetectorConfig`	EdgeDetectorConfig message.
`EdgeDetectorConfigData`	EdgeDetectorConfigData configuration data structure
`EdgeDetectorProperties`	Specify properties for EdgeDetector
`EepromData`	EepromData structure
`Extrinsics`	Extrinsics structure
`FeatureTrackerConfig`	FeatureTrackerConfig message.
`FeatureTrackerProperties`	Specify properties for FeatureTracker
`GlobalProperties`	Specify properties which apply for whole pipeline
`IMUData`	IMUData message.
`IMUPacket`	IMU output
`IMUProperties`
`IMUReport`
`IMUReportAccelerometer`	Accelerometer
`IMUReportGyroscope`	Gyroscope
`IMUReportMagneticField`	Magnetic field
`IMUReportRotationVectorWAcc`	Rotation Vector with Accuracy
`IMUSensor`	Available IMU sensors.
`IMUSensorConfig`
`ImageManipConfig`	ImageManipConfig message.
`ImgDetection`	ImgDetection structure
`ImgDetections`	ImgDetections message.
`ImgFrame`	ImgFrame message.
`LogLevel`	Members:
`MedianFilter`	Median filter config for disparity post-processing
`MemoryInfo`	MemoryInfo structure
`MonoCameraProperties`	Specify properties for MonoCamera such as camera ID, …
`NNData`	NNData message.
`NeuralNetworkProperties`	Specify properties for NeuralNetwork such as blob path, …
`Node`	Abstract Node
`ObjectTrackerProperties`	Specify properties for ObjectTracker
`OpenVINO`	Support for basic OpenVINO related actions like version identification of neural network blobs,…
`Pipeline`
`Point2f`	Point2f structure
`Point3f`	Point3f structure
`PrebootConfig`
`ProcessorType`	Members:
`Properties`	Base Properties structure
`RawBuffer`	RawBuffer structure
`RawCameraControl`	RawCameraControl structure
`RawEdgeDetectorConfig`	RawEdgeDetectorConfig configuration structure
`RawFeatureTrackerConfig`	RawFeatureTrackerConfig configuration structure
`RawIMUData`
`RawImageManipConfig`	RawImageManipConfig structure
`RawImgDetections`	RawImgDetections structure
`RawImgFrame`	RawImgFrame structure
`RawNNData`	RawNNData structure
`RawSpatialImgDetections`	RawSpatialImgDetections structure
`RawStereoDepthConfig`	RawStereoDepthConfig configuration structure
`RawSystemInformation`	System information of device
`RawTrackedFeatures`	RawTrackedFeatures structure
`RawTracklets`	RawTracklets structure
`Rect`	Rect structure
`RotatedRect`	RotatedRect structure
`SPIInProperties`	Properties for SPIIn node
`SPIOutProperties`	Specify properties for SPIOut node
`ScriptProperties`	Specify ScriptProperties options such as script uri, script name, …
`Size2f`	Size2f structure
`SpatialDetectionNetworkProperties`	Specify properties for SpatialDetectionNetwork
`SpatialImgDetection`	SpatialImgDetection structure
`SpatialImgDetections`	SpatialImgDetections message.
`SpatialLocationCalculatorAlgorithm`	Members:
`SpatialLocationCalculatorConfig`	SpatialLocationCalculatorConfig message.
`SpatialLocationCalculatorConfigData`	SpatialLocation configuration data structure
`SpatialLocationCalculatorConfigThresholds`	SpatialLocation configuration thresholds structure
`SpatialLocationCalculatorData`	SpatialLocationCalculatorData message.
`SpatialLocationCalculatorProperties`	Specify properties for SpatialLocationCalculator
`SpatialLocations`	SpatialLocations structure
`StereoDepthConfig`	StereoDepthConfig message.
`StereoDepthProperties`	Specify properties for StereoDepth
`StereoRectification`	StereoRectification structure
`SystemInformation`	SystemInformation message.
`SystemLoggerProperties`	SystemLoggerProperties structure
`TensorInfo`	TensorInfo structure
`Timestamp`	Timestamp structure
`TrackedFeature`	TrackedFeature structure
`TrackedFeatures`	TrackedFeatures message.
`TrackerIdAssignmentPolicy`	Members:
`TrackerType`	Members:
`Tracklet`	Tracklet structure
`Tracklets`	Tracklets message.
`UsbSpeed`	Get USB Speed
`VideoEncoderProperties`	Specify properties for VideoEncoder such as profile, bitrate, …
`XLinkConnection`	Represents connection between host and device over XLink protocol
`XLinkDeviceState`	Members:
`XLinkPlatform`	Members:
`XLinkProtocol`	Members:

Exceptions:

`XLinkError`
`XLinkReadError`
`XLinkWriteError`

class depthai.ADatatype¶

Bases: pybind11_builtins.pybind11_object

Abstract message

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getRaw`(self)

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getRaw(self: depthai.ADatatype) → depthai.RawBuffer ¶

class depthai.Asset¶

Bases: pybind11_builtins.pybind11_object

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

Methods:

__init__(*args, **kwargs)

Overloaded function.

Attributes:

`alignment`
`data`
`key`

__init__(*args, **kwargs)¶

Overloaded function.

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

property alignment¶

property data¶

property key¶

class depthai.AssetManager¶

Bases: pybind11_builtins.pybind11_object

AssetManager can store assets and serialize

Methods:

`__init__`(self)
`addExisting`(self, assets)	Adds all assets in an array to the AssetManager
`get`(args, *kwargs)	Overloaded function.
`getAll`(args, *kwargs)	Overloaded function.
`remove`(self, key)	Removes asset with key
`set`(args, *kwargs)	Overloaded function.
`size`(self)	returns Number of asset stored in the AssetManager

__init__(self: depthai.AssetManager) → None ¶

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

Adds all assets in an array to the AssetManager

Parameter assets:: Vector of assets to add

get(*args, **kwargs)¶

Overloaded function.

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

Returns: Asset assigned to the specified key or a nullptr otherwise

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

Returns: Asset assigned to the specified key or a nullptr otherwise

getAll(*args, **kwargs)¶

Overloaded function.

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

Returns: All asset stored in the AssetManager

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

Returns: All asset stored in the AssetManager

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

Removes asset with key

Parameter key:: Key of asset to remove

set(*args, **kwargs)¶

Overloaded function.

set(self: depthai.AssetManager, asset: depthai.Asset) -> depthai.Asset

Adds or overwrites an asset object to AssetManager.

Parameter asset:: Asset to add

Returns: Shared pointer to asset

set(self: depthai.AssetManager, key: str, asset: depthai.Asset) -> depthai.Asset

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

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

Returns: Shared pointer to asset

set(self: depthai.AssetManager, key: str, path: str, alignment: int = 64) -> depthai.Asset

Loads file into asset manager under specified key.

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

set(self: depthai.AssetManager, key: str, data: List[int], alignment: int = 64) -> depthai.Asset

Loads file into asset manager under specified key.

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

Returns: Shared pointer to asset

size(self: depthai.AssetManager) → int ¶

Returns: Number of asset stored in the AssetManager

class depthai.Buffer¶

Bases: depthai.ADatatype

Base message - buffer of binary data

Methods:

__init__(self)

Creates Buffer message

getData(self)

returns: Reference to internal buffer

setData(*args, **kwargs)

Overloaded function.

__init__(self: depthai.Buffer) → None ¶: Creates Buffer message

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

Returns: Reference to internal buffer

setData(*args, **kwargs)¶

Overloaded function.

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

Parameter data:: Copies data to internal buffer

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

Parameter data:: Copies data to internal buffer

class depthai.CalibrationHandler¶

Bases: pybind11_builtins.pybind11_object

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

Methods:

`__init__`(args, *kwargs)	Overloaded function.
`eepromToJsonFile`(self, destPath)	Write raw calibration/board data to json file.
`getBaselineDistance`(self, cam1, cam2, …)	Get the baseline distance between two specified cameras.
`getCameraExtrinsics`(self, srcCamera, …)	Get the Camera Extrinsics object between two cameras from the calibration data if there is a linked connection between any two cameras then the relative rotation and translation (in centimeters) is returned by this function.
`getCameraIntrinsics`(args, *kwargs)	Overloaded function.
`getCameraToImuExtrinsics`(self, cameraId, …)	Get the Camera To Imu Extrinsics object From the data loaded if there is a linked connection between IMU and the given camera then there relative rotation and translation from the camera to IMU is returned.
`getCameraTranslationVector`(self, srcCamera, …)	Get the Camera translation vector between two cameras from the calibration data.
`getDefaultIntrinsics`(self, cameraId)	Get the Default Intrinsics object
`getDistortionCoefficients`(self, cameraId)	Get the Distortion Coefficients object
`getEepromData`(self)	Get the Eeprom Data object
`getFov`(self, cameraId, useSpec)	Get the Fov of the camera
`getImuToCameraExtrinsics`(self, cameraId, …)	Get the Imu To Camera Extrinsics object from the data loaded if there is a linked connection between IMU and the given camera then there relative rotation and translation from the IMU to Camera is returned.
`getLensPosition`(self, cameraId)	Get the lens position of the given camera
`getStereoLeftCameraId`(self)	Get the camera id of the camera which is used as left camera of the stereo setup
`getStereoLeftRectificationRotation`(self)	Get the Stereo Left Rectification Rotation object
`getStereoRightCameraId`(self)	Get the camera id of the camera which is used as right camera of the stereo setup
`getStereoRightRectificationRotation`(self)	Get the Stereo Right Rectification Rotation object
`setBoardInfo`(self, boardName, boardRev)	Set the Board Info object
`setCameraExtrinsics`(self, srcCameraId, …)	Set the Camera Extrinsics object
`setCameraIntrinsics`(args, *kwargs)	Overloaded function.
`setCameraType`(self, cameraId, cameraModel)	Set the Camera Type object
`setDistortionCoefficients`(self, cameraId, …)	Sets the distortion Coefficients obtained from camera calibration
`setFov`(self, cameraId, hfov)	Set the Fov of the Camera
`setImuExtrinsics`(self, destCameraId, …)	Set the Imu to Camera Extrinsics object
`setLensPosition`(self, cameraId, lensPosition)	Sets the distortion Coefficients obtained from camera calibration
`setStereoLeft`(self, cameraId, rectifiedRotation)	Set the Stereo Left Rectification object
`setStereoRight`(self, cameraId, rectifiedRotation)	Set the Stereo Right Rectification object

__init__(*args, **kwargs)¶

Overloaded function.

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

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

Parameter eepromDataPath:: takes the full path to the json file containing the calibration and device info.

__init__(self: depthai.CalibrationHandler, arg0: str, arg1: str) -> None

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

Parameter calibrationDataPath:: Full Path to the .calib binary file from the gen1 calibration. (Supports only Version 5)
Parameter boardConfigPath:: Full Path to the board config json file containing device information.

__init__(self: depthai.CalibrationHandler, arg0: depthai.EepromData) -> None

Construct a new Calibration Handler object from EepromData object.

Parameter eepromData:: EepromData data structure containing the calibration data.

eepromToJsonFile(self: depthai.CalibrationHandler, destPath: str) → bool ¶

Write raw calibration/board data to json file.

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

Returns: True on success, false otherwise

getBaselineDistance(self: depthai.CalibrationHandler, cam1: depthai.CameraBoardSocket = <CameraBoardSocket.???: 2>, cam2: depthai.CameraBoardSocket = <CameraBoardSocket.???: 1>, useSpecTranslation: bool = True) → float ¶

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

Parameter cam1:: First camera
Parameter cam2:: Second camera
Parameter useSpecTranslation:: Enabling this bool uses the translation information from the board design data (not the calibration data)

Returns: baseline distance in centimeters

getCameraExtrinsics(self: depthai.CalibrationHandler, srcCamera: depthai.CameraBoardSocket, dstCamera: depthai.CameraBoardSocket, useSpecTranslation: bool = False) → List[List[float]]¶

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

Parameter srcCamera:: Camera Id of the camera which will be considerd as origin.
Parameter dstCamera:: Camera Id of the destination camera to which we are fetching the rotation and translation from the SrcCamera
Parameter useSpecTranslation:: Enabling this bool uses the translation information from the board design data

Returns: a transformationMatrix which is 4x4 in homogenious coordinate system

Matrix representation of transformation matrix f[ text{Transformation Matrix} = left [ begin{matrix} r_{00} & r_{01} & r_{02} & T_x \ r_{10} & r_{11} & r_{12} & T_y \ r_{20} & r_{21} & r_{22} & T_z \ 0 & 0 & 0 & 1 end{matrix} right ] f]

getCameraIntrinsics(*args, **kwargs)¶

Overloaded function.

getCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, resizeWidth: int = -1, resizeHeight: int = -1, topLeftPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f6f8c5fcf70>, bottomRightPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f6f8c5fcdb0>) -> List[List[float]]

Get the Camera Intrinsics object

Parameter cameraId:: Uses the cameraId to identify which camera intrinsics to return
Parameter resizewidth:: resized width of the image for which intrinsics is requested. resizewidth = -1 represents width is same as default intrinsics
Parameter resizeHeight:: resized height of the image for which intrinsics is requested. resizeHeight = -1 represents height is same as default intrinsics
Parameter topLeftPixelId:: (x, y) point represents the top left corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
Parameter bottomRightPixelId:: (x, y) point represents the bottom right corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image

Returns: Repesents the 3x3 intrinsics matrix of the respective camera at the requested size and crop dimensions.

Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]

getCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, destShape: depthai.Size2f, topLeftPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f6f8c5ff170>, bottomRightPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f6f8c5fce70>) -> List[List[float]]

Get the Camera Intrinsics object

Parameter cameraId:: Uses the cameraId to identify which camera intrinsics to return
Parameter destShape:: resized width and height of the image for which intrinsics is requested.
Parameter topLeftPixelId:: (x, y) point represents the top left corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
Parameter bottomRightPixelId:: (x, y) point represents the bottom right corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image

Returns: Repesents the 3x3 intrinsics matrix of the respective camera at the requested size and crop dimensions.

Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]

getCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, destShape: Tuple[int, int], topLeftPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f6f8c5ff270>, bottomRightPixelId: depthai.Point2f = <depthai.Point2f object at 0x7f6f8c5ff0f0>) -> List[List[float]]

Get the Camera Intrinsics object

Parameter cameraId:: Uses the cameraId to identify which camera intrinsics to return
Parameter destShape:: resized width and height of the image for which intrinsics is requested.
Parameter topLeftPixelId:: (x, y) point represents the top left corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
Parameter bottomRightPixelId:: (x, y) point represents the bottom right corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image

Returns: Repesents the 3x3 intrinsics matrix of the respective camera at the requested size and crop dimensions.

Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]

getCameraToImuExtrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, useSpecTranslation: bool = False) → List[List[float]]¶

Get the Camera To Imu Extrinsics object From the data loaded if there is a linked connection between IMU and the given camera then there relative rotation and translation from the camera to IMU is returned.

Parameter cameraId:: Camera Id of the camera which will be considerd as origin. from which Transformation matrix to the IMU will be found
Parameter useSpecTranslation:: Enabling this bool uses the translation information from the board design data

Returns: Returns a transformationMatrix which is 4x4 in homogenious coordinate system

Matrix representation of transformation matrix f[ text{Transformation Matrix} = left [ begin{matrix} r_{00} & r_{01} & r_{02} & T_x \ r_{10} & r_{11} & r_{12} & T_y \ r_{20} & r_{21} & r_{22} & T_z \ 0 & 0 & 0 & 1 end{matrix} right ] f]

getCameraTranslationVector(self: depthai.CalibrationHandler, srcCamera: depthai.CameraBoardSocket, dstCamera: depthai.CameraBoardSocket, useSpecTranslation: bool = True) → List[float]¶

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

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

Returns: a translation vector like [x, y, z] in centimeters

getDefaultIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket) → Tuple[List[List[float]], int, int]¶

Get the Default Intrinsics object

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

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

Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]

getDistortionCoefficients(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket) → List[float]¶

Get the Distortion Coefficients object

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

Returns: [k1,k2,p1,p2,k3,k4,k5,k6,s1,s2,s3,s4,τx,τy]
Return type: the distortion coefficients of the requested camera in this order

getEepromData(self: depthai.CalibrationHandler) → depthai.EepromData ¶

Get the Eeprom Data object

Returns: EepromData object which contains the raw calibration data

getFov(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, useSpec: bool = True) → float ¶

Get the Fov of the camera

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

Returns: field of view of the camera with given cameraId.

getImuToCameraExtrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, useSpecTranslation: bool = False) → List[List[float]]¶

Get the Imu To Camera Extrinsics object from the data loaded if there is a linked connection between IMU and the given camera then there relative rotation and translation from the IMU to Camera is returned.

Parameter cameraId:: Camera Id of the camera which will be considerd as destination. To which Transformation matrix from the IMU will be found.
Parameter useSpecTranslation:: Enabling this bool uses the translation information from the board design data

Returns: Returns a transformationMatrix which is 4x4 in homogenious coordinate system

Matrix representation of transformation matrix f[ text{Transformation Matrix} = left [ begin{matrix} r_{00} & r_{01} & r_{02} & T_x \ r_{10} & r_{11} & r_{12} & T_y \ r_{20} & r_{21} & r_{22} & T_z \ 0 & 0 & 0 & 1 end{matrix} right ] f]

getLensPosition(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket) → int ¶

Get the lens position of the given camera

Parameter cameraId:: of the camera with lens position is requested.

Returns: lens postion of the camera with given cameraId at which it was calibrated.

getStereoLeftCameraId(self: depthai.CalibrationHandler) → depthai.CameraBoardSocket ¶

Get the camera id of the camera which is used as left camera of the stereo setup

Returns: cameraID of the camera used as left camera

getStereoLeftRectificationRotation(self: depthai.CalibrationHandler) → List[List[float]]¶

Get the Stereo Left Rectification Rotation object

Returns: returns a 3x3 rectification rotation matrix

getStereoRightCameraId(self: depthai.CalibrationHandler) → depthai.CameraBoardSocket ¶

Get the camera id of the camera which is used as right camera of the stereo setup

Returns: cameraID of the camera used as right camera

getStereoRightRectificationRotation(self: depthai.CalibrationHandler) → List[List[float]]¶

Get the Stereo Right Rectification Rotation object

Returns: returns a 3x3 rectification rotation matrix

setBoardInfo(self: depthai.CalibrationHandler, boardName: str, boardRev: str) → None ¶

Set the Board Info object

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

setCameraExtrinsics(self: depthai.CalibrationHandler, srcCameraId: depthai.CameraBoardSocket, destCameraId: depthai.CameraBoardSocket, rotationMatrix: List[List[float]], translation: List[float], specTranslation: List[float] = [0.0, 0.0, 0.0]) → None ¶

Set the Camera Extrinsics object

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

setCameraIntrinsics(*args, **kwargs)¶

Overloaded function.

setCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, intrinsics: List[List[float]], frameSize: depthai.Size2f) -> None

Set the Camera Intrinsics object

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

Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]

setCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, intrinsics: List[List[float]], width: int, height: int) -> None

Set the Camera Intrinsics object

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

Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]

setCameraIntrinsics(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, intrinsics: List[List[float]], frameSize: Tuple[int, int]) -> None

Set the Camera Intrinsics object

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

Matrix representation of intrinsic matrix f[ text{Intrinsic Matrix} = left [ begin{matrix} f_x & 0 & c_x \ 0 & f_y & c_y \ 0 & 0 & 1 end{matrix} right ] f]

setCameraType(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, cameraModel: depthai.CameraModel) → None ¶

Set the Camera Type object

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

setDistortionCoefficients(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, distortionCoefficients: List[float]) → None ¶

Sets the distortion Coefficients obtained from camera calibration

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

setFov(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, hfov: float) → None ¶

Set the Fov of the Camera

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

setImuExtrinsics(self: depthai.CalibrationHandler, destCameraId: depthai.CameraBoardSocket, rotationMatrix: List[List[float]], translation: List[float], specTranslation: List[float] = [0.0, 0.0, 0.0]) → None ¶

Set the Imu to Camera Extrinsics object

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

setLensPosition(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, lensPosition: int) → None ¶

Sets the distortion Coefficients obtained from camera calibration

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

setStereoLeft(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, rectifiedRotation: List[List[float]]) → None ¶

Set the Stereo Left Rectification object

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

Homography of the Left Rectification = Intrinsics_right * rectifiedRotation * inv(Intrinsics_left)

setStereoRight(self: depthai.CalibrationHandler, cameraId: depthai.CameraBoardSocket, rectifiedRotation: List[List[float]]) → None ¶

Set the Stereo Right Rectification object

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

Homography of the Right Rectification = Intrinsics_right * rectifiedRotation * inv(Intrinsics_right)

class depthai.CameraBoardSocket¶

Bases: pybind11_builtins.pybind11_object

Which Camera socket to use.

AUTO denotes that the decision will be made by device

Members:

AUTO

RGB

LEFT

RIGHT

Attributes:

`AUTO`
`LEFT`
`RGB`
`RIGHT`
`name`
`value`

Methods:

__init__(self, value)

AUTO = <CameraBoardSocket.AUTO: -1>¶

LEFT = <CameraBoardSocket.LEFT: 1>¶

RGB = <CameraBoardSocket.RGB: 0>¶

RIGHT = <CameraBoardSocket.RIGHT: 2>¶

__init__(self: depthai.CameraBoardSocket, value: int) → None ¶

property name¶

property value¶

class depthai.CameraControl¶

Bases: depthai.Buffer

CameraControl message. Specifies various camera control commands like:

Still capture
Auto focus
Anti banding
Auto white balance
Scene
Effect
…

Classes:

`AntiBandingMode`	Members:
`AutoFocusMode`	Members:
`AutoWhiteBalanceMode`	Members:
`Command`	Members:
`EffectMode`	Members:
`SceneMode`	Members:

Methods:

`__init__`(self)	Construct CameraControl message
`getCaptureStill`(self)	Check whether command to capture a still is set
`setAntiBandingMode`(self, mode)	Set a command to specify auto banding mode
`setAutoExposureCompensation`(self, compensation)	Set a command to specify auto exposure compensation
`setAutoExposureEnable`(self)	Set a command to enable auto exposure
`setAutoExposureLock`(self, lock)	Set a command to specify lock auto exposure
`setAutoExposureRegion`(self, startX, startY, …)	Set a command to specify auto exposure region in pixels
`setAutoFocusMode`(self, mode)	Set a command to specify autofocus mode
`setAutoFocusRegion`(self, startX, startY, …)	Set a command to specify focus region in pixels
`setAutoFocusTrigger`(self)	Set a command to trigger autofocus
`setAutoWhiteBalanceLock`(self, lock)	Set a command to specify auto white balance lock
`setAutoWhiteBalanceMode`(self, mode)	Set a command to specify auto white balance mode
`setBrightness`(self, value)	Set a command to adjust image brightness
`setCaptureStill`(self, capture)	Set a command to capture a still image
`setChromaDenoise`(self, value)	Set a command to adjust chroma denoise amount
`setContrast`(self, value)	Set a command to adjust image contrast
`setEffectMode`(self, mode)	Set a command to specify effect mode
`setLumaDenoise`(self, value)	Set a command to adjust luma denoise amount
`setManualExposure`(self, exposureTimeUs, …)	Set a command to manually specify exposure
`setManualFocus`(self, lensPosition)	Set a command to specify manual focus position
`setManualWhiteBalance`(self, colorTemperatureK)	Set a command to manually specify white-balance color correction
`setSaturation`(self, value)	Set a command to adjust image saturation
`setSceneMode`(self, mode)	Set a command to specify scene mode
`setSharpness`(self, value)	Set a command to adjust image sharpness
`setStartStreaming`(self)	Set a command to start streaming
`setStopStreaming`(self)	Set a command to stop streaming

class AntiBandingMode¶

Bases: pybind11_builtins.pybind11_object

Members:

OFF

MAINS_50_HZ

MAINS_60_HZ

AUTO

Attributes:

`AUTO`
`MAINS_50_HZ`
`MAINS_60_HZ`
`OFF`
`name`
`value`

Methods:

__init__(self, value)

AUTO = <AntiBandingMode.AUTO: 3>¶

MAINS_50_HZ = <AntiBandingMode.MAINS_50_HZ: 1>¶

MAINS_60_HZ = <AntiBandingMode.MAINS_60_HZ: 2>¶

OFF = <AntiBandingMode.OFF: 0>¶

__init__(self: depthai.RawCameraControl.AntiBandingMode, value: int) → None ¶

property name¶

property value¶

class AutoFocusMode¶

Bases: pybind11_builtins.pybind11_object

Members:

OFF

AUTO

MACRO

CONTINUOUS_VIDEO

CONTINUOUS_PICTURE

EDOF

Attributes:

`AUTO`
`CONTINUOUS_PICTURE`
`CONTINUOUS_VIDEO`
`EDOF`
`MACRO`
`OFF`
`name`
`value`

Methods:

__init__(self, value)

AUTO = <AutoFocusMode.AUTO: 1>¶

CONTINUOUS_PICTURE = <AutoFocusMode.CONTINUOUS_PICTURE: 4>¶

CONTINUOUS_VIDEO = <AutoFocusMode.CONTINUOUS_VIDEO: 3>¶

EDOF = <AutoFocusMode.EDOF: 5>¶

MACRO = <AutoFocusMode.MACRO: 2>¶

OFF = <AutoFocusMode.OFF: 0>¶

__init__(self: depthai.RawCameraControl.AutoFocusMode, value: int) → None ¶

property name¶

property value¶

class AutoWhiteBalanceMode¶

Bases: pybind11_builtins.pybind11_object

Members:

OFF

AUTO

INCANDESCENT

FLUORESCENT

WARM_FLUORESCENT

DAYLIGHT

CLOUDY_DAYLIGHT

TWILIGHT

SHADE

Attributes:

`AUTO`
`CLOUDY_DAYLIGHT`
`DAYLIGHT`
`FLUORESCENT`
`INCANDESCENT`
`OFF`
`SHADE`
`TWILIGHT`
`WARM_FLUORESCENT`
`name`
`value`

Methods:

__init__(self, value)

AUTO = <AutoWhiteBalanceMode.AUTO: 1>¶

CLOUDY_DAYLIGHT = <AutoWhiteBalanceMode.CLOUDY_DAYLIGHT: 6>¶

DAYLIGHT = <AutoWhiteBalanceMode.DAYLIGHT: 5>¶

FLUORESCENT = <AutoWhiteBalanceMode.FLUORESCENT: 3>¶

INCANDESCENT = <AutoWhiteBalanceMode.INCANDESCENT: 2>¶

OFF = <AutoWhiteBalanceMode.OFF: 0>¶

SHADE = <AutoWhiteBalanceMode.SHADE: 8>¶

TWILIGHT = <AutoWhiteBalanceMode.TWILIGHT: 7>¶

WARM_FLUORESCENT = <AutoWhiteBalanceMode.WARM_FLUORESCENT: 4>¶

__init__(self: depthai.RawCameraControl.AutoWhiteBalanceMode, value: int) → None ¶

property name¶

property value¶

class Command¶

Bases: pybind11_builtins.pybind11_object

Members:

START_STREAM

STOP_STREAM

STILL_CAPTURE

MOVE_LENS

AF_TRIGGER

AE_MANUAL

AE_AUTO

AWB_MODE

SCENE_MODE

ANTIBANDING_MODE

EXPOSURE_COMPENSATION

AE_LOCK

AE_TARGET_FPS_RANGE

AWB_LOCK

CAPTURE_INTENT

CONTROL_MODE

FRAME_DURATION

SENSITIVITY

EFFECT_MODE

AF_MODE

NOISE_REDUCTION_STRENGTH

SATURATION

BRIGHTNESS

STREAM_FORMAT

RESOLUTION

SHARPNESS

CUSTOM_USECASE

CUSTOM_CAPT_MODE

CUSTOM_EXP_BRACKETS

CUSTOM_CAPTURE

CONTRAST

AE_REGION

AF_REGION

LUMA_DENOISE

CHROMA_DENOISE

WB_COLOR_TEMP

Attributes:

Methods:

__init__(self, value)

AE_AUTO = <Command.AE_AUTO: 7>¶

AE_LOCK = <Command.AE_LOCK: 13>¶

AE_MANUAL = <Command.AE_MANUAL: 6>¶

AE_REGION = <Command.AE_REGION: 45>¶

AE_TARGET_FPS_RANGE = <Command.AE_TARGET_FPS_RANGE: 14>¶

AF_MODE = <Command.AF_MODE: 26>¶

AF_REGION = <Command.AF_REGION: 46>¶

AF_TRIGGER = <Command.AF_TRIGGER: 5>¶

ANTIBANDING_MODE = <Command.ANTIBANDING_MODE: 10>¶

AWB_LOCK = <Command.AWB_LOCK: 16>¶

AWB_MODE = <Command.AWB_MODE: 8>¶

BRIGHTNESS = <Command.BRIGHTNESS: 31>¶

CAPTURE_INTENT = <Command.CAPTURE_INTENT: 17>¶

CHROMA_DENOISE = <Command.CHROMA_DENOISE: 48>¶

CONTRAST = <Command.CONTRAST: 44>¶

CONTROL_MODE = <Command.CONTROL_MODE: 18>¶

CUSTOM_CAPTURE = <Command.CUSTOM_CAPTURE: 43>¶

CUSTOM_CAPT_MODE = <Command.CUSTOM_CAPT_MODE: 41>¶

CUSTOM_EXP_BRACKETS = <Command.CUSTOM_EXP_BRACKETS: 42>¶

CUSTOM_USECASE = <Command.CUSTOM_USECASE: 40>¶

EFFECT_MODE = <Command.EFFECT_MODE: 24>¶

EXPOSURE_COMPENSATION = <Command.EXPOSURE_COMPENSATION: 11>¶

FRAME_DURATION = <Command.FRAME_DURATION: 21>¶

LUMA_DENOISE = <Command.LUMA_DENOISE: 47>¶

MOVE_LENS = <Command.MOVE_LENS: 4>¶

NOISE_REDUCTION_STRENGTH = <Command.NOISE_REDUCTION_STRENGTH: 27>¶

RESOLUTION = <Command.RESOLUTION: 34>¶

SATURATION = <Command.SATURATION: 28>¶

SCENE_MODE = <Command.SCENE_MODE: 9>¶

SENSITIVITY = <Command.SENSITIVITY: 23>¶

SHARPNESS = <Command.SHARPNESS: 35>¶

START_STREAM = <Command.START_STREAM: 1>¶

STILL_CAPTURE = <Command.STILL_CAPTURE: 3>¶

STOP_STREAM = <Command.STOP_STREAM: 2>¶

STREAM_FORMAT = <Command.STREAM_FORMAT: 33>¶

WB_COLOR_TEMP = <Command.WB_COLOR_TEMP: 49>¶

__init__(self: depthai.RawCameraControl.Command, value: int) → None ¶

property name¶

property value¶

class EffectMode¶

Bases: pybind11_builtins.pybind11_object

Members:

OFF

MONO

NEGATIVE

SOLARIZE

SEPIA

POSTERIZE

WHITEBOARD

BLACKBOARD

AQUA

Attributes:

`AQUA`
`BLACKBOARD`
`MONO`
`NEGATIVE`
`OFF`
`POSTERIZE`
`SEPIA`
`SOLARIZE`
`WHITEBOARD`
`name`
`value`

Methods:

__init__(self, value)

AQUA = <EffectMode.AQUA: 8>¶

BLACKBOARD = <EffectMode.BLACKBOARD: 7>¶

MONO = <EffectMode.MONO: 1>¶

NEGATIVE = <EffectMode.NEGATIVE: 2>¶

OFF = <EffectMode.OFF: 0>¶

POSTERIZE = <EffectMode.POSTERIZE: 5>¶

SEPIA = <EffectMode.SEPIA: 4>¶

SOLARIZE = <EffectMode.SOLARIZE: 3>¶

WHITEBOARD = <EffectMode.WHITEBOARD: 6>¶

__init__(self: depthai.RawCameraControl.EffectMode, value: int) → None ¶

property name¶

property value¶

class SceneMode¶

Bases: pybind11_builtins.pybind11_object

Members:

UNSUPPORTED

FACE_PRIORITY

ACTION

PORTRAIT

LANDSCAPE

NIGHT

NIGHT_PORTRAIT

THEATRE

BEACH

SNOW

SUNSET

STEADYPHOTO

FIREWORKS

SPORTS

PARTY

CANDLELIGHT

BARCODE

Attributes:

`ACTION`
`BARCODE`
`BEACH`
`CANDLELIGHT`
`FACE_PRIORITY`
`FIREWORKS`
`LANDSCAPE`
`NIGHT`
`NIGHT_PORTRAIT`
`PARTY`
`PORTRAIT`
`SNOW`
`SPORTS`
`STEADYPHOTO`
`SUNSET`
`THEATRE`
`UNSUPPORTED`
`name`
`value`

Methods:

__init__(self, value)

ACTION = <SceneMode.ACTION: 2>¶

BARCODE = <SceneMode.BARCODE: 16>¶

BEACH = <SceneMode.BEACH: 8>¶

CANDLELIGHT = <SceneMode.CANDLELIGHT: 15>¶

FACE_PRIORITY = <SceneMode.FACE_PRIORITY: 1>¶

FIREWORKS = <SceneMode.FIREWORKS: 12>¶

LANDSCAPE = <SceneMode.LANDSCAPE: 4>¶

NIGHT = <SceneMode.NIGHT: 5>¶

NIGHT_PORTRAIT = <SceneMode.NIGHT_PORTRAIT: 6>¶

PARTY = <SceneMode.PARTY: 14>¶

PORTRAIT = <SceneMode.PORTRAIT: 3>¶

SNOW = <SceneMode.SNOW: 9>¶

SPORTS = <SceneMode.SPORTS: 13>¶

STEADYPHOTO = <SceneMode.STEADYPHOTO: 11>¶

SUNSET = <SceneMode.SUNSET: 10>¶

THEATRE = <SceneMode.THEATRE: 7>¶

UNSUPPORTED = <SceneMode.UNSUPPORTED: 0>¶

__init__(self: depthai.RawCameraControl.SceneMode, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.CameraControl) → None ¶: Construct CameraControl message

getCaptureStill(self: depthai.CameraControl) → bool ¶

Check whether command to capture a still is set

Returns: True if capture still command is set

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

Set a command to specify auto banding mode

Parameter mode:: Auto banding mode to use

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

Set a command to specify auto exposure compensation

Parameter compensation:: Compensation value between -9..9

setAutoExposureEnable(self: depthai.CameraControl) → None ¶: Set a command to enable auto exposure

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

Set a command to specify lock auto exposure

Parameter lock:: Auto exposure lock mode enabled or disabled

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

Set a command to specify auto exposure region in pixels

Parameter startX:: X coordinate of top left corner of region
Parameter startY:: Y coordinate of top left corner of region
Parameter width:: Region width
Parameter height:: Region height

setAutoFocusMode(self: depthai.CameraControl, mode: depthai.RawCameraControl.AutoFocusMode) → None ¶: Set a command to specify autofocus mode

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

Set a command to specify focus region in pixels

Parameter startX:: X coordinate of top left corner of region
Parameter startY:: Y coordinate of top left corner of region
Parameter width:: Region width
Parameter height:: Region height

setAutoFocusTrigger(self: depthai.CameraControl) → None ¶: Set a command to trigger autofocus

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

Set a command to specify auto white balance lock

Parameter lock:: Auto white balance lock mode enabled or disabled

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

Set a command to specify auto white balance mode

Parameter mode:: Auto white balance mode to use

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

Set a command to adjust image brightness

Parameter value:: Brightness, range -10..10

setCaptureStill(self: depthai.CameraControl, capture: bool) → None ¶: Set a command to capture a still image

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

Set a command to adjust chroma denoise amount

Parameter value:: Chroma denoise amount, range 0..4

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

Set a command to adjust image contrast

Parameter value:: Contrast, range -10..10

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

Set a command to specify effect mode

Parameter mode:: Effect mode

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

Set a command to adjust luma denoise amount

Parameter value:: Luma denoise amount, range 0..4

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

Set a command to manually specify exposure

Parameter exposureTimeUs:: Exposure time in microseconds
Parameter sensitivityIso:: Sensitivity as ISO value, usual range 100..1600

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

Set a command to specify manual focus position

Parameter lensPosition:: specify lens position 0..255

setManualWhiteBalance(self: depthai.CameraControl, colorTemperatureK: int) → None ¶

Set a command to manually specify white-balance color correction

Parameter colorTemperatureK:: Light source color temperature in kelvins, range 1000..12000

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

Set a command to adjust image saturation

Parameter value:: Saturation, range -10..10

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

Set a command to specify scene mode

Parameter mode:: Scene mode

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

Set a command to adjust image sharpness

Parameter value:: Sharpness, range 0..4

setStartStreaming(self: depthai.CameraControl) → None ¶: Set a command to start streaming

setStopStreaming(self: depthai.CameraControl) → None ¶: Set a command to stop streaming

class depthai.CameraImageOrientation¶

Bases: pybind11_builtins.pybind11_object

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

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

Members:

AUTO

NORMAL

HORIZONTAL_MIRROR

VERTICAL_FLIP

ROTATE_180_DEG

Attributes:

`AUTO`
`HORIZONTAL_MIRROR`
`NORMAL`
`ROTATE_180_DEG`
`VERTICAL_FLIP`
`name`
`value`

Methods:

__init__(self, value)

AUTO = <CameraImageOrientation.AUTO: -1>¶

HORIZONTAL_MIRROR = <CameraImageOrientation.HORIZONTAL_MIRROR: 1>¶

NORMAL = <CameraImageOrientation.NORMAL: 0>¶

ROTATE_180_DEG = <CameraImageOrientation.ROTATE_180_DEG: 3>¶

VERTICAL_FLIP = <CameraImageOrientation.VERTICAL_FLIP: 2>¶

__init__(self: depthai.CameraImageOrientation, value: int) → None ¶

property name¶

property value¶

class depthai.CameraInfo¶

Bases: pybind11_builtins.pybind11_object

CameraInfo structure

Methods:

__init__(self)

Attributes:

`cameraType`
`distortionCoeff`
`extrinsics`
`height`
`intrinsicMatrix`
`specHfovDeg`
`width`

__init__(self: depthai.CameraInfo) → None ¶

property cameraType¶

property distortionCoeff¶

property extrinsics¶

property height¶

property intrinsicMatrix¶

property specHfovDeg¶

property width¶

class depthai.CameraModel¶

Bases: pybind11_builtins.pybind11_object

Which CameraModel to initialize the calibration with.

Members:

Perspective

Fisheye

Equirectangular

RadialDivision

Attributes:

`Equirectangular`
`Fisheye`
`Perspective`
`RadialDivision`
`name`
`value`

Methods:

__init__(self, value)

Equirectangular = <CameraModel.Equirectangular: 2>¶

Fisheye = <CameraModel.Fisheye: 1>¶

Perspective = <CameraModel.Perspective: 0>¶

RadialDivision = <CameraModel.RadialDivision: 3>¶

__init__(self: depthai.CameraModel, value: int) → None ¶

property name¶

property value¶

class depthai.ChipTemperature¶

Bases: pybind11_builtins.pybind11_object

Chip temperature information.

Multiple temperature measurement points and their average

Methods:

__init__(self)

Attributes:

`average`
`css`
`dss`
`mss`
`upa`

__init__(self: depthai.ChipTemperature) → None ¶

property average¶

property css¶

property dss¶

property mss¶

property upa¶

class depthai.Clock¶

Bases: pybind11_builtins.pybind11_object

Methods:

`__init__`(args, *kwargs)	Initialize self.
`now`()

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

now() → datetime.timedelta ¶

class depthai.ColorCameraProperties¶

Bases: pybind11_builtins.pybind11_object

Specify properties for ColorCamera such as camera ID, …

Classes:

`ColorOrder`	For 24 bit color these can be either RGB or BGR
`SensorResolution`	Select the camera sensor resolution

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`boardSocket`
`colorOrder`
`fps`
`initialControl`
`interleaved`
`previewHeight`
`previewWidth`
`resolution`
`sensorCropX`
`sensorCropY`
`stillHeight`
`stillWidth`
`videoHeight`
`videoWidth`

class ColorOrder¶

Bases: pybind11_builtins.pybind11_object

For 24 bit color these can be either RGB or BGR

Members:

BGR

RGB

Attributes:

`BGR`
`RGB`
`name`
`value`

Methods:

__init__(self, value)

BGR = <ColorOrder.BGR: 0>¶

RGB = <ColorOrder.RGB: 1>¶

__init__(self: depthai.ColorCameraProperties.ColorOrder, value: int) → None ¶

property name¶

property value¶

class SensorResolution¶

Bases: pybind11_builtins.pybind11_object

Select the camera sensor resolution

Members:

THE_1080_P

THE_4_K

THE_12_MP

THE_13_MP

Attributes:

`THE_1080_P`
`THE_12_MP`
`THE_13_MP`
`THE_4_K`
`name`
`value`

Methods:

__init__(self, value)

THE_1080_P = <SensorResolution.THE_1080_P: 0>¶

THE_12_MP = <SensorResolution.THE_12_MP: 2>¶

THE_13_MP = <SensorResolution.THE_13_MP: 3>¶

THE_4_K = <SensorResolution.THE_4_K: 1>¶

__init__(self: depthai.ColorCameraProperties.SensorResolution, value: int) → None ¶

property name¶

property value¶

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property boardSocket¶

property colorOrder¶

property fps¶

property initialControl¶

property interleaved¶

property previewHeight¶

property previewWidth¶

property resolution¶

property sensorCropX¶

property sensorCropY¶

property stillHeight¶

property stillWidth¶

property videoHeight¶

property videoWidth¶

class depthai.CpuUsage¶

Bases: pybind11_builtins.pybind11_object

CpuUsage structure

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

Methods:

__init__(self)

Attributes:

`average`
`msTime`

__init__(self: depthai.CpuUsage) → None ¶

property average¶

property msTime¶

class depthai.DataInputQueue¶

Bases: pybind11_builtins.pybind11_object

Access to send messages through XLink stream

Methods:

`__init__`(args, *kwargs)	Initialize self.
`close`(self)	Closes the queue and the underlying thread
`getBlocking`(self)	Gets current queue behavior when full (maxSize)
`getMaxSize`(self)	Gets queue maximum size
`getName`(self)	Gets queues name
`isClosed`(self)	Check whether queue is closed
`send`(args, *kwargs)	Overloaded function.
`setBlocking`(self, blocking)	Sets queue behavior when full (maxSize)
`setMaxSize`(self, maxSize)	Sets queue maximum size

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

close(self: depthai.DataInputQueue) → None ¶: Closes the queue and the underlying thread

getBlocking(self: depthai.DataInputQueue) → bool ¶

Gets current queue behavior when full (maxSize)

Returns: True if blocking, false otherwise

getMaxSize(self: depthai.DataInputQueue) → int ¶

Gets queue maximum size

Returns: Maximum queue size

getName(self: depthai.DataInputQueue) → str ¶

Gets queues name

Returns: Queue name

isClosed(self: depthai.DataInputQueue) → bool ¶: Check whether queue is closed

send(*args, **kwargs)¶

Overloaded function.

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

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

Parameter msg:: Message to add to the queue

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

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

Parameter rawMsg:: Message to add to the queue

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

Sets queue behavior when full (maxSize)

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

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

Sets queue maximum size

Parameter maxSize:: Specifies maximum number of messages in the queue

class depthai.DataOutputQueue¶

Bases: pybind11_builtins.pybind11_object

Access to receive messages coming from XLink stream

Methods:

`__init__`(args, *kwargs)	Initialize self.
`addCallback`(args, *kwargs)	Overloaded function.
`close`(self)	Closes the queue and the underlying thread
`get`(self)	Block until a message is available.
`getAll`(self)	Block until at least one message in the queue.
`getBlocking`(self)	Gets current queue behavior when full (maxSize)
`getMaxSize`(self)	Gets queue maximum size
`getName`(self)	Gets queues name
`has`(self)	Check whether front of the queue has a message (isn’t empty)
`isClosed`(self)	Check whether queue is closed
`removeCallback`(self, callbackId)	Removes a callback
`setBlocking`(self, blocking)	Sets queue behavior when full (maxSize)
`setMaxSize`(self, maxSize)	Sets queue maximum size
`tryGet`(self)	Try to retrieve message from queue.
`tryGetAll`(self)	Try to retrieve all messages in the queue.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

addCallback(*args, **kwargs)¶

Overloaded function.

addCallback(self: depthai.DataOutputQueue, callback: function) -> int

Adds a callback on message received

Parameter callback:: Callback function with queue name and message pointer

Returns: Callback id

addCallback(self: depthai.DataOutputQueue, callback: function) -> int

Adds a callback on message received

Parameter callback:: Callback function with message pointer

Returns: Callback id

addCallback(self: depthai.DataOutputQueue, callback: function) -> int

Adds a callback on message received

Parameter callback:: Callback function without any parameters

Returns: Callback id

close(self: depthai.DataOutputQueue) → None ¶: Closes the queue and the underlying thread

get(self: depthai.DataOutputQueue) → depthai.ADatatype ¶

Block until a message is available.

Returns: Message or nullptr if no message available

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

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

Returns: Vector of messages

getBlocking(self: depthai.DataOutputQueue) → bool ¶

Gets current queue behavior when full (maxSize)

Returns: True if blocking, false otherwise

getMaxSize(self: depthai.DataOutputQueue) → int ¶

Gets queue maximum size

Returns: Maximum queue size

getName(self: depthai.DataOutputQueue) → str ¶

Gets queues name

Returns: Queue name

has(self: depthai.DataOutputQueue) → bool ¶

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

Returns: True if queue isn’t empty, false otherwise

isClosed(self: depthai.DataOutputQueue) → bool ¶: Check whether queue is closed

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

Removes a callback

Parameter callbackId:: Id of callback to be removed

Returns: True if callback was removed, false otherwise

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

Sets queue behavior when full (maxSize)

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

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

Sets queue maximum size

Parameter maxSize:: Specifies maximum number of messages in the queue

tryGet(self: depthai.DataOutputQueue) → depthai.ADatatype ¶

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

Returns: Message or nullptr if no message available

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

Try to retrieve all messages in the queue.

Returns: Vector of messages

class depthai.DetectionNetworkProperties¶

Bases: depthai.NeuralNetworkProperties

Specify properties for DetectionNetwork

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`anchorMasks`
`anchors`
`classes`
`confidenceThreshold`
`coordinates`
`iouThreshold`
`nnFamily`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property anchorMasks¶

property anchors¶

property classes¶

property confidenceThreshold¶

property coordinates¶

property iouThreshold¶

property nnFamily¶

class depthai.DetectionNetworkType¶

Bases: pybind11_builtins.pybind11_object

Members:

YOLO

MOBILENET

Attributes:

`MOBILENET`
`YOLO`
`name`
`value`

Methods:

__init__(self, value)

MOBILENET = <DetectionNetworkType.MOBILENET: 1>¶

YOLO = <DetectionNetworkType.YOLO: 0>¶

__init__(self: depthai.DetectionNetworkType, value: int) → None ¶

property name¶

property value¶

class depthai.Device¶

Bases: depthai.DeviceBase

Represents the DepthAI device with the methods to interact with it. Implements the host-side queues to connect with XLinkIn and XLinkOut nodes

Classes:

Config

Device specific configuration

Methods:

`__init__`(args, *kwargs)	Overloaded function.
`getInputQueue`(args, *kwargs)	Overloaded function.
`getInputQueueNames`(self)	Get all available input queue names
`getOutputQueue`(args, *kwargs)	Overloaded function.
`getOutputQueueNames`(self)	Get all available output queue names
`getQueueEvent`(args, *kwargs)	Overloaded function.
`getQueueEvents`(args, *kwargs)	Overloaded function.

class Config¶

Bases: pybind11_builtins.pybind11_object

Device specific configuration

Methods:

__init__(self)

Attributes:

`preboot`
`version`

__init__(self: depthai.Device.Config) → None ¶

property preboot¶

property version¶

__init__(*args, **kwargs)¶

Overloaded function.

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:: Pipeline to be executed on the device

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:: Pipeline to be executed on the device
Parameter usb2Mode:: Boot device using USB2 mode firmware

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:: Pipeline to be executed on the device
Parameter maxUsbSpeed:: Maximum allowed USB speed

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:: Pipeline to be executed on the device
Parameter pathToCmd:: Path to custom device firmware

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

Connects to device specified by devInfo.

Parameter pipeline:: Pipeline to be executed on the device
Parameter devInfo:: DeviceInfo which specifies which device to connect to
Parameter usb2Mode:: Boot device using USB2 mode firmware

__init__(self: depthai.Device, pipeline: depthai.Pipeline, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to device specified by devInfo.

Parameter pipeline:: Pipeline to be executed on the device
Parameter devInfo:: DeviceInfo which specifies which device to connect to
Parameter maxUsbSpeed:: Maximum allowed USB speed

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

Connects to device specified by devInfo.

Parameter pipeline:: Pipeline to be executed on the device
Parameter devInfo:: DeviceInfo which specifies which device to connect to
Parameter pathToCmd:: Path to custom device firmware

__init__(self: depthai.Device, version: depthai.OpenVINO.Version = <Version.???: 5>) -> None

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

__init__(self: depthai.Device, version: depthai.OpenVINO.Version, usb2Mode: bool = False) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter version:: OpenVINO version which the device will be booted with
Parameter usb2Mode:: Boot device using USB2 mode firmware

__init__(self: depthai.Device, version: depthai.OpenVINO.Version, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to device specified by devInfo.

Parameter version:: OpenVINO version which the device will be booted with
Parameter devInfo:: DeviceInfo which specifies which device to connect to
Parameter maxUsbSpeed:: Maximum allowed USB speed

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter version:: OpenVINO version which the device will be booted with
Parameter pathToCmd:: Path to custom device firmware

__init__(self: depthai.Device, version: depthai.OpenVINO.Version, deviceDesc: depthai.DeviceInfo, usb2Mode: bool = False) -> None

Connects to device specified by devInfo.

Parameter version:: OpenVINO version which the device will be booted with
Parameter devInfo:: DeviceInfo which specifies which device to connect to
Parameter usb2Mode:: Boot device using USB2 mode firmware

__init__(self: depthai.Device, version: depthai.OpenVINO.Version, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to device specified by devInfo.

Parameter version:: OpenVINO version which the device will be booted with
Parameter devInfo:: DeviceInfo which specifies which device to connect to
Parameter maxUsbSpeed:: Maximum allowed USB speed

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

Connects to device specified by devInfo.

Parameter version:: OpenVINO version which the device will be booted with
Parameter devInfo:: DeviceInfo which specifies which device to connect to
Parameter pathToCmd:: Path to custom device firmware

__init__(self: depthai.Device, config: depthai.Device.Config) -> None

Connects to any available device with custom config.

Parameter config:: Device custom configuration to boot with

__init__(self: depthai.Device, config: depthai.Device.Config, deviceInfo: depthai.DeviceInfo) -> None

Connects to device ‘devInfo’ with custom config.

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

getInputQueue(*args, **kwargs)¶

Overloaded function.

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

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

Parameter name:: Queue/stream name, set in XLinkIn node

Returns: Smart pointer to DataInputQueue

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

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

Parameter name:: Queue/stream name, set in XLinkOut node
Parameter maxSize:: Maximum number of messages in queue
Parameter blocking:: Queue behavior once full. True: blocking, false: overwriting of oldest messages. Default: true

Returns: Smart pointer to DataInputQueue

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

Get all available input queue names

Returns: Vector of input queue names

getOutputQueue(*args, **kwargs)¶

Overloaded function.

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

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

Parameter name:: Queue/stream name, created by XLinkOut node

Returns: Smart pointer to DataOutputQueue

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

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

Parameter name:: Queue/stream name, set in XLinkOut node
Parameter maxSize:: Maximum number of messages in queue
Parameter blocking:: Queue behavior once full. True specifies blocking and false overwriting of oldest messages. Default: true

Returns: Smart pointer to DataOutputQueue

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

Get all available output queue names

Returns: Vector of output queue names

getQueueEvent(*args, **kwargs)¶

Overloaded function.

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

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

Parameter queueNames:: Names of queues for which to wait for
Parameter timeout:: Timeout after which return regardless. If negative then wait is indefinite. Default is -1

Returns: Queue name which received a message first

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

Gets or waits until specified queue has received a message

Parameter queueNames:: Name of queues for which to wait for
Parameter timeout:: Timeout after which return regardless. If negative then wait is indefinite. Default is -1

Returns: Queue name which received a message

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

Gets or waits until any queue has received a message

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

Returns: Queue name which received a message

getQueueEvents(*args, **kwargs)¶

Overloaded function.

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

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

Parameter queueNames:: Names of queues for which to block
Parameter maxNumEvents:: Maximum number of events to remove from queue - Default is unlimited
Parameter timeout:: Timeout after which return regardless. If negative then wait is indefinite - Default is -1

Returns: Names of queues which received messages first

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

Gets or waits until specified queue has received a message

Parameter queueName:: Name of queues for which to wait for
Parameter maxNumEvents:: Maximum number of events to remove from queue. Default is unlimited
Parameter timeout:: Timeout after which return regardless. If negative then wait is indefinite. Default is -1

Returns: Names of queues which received messages first

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

Gets or waits until any queue has received a message

Parameter maxNumEvents:: Maximum number of events to remove from queue. Default is unlimited
Parameter timeout:: Timeout after which return regardless. If negative then wait is indefinite. Default is -1

Returns: Names of queues which received messages first

class depthai.DeviceBase¶

Bases: pybind11_builtins.pybind11_object

The core of depthai device for RAII, connects to device and maintains watchdog, timesync, …

Methods:

`__init__`(args, *kwargs)	Overloaded function.
`addLogCallback`(self, callback, None])	Add a callback for device logging.
`close`(self)	Closes the connection to device.
`flashCalibration`(self, calibrationDataHandler)	Stores the Calibration and Device information to the Device EEPROM
`getAllAvailableDevices`()	Returns all connected devices
`getAnyAvailableDevice`(args, *kwargs)	Overloaded function.
`getCameraSensorNames`(self)	Get sensor names for cameras that are connected to the device
`getChipTemperature`(self)	Retrieves current chip temperature as measured by device
`getCmxMemoryUsage`(self)	Retrieves current CMX memory information from device
`getConnectedCameras`(self)	Get cameras that are connected to the device
`getDdrMemoryUsage`(self)	Retrieves current DDR memory information from device
`getDeviceByMxId`(mxId)	Finds a device by MX ID.
`getDeviceInfo`(self)	Get the Device Info object o the device which is currently running
`getEmbeddedDeviceBinary`(args, *kwargs)	Overloaded function.
`getFirstAvailableDevice`()	Gets first available device.
`getLeonCssCpuUsage`(self)	Retrieves average CSS Leon CPU usage
`getLeonCssHeapUsage`(self)	Retrieves current CSS Leon CPU heap information from device
`getLeonMssCpuUsage`(self)	Retrieves average MSS Leon CPU usage
`getLeonMssHeapUsage`(self)	Retrieves current MSS Leon CPU heap information from device
`getLogLevel`(self)	Gets current logging severity level of the device.
`getLogOutputLevel`(self)	Gets logging level which decides printing level to standard output.
`getMxId`(self)	Get MxId of device
`getSystemInformationLoggingRate`(self)	Gets current rate of system information logging (“info” severity) in Hz.
`getUsbSpeed`(self)	Retrieves USB connection speed
`getXLinkChunkSize`(self)	Gets current XLink chunk size.
`isClosed`(self)	Check if the device is still connected`
`isPipelineRunning`(self)	Checks if devices pipeline is already running
`readCalibration`(self)	Fetches the EEPROM data from the device and loads it into CalibrationHandler object
`removeLogCallback`(self, callbackId)	Removes a callback
`setLogLevel`(self, level)	Sets the devices logging severity level.
`setLogOutputLevel`(self, level)	Sets logging level which decides printing level to standard output.
`setSystemInformationLoggingRate`(self, rateHz)	Sets rate of system information logging (“info” severity).
`setXLinkChunkSize`(self, sizeBytes)	Sets the chunk size for splitting device-sent XLink packets.
`startPipeline`(args, *kwargs)	Overloaded function.

__init__(*args, **kwargs)¶

Overloaded function.

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:: Pipeline to be executed on the device

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:: Pipeline to be executed on the device
Parameter usb2Mode:: Boot device using USB2 mode firmware

__init__(self: depthai.DeviceBase, pipeline: depthai.Pipeline, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:: Pipeline to be executed on the device
Parameter maxUsbSpeed:: Maximum allowed USB speed

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter pipeline:: Pipeline to be executed on the device
Parameter pathToCmd:: Path to custom device firmware

__init__(self: depthai.DeviceBase, pipeline: depthai.Pipeline, devInfo: depthai.DeviceInfo, usb2Mode: bool = False) -> None

Connects to device specified by devInfo.

Parameter pipeline:: Pipeline to be executed on the device
Parameter devInfo:: DeviceInfo which specifies which device to connect to
Parameter usb2Mode:: Boot device using USB2 mode firmware

__init__(self: depthai.DeviceBase, pipeline: depthai.Pipeline, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to device specified by devInfo.

Parameter pipeline:: Pipeline to be executed on the device
Parameter devInfo:: DeviceInfo which specifies which device to connect to
Parameter maxUsbSpeed:: Maximum allowed USB speed

__init__(self: depthai.DeviceBase, pipeline: depthai.Pipeline, devInfo: depthai.DeviceInfo, pathToCmd: str) -> None

Connects to device specified by devInfo.

Parameter pipeline:: Pipeline to be executed on the device
Parameter devInfo:: DeviceInfo which specifies which device to connect to
Parameter pathToCmd:: Path to custom device firmware

__init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version = <Version.???: 5>) -> None

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

__init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, usb2Mode: bool = False) -> None

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter version:: OpenVINO version which the device will be booted with
Parameter usb2Mode:: Boot device using USB2 mode firmware

__init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to device specified by devInfo.

Parameter version:: OpenVINO version which the device will be booted with
Parameter devInfo:: DeviceInfo which specifies which device to connect to
Parameter maxUsbSpeed:: Maximum allowed USB speed

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

Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

Parameter version:: OpenVINO version which the device will be booted with
Parameter pathToCmd:: Path to custom device firmware

__init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, deviceDesc: depthai.DeviceInfo, usb2Mode: bool = False) -> None

Connects to device specified by devInfo.

Parameter version:: OpenVINO version which the device will be booted with
Parameter devInfo:: DeviceInfo which specifies which device to connect to
Parameter usb2Mode:: Boot device using USB2 mode firmware

__init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, deviceInfo: depthai.DeviceInfo, maxUsbSpeed: depthai.UsbSpeed) -> None

Connects to device specified by devInfo.

Parameter version:: OpenVINO version which the device will be booted with
Parameter devInfo:: DeviceInfo which specifies which device to connect to
Parameter maxUsbSpeed:: Maximum allowed USB speed

__init__(self: depthai.DeviceBase, version: depthai.OpenVINO.Version, deviceDesc: depthai.DeviceInfo, pathToCmd: str) -> None

Connects to device specified by devInfo.

Parameter version:: OpenVINO version which the device will be booted with
Parameter devInfo:: DeviceInfo which specifies which device to connect to
Parameter pathToCmd:: Path to custom device firmware

__init__(self: depthai.DeviceBase, config: depthai.Device.Config) -> None

Connects to any available device with custom config.

Parameter config:: Device custom configuration to boot with

__init__(self: depthai.DeviceBase, config: depthai.Device.Config, deviceInfo: depthai.DeviceInfo) -> None

Connects to device ‘devInfo’ with custom config.

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

addLogCallback(self: depthai.DeviceBase, callback: Callable[[dai::LogMessage], None]) → int ¶

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

Parameter callback:: Callback to call whenever a log message arrives

Returns: Id which can be used to later remove the callback

close(self: depthai.DeviceBase) → None ¶: Closes the connection to device. Better alternative is the usage of context manager: with depthai.Device(pipeline) as device:

flashCalibration(self: depthai.DeviceBase, calibrationDataHandler: depthai.CalibrationHandler) → bool ¶

Stores the Calibration and Device information to the Device EEPROM

Parameter calibrationObj:: CalibrationHandler object which is loaded with calibration information.

Returns: true on successful flash, false on failure

static getAllAvailableDevices() → List[depthai.DeviceInfo]¶

Returns all connected devices

Returns: Vector of connected devices

static getAnyAvailableDevice(*args, **kwargs)¶

Overloaded function.

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

Waits for any available device with a timeout

Parameter timeout:: duration of time to wait for the any device

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

getAnyAvailableDevice() -> Tuple[bool, depthai.DeviceInfo]

Gets any available device

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

getCameraSensorNames(self: depthai.DeviceBase) → Dict[depthai.CameraBoardSocket, str]¶

Get sensor names for cameras that are connected to the device

Returns: Map/dictionary with camera sensor names, indexed by socket

getChipTemperature(self: depthai.DeviceBase) → depthai.ChipTemperature ¶

Retrieves current chip temperature as measured by device

Returns: Temperature of various onboard sensors

getCmxMemoryUsage(self: depthai.DeviceBase) → depthai.MemoryInfo ¶

Retrieves current CMX memory information from device

Returns: Used, remaining and total cmx memory

getConnectedCameras(self: depthai.DeviceBase) → List[depthai.CameraBoardSocket]¶

Get cameras that are connected to the device

Returns: Vector of connected cameras

getDdrMemoryUsage(self: depthai.DeviceBase) → depthai.MemoryInfo ¶

Retrieves current DDR memory information from device

Returns: Used, remaining and total ddr memory

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

Finds a device by MX ID. Example: 14442C10D13EABCE00

Parameter mxId:: MyraidX ID which uniquely specifies a device

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

getDeviceInfo(self: depthai.DeviceBase) → depthai.DeviceInfo ¶

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

Returns: DeviceInfo of the current device in execution

static getEmbeddedDeviceBinary(*args, **kwargs)¶

Overloaded function.

getEmbeddedDeviceBinary(usb2Mode: bool, version: depthai.OpenVINO.Version = <Version.???: 5>) -> List[int]

Gets device firmware binary for a specific OpenVINO version

Parameter usb2Mode:: USB2 mode firmware
Parameter version:: Version of OpenVINO which firmware will support

Returns: Firmware binary

getEmbeddedDeviceBinary(config: depthai.Device.Config) -> List[int]

Gets device firmware binary for a specific configuration

Parameter config:: FW with applied configuration

Returns: Firmware binary

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

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

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

getLeonCssCpuUsage(self: depthai.DeviceBase) → depthai.CpuUsage ¶

Retrieves average CSS Leon CPU usage

Returns: Average CPU usage and sampling duration

getLeonCssHeapUsage(self: depthai.DeviceBase) → depthai.MemoryInfo ¶

Retrieves current CSS Leon CPU heap information from device

Returns: Used, remaining and total heap memory

getLeonMssCpuUsage(self: depthai.DeviceBase) → depthai.CpuUsage ¶

Retrieves average MSS Leon CPU usage

Returns: Average CPU usage and sampling duration

getLeonMssHeapUsage(self: depthai.DeviceBase) → depthai.MemoryInfo ¶

Retrieves current MSS Leon CPU heap information from device

Returns: Used, remaining and total heap memory

getLogLevel(self: depthai.DeviceBase) → depthai.LogLevel ¶

Gets current logging severity level of the device.

Returns: Logging severity level

getLogOutputLevel(self: depthai.DeviceBase) → depthai.LogLevel ¶

Gets logging level which decides printing level to standard output.

Returns: Standard output printing severity

getMxId(self: depthai.DeviceBase) → str ¶

Get MxId of device

Returns: MxId of connected device

getSystemInformationLoggingRate(self: depthai.DeviceBase) → float ¶

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

Returns: Logging rate in Hz

getUsbSpeed(self: depthai.DeviceBase) → depthai.UsbSpeed ¶

Retrieves USB connection speed

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

getXLinkChunkSize(self: depthai.DeviceBase) → int ¶

Gets current XLink chunk size.

Returns: XLink chunk size in bytes

isClosed(self: depthai.DeviceBase) → bool ¶: Check if the device is still connected`

isPipelineRunning(self: depthai.DeviceBase) → bool ¶

Checks if devices pipeline is already running

Returns: True if running, false otherwise

readCalibration(self: depthai.DeviceBase) → depthai.CalibrationHandler ¶

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

Returns: The CalibrationHandler object containing the calibration currently flashed on device EEPROM

removeLogCallback(self: depthai.DeviceBase, callbackId: int) → bool ¶

Removes a callback

Parameter callbackId:: Id of callback to be removed

Returns: True if callback was removed, false otherwise

setLogLevel(self: depthai.DeviceBase, level: depthai.LogLevel) → None ¶

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

Parameter level:: Logging severity

setLogOutputLevel(self: depthai.DeviceBase, level: depthai.LogLevel) → None ¶

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

Parameter level:: Standard output printing severity

setSystemInformationLoggingRate(self: depthai.DeviceBase, rateHz: float) → None ¶

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

Parameter rateHz:: Logging rate in Hz

setXLinkChunkSize(self: depthai.DeviceBase, sizeBytes: int) → None ¶

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

Parameter sizeBytes:: XLink chunk size in bytes

startPipeline(*args, **kwargs)¶

Overloaded function.

startPipeline(self: depthai.DeviceBase) -> None

Starts the execution of the devices pipeline

Returns: True if pipeline started, false otherwise

startPipeline(self: depthai.DeviceBase, arg0: depthai.Pipeline) -> bool

Starts the execution of a given pipeline

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

Returns: True if pipeline started, false otherwise

class depthai.DeviceBootloader¶

Bases: pybind11_builtins.pybind11_object

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

Classes:

`Config`
`Memory`	Members:
`NetworkConfig`
`Section`	Members:
`Type`	Members:
`UsbConfig`
`Version`	Bootloader version structure

Methods:

`__init__`(args, *kwargs)	Overloaded function.
`bootMemory`(self, fw)	Boots a custom FW in memory
`bootUsbRomBootloader`(self)	Boots into integrated ROM bootloader in USB mode
`close`(self)	Closes the connection to device.
`createDepthaiApplicationPackage`(args, *kwargs)	Overloaded function.
`flash`(args, *kwargs)	Overloaded function.
`flashBootloader`(args, *kwargs)	Overloaded function.
`flashConfig`(self, config, memory, type)	Flashes configuration to bootloader
`flashConfigClear`(self, memory, type)	Clears configuration data
`flashConfigData`(self, configData, memory, type)	Flashes configuration data to bootloader
`flashConfigFile`(self, configData, memory, type)	Flashes configuration data to bootloader
`flashDepthaiApplicationPackage`(args, *kwargs)	Overloaded function.
`getAllAvailableDevices`()	Searches for connected devices in either UNBOOTED or BOOTLOADER states.
`getEmbeddedBootloaderBinary`(arg0)	returns Embedded bootloader binary
`getEmbeddedBootloaderVersion`()	returns Embedded bootloader version
`getFirstAvailableDevice`()	Searches for connected devices in either UNBOOTED or BOOTLOADER states and returns first available.
`getType`(self)	returns Type of currently connected bootloader
`getVersion`(self)	returns Version of current running bootloader
`isAllowedFlashingBootloader`(self)	returns True if allowed to flash bootloader
`isEmbeddedVersion`(self)	returns True when bootloader was booted using latest bootloader integrated in the
`readConfig`(self, memory, type)	Reads configuration from bootloader
`readConfigData`(self, memory, type)	Reads configuration data from bootloader
`saveDepthaiApplicationPackage`(args, *kwargs)	Overloaded function.

class Config¶

Bases: pybind11_builtins.pybind11_object

Methods:

`__init__`(self)
`getDnsAltIPv4`(self)
`getDnsIPv4`(self)
`getIPv4`(self)
`getIPv4Gateway`(self)
`getIPv4Mask`(self)
`getMacAddress`(self)
`getNetworkTimeout`(self)
`getUsbMaxSpeed`(self)
`getUsbTimeout`(self)
`isStaticIPV4`(self)
`setDnsIPv4`(self, arg0, arg1)
`setDynamicIPv4`(self, arg0, arg1, arg2)
`setMacAddress`(self, arg0)
`setNetworkTimeout`(self, arg0)
`setStaticIPv4`(self, arg0, arg1, arg2)
`setUsbMaxSpeed`(self, arg0)
`setUsbTimeout`(self, arg0)

Attributes:

`appMem`
`network`
`usb`

__init__(self: depthai.DeviceBootloader.Config) → None ¶

property appMem¶

getDnsAltIPv4(self: depthai.DeviceBootloader.Config) → str ¶

getDnsIPv4(self: depthai.DeviceBootloader.Config) → str ¶

getIPv4(self: depthai.DeviceBootloader.Config) → str ¶

getIPv4Gateway(self: depthai.DeviceBootloader.Config) → str ¶

getIPv4Mask(self: depthai.DeviceBootloader.Config) → str ¶

getMacAddress(self: depthai.DeviceBootloader.Config) → str ¶

getNetworkTimeout(self: depthai.DeviceBootloader.Config) → datetime.timedelta ¶

getUsbMaxSpeed(self: depthai.DeviceBootloader.Config) → depthai.UsbSpeed ¶

getUsbTimeout(self: depthai.DeviceBootloader.Config) → datetime.timedelta ¶

isStaticIPV4(self: depthai.DeviceBootloader.Config) → bool ¶

property network¶

setDnsIPv4(self: depthai.DeviceBootloader.Config, arg0: str, arg1: str) → None ¶

setDynamicIPv4(self: depthai.DeviceBootloader.Config, arg0: str, arg1: str, arg2: str) → None ¶

setMacAddress(self: depthai.DeviceBootloader.Config, arg0: str) → None ¶

setNetworkTimeout(self: depthai.DeviceBootloader.Config, arg0: datetime.timedelta) → None ¶

setStaticIPv4(self: depthai.DeviceBootloader.Config, arg0: str, arg1: str, arg2: str) → None ¶

setUsbMaxSpeed(self: depthai.DeviceBootloader.Config, arg0: depthai.UsbSpeed) → None ¶

setUsbTimeout(self: depthai.DeviceBootloader.Config, arg0: datetime.timedelta) → None ¶

property usb¶

class Memory¶

Bases: pybind11_builtins.pybind11_object

Members:

AUTO

FLASH

EMMC

Attributes:

`AUTO`
`EMMC`
`FLASH`
`name`
`value`

Methods:

__init__(self, value)

AUTO = <Memory.AUTO: -1>¶

EMMC = <Memory.EMMC: 1>¶

FLASH = <Memory.FLASH: 0>¶

__init__(self: depthai.DeviceBootloader.Memory, value: int) → None ¶

property name¶

property value¶

class NetworkConfig¶

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

`ipv4`
`ipv4Dns`
`ipv4DnsAlt`
`ipv4Gateway`
`ipv4Mask`
`ipv6`
`ipv6Dns`
`ipv6DnsAlt`
`ipv6Gateway`
`ipv6Prefix`
`mac`
`staticIpv4`
`staticIpv6`
`timeoutMs`

__init__(self: depthai.DeviceBootloader.NetworkConfig) → None ¶

property ipv4¶

property ipv4Dns¶

property ipv4DnsAlt¶

property ipv4Gateway¶

property ipv4Mask¶

property ipv6¶

property ipv6Dns¶

property ipv6DnsAlt¶

property ipv6Gateway¶

property ipv6Prefix¶

property mac¶

property staticIpv4¶

property staticIpv6¶

property timeoutMs¶

class Section¶

Bases: pybind11_builtins.pybind11_object

Members:

AUTO

HEADER

BOOTLOADER

BOOTLOADER_CONFIG

APPLICATION

Attributes:

`APPLICATION`
`AUTO`
`BOOTLOADER`
`BOOTLOADER_CONFIG`
`HEADER`
`name`
`value`

Methods:

__init__(self, value)

APPLICATION = <Section.APPLICATION: 3>¶

AUTO = <Section.AUTO: -1>¶

BOOTLOADER = <Section.BOOTLOADER: 1>¶

BOOTLOADER_CONFIG = <Section.BOOTLOADER_CONFIG: 2>¶

HEADER = <Section.HEADER: 0>¶

__init__(self: depthai.DeviceBootloader.Section, value: int) → None ¶

property name¶

property value¶

class Type¶

Bases: pybind11_builtins.pybind11_object

Members:

AUTO

USB

NETWORK

Attributes:

`AUTO`
`NETWORK`
`USB`
`name`
`value`

Methods:

__init__(self, value)

AUTO = <Type.AUTO: -1>¶

NETWORK = <Type.NETWORK: 1>¶

USB = <Type.USB: 0>¶

__init__(self: depthai.DeviceBootloader.Type, value: int) → None ¶

property name¶

property value¶

class UsbConfig¶

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

`maxUsbSpeed`
`pid`
`timeoutMs`
`vid`

__init__(self: depthai.DeviceBootloader.UsbConfig) → None ¶

property maxUsbSpeed¶

property pid¶

property timeoutMs¶

property vid¶

class Version¶

Bases: pybind11_builtins.pybind11_object

Bootloader version structure

Methods:

__init__(*args, **kwargs)

Overloaded function.

__init__(*args, **kwargs)¶

Overloaded function.

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

Construct Version from string

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

Construct Version major, minor and patch numbers

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: depthai.DeviceBootloader, devInfo: depthai.DeviceInfo, allowFlashingBootloader: bool = False) -> None
__init__(self: depthai.DeviceBootloader, devInfo: depthai.DeviceInfo, pathToCmd: str, allowFlashingBootloader: bool = False) -> None

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

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

bootMemory(self: depthai.DeviceBootloader, fw: List[int]) → None ¶

Boots a custom FW in memory

Parameter fw:: $Throws:

A runtime exception if there are any communication issues

bootUsbRomBootloader(self: depthai.DeviceBootloader) → None ¶

Boots into integrated ROM bootloader in USB mode

Throws:: A runtime exception if there are any communication issues

close(self: depthai.DeviceBootloader) → None ¶: Closes the connection to device. Better alternative is the usage of context manager: with depthai.DeviceBootloader(deviceInfo) as bootloader:

static createDepthaiApplicationPackage(*args, **kwargs)¶

Overloaded function.

createDepthaiApplicationPackage(pipeline: depthai.Pipeline, pathToCmd: str = ‘’, compress: bool = False) -> List[int]

Creates application package which can be flashed to depthai device.

Parameter pipeline:: Pipeline from which to create the application package
Parameter pathToCmd:: Optional path to custom device firmware
Parameter compress:: Optional boolean which specifies if contents should be compressed

Returns: Depthai application package

createDepthaiApplicationPackage(pipeline: depthai.Pipeline, compress: bool) -> List[int]

Creates application package which can be flashed to depthai device.

Parameter pipeline:: Pipeline from which to create the application package
Parameter compress:: Specifies if contents should be compressed

Returns: Depthai application package

flash(*args, **kwargs)¶

Overloaded function.

flash(self: depthai.DeviceBootloader, progressCallback: Callable[[float], None], pipeline: depthai.Pipeline, compress: bool = False) -> Tuple[bool, str]

Flashes a given pipeline to the device.

Parameter progressCallback:: Callback that sends back a value between 0..1 which signifies current flashing progress
Parameter pipeline:: Pipeline to flash to the board

flash(self: depthai.DeviceBootloader, pipeline: depthai.Pipeline, compress: bool = False) -> Tuple[bool, str]

Flashes a given pipeline to the device.

Parameter pipeline:: Pipeline to flash to the board

flashBootloader(*args, **kwargs)¶

Overloaded function.

flashBootloader(self: depthai.DeviceBootloader, progressCallback: Callable[[float], None], path: str = ‘’) -> Tuple[bool, str]

Flashes bootloader to the current board

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

flashBootloader(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory, type: depthai.DeviceBootloader.Type, progressCallback: Callable[[float], None], path: str = ‘’) -> Tuple[bool, str]

Flash selected bootloader to the current board

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

flashConfig(self: depthai.DeviceBootloader, config: depthai.DeviceBootloader.Config, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → Tuple[bool, str]¶

Flashes configuration to bootloader

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

flashConfigClear(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → Tuple[bool, str]¶

Clears configuration data

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

flashConfigData(self: depthai.DeviceBootloader, configData: json, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → Tuple[bool, str]¶

Flashes configuration data to bootloader

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

flashConfigFile(self: depthai.DeviceBootloader, configData: str, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → Tuple[bool, str]¶

Flashes configuration data to bootloader

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

flashDepthaiApplicationPackage(*args, **kwargs)¶

Overloaded function.

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

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

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

flashDepthaiApplicationPackage(self: depthai.DeviceBootloader, package: List[int]) -> Tuple[bool, str]

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

Parameter package:: Depthai application package to flash to the board

static getAllAvailableDevices() → List[depthai.DeviceInfo]¶

Searches for connected devices in either UNBOOTED or BOOTLOADER states.

Returns: Vector of all found devices

static getEmbeddedBootloaderBinary(arg0: depthai.DeviceBootloader.Type) → List[int]¶

Returns: Embedded bootloader binary

static getEmbeddedBootloaderVersion() → depthai.DeviceBootloader.Version ¶

Returns: Embedded bootloader version

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

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

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

getType(self: depthai.DeviceBootloader) → depthai.DeviceBootloader.Type ¶

Returns: Type of currently connected bootloader

getVersion(self: depthai.DeviceBootloader) → depthai.DeviceBootloader.Version ¶

Returns: Version of current running bootloader

isAllowedFlashingBootloader(self: depthai.DeviceBootloader) → bool ¶

Returns: True if allowed to flash bootloader

isEmbeddedVersion(self: depthai.DeviceBootloader) → bool ¶

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

readConfig(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → depthai.DeviceBootloader.Config ¶

Reads configuration from bootloader

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

Returns: Configuration structure

readConfigData(self: depthai.DeviceBootloader, memory: depthai.DeviceBootloader.Memory = <Memory.AUTO: -1>, type: depthai.DeviceBootloader.Type = <Type.AUTO: -1>) → json¶

Reads configuration data from bootloader

Returns: Unstructured configuration data

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

static saveDepthaiApplicationPackage(*args, **kwargs)¶

Overloaded function.

saveDepthaiApplicationPackage(path: str, pipeline: depthai.Pipeline, pathToCmd: str = ‘’, compress: bool = False) -> None

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

Parameter path:: Path where to save the application package
Parameter pipeline:: Pipeline from which to create the application package
Parameter pathToCmd:: Optional path to custom device firmware
Parameter compress:: Optional boolean which specifies if contents should be compressed

saveDepthaiApplicationPackage(path: str, pipeline: depthai.Pipeline, compress: bool) -> None

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

Parameter path:: Path where to save the application package
Parameter pipeline:: Pipeline from which to create the application package
Parameter compress:: Specifies if contents should be compressed

class depthai.DeviceDesc¶

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

`name`
`platform`
`protocol`

__init__(self: depthai.DeviceDesc) → None ¶

property name¶

property platform¶

property protocol¶

class depthai.DeviceInfo¶

Bases: pybind11_builtins.pybind11_object

Describes a connected device

Methods:

`__init__`(self)
`getMxId`(self)

Attributes:

`desc`
`state`

__init__(self: depthai.DeviceInfo) → None ¶

property desc¶

getMxId(self: depthai.DeviceInfo) → str ¶

property state¶

class depthai.EdgeDetectorConfig¶

Bases: depthai.Buffer

EdgeDetectorConfig message. Carries sobel edge filter config.

Methods:

`__init__`(self)
`getConfigData`(self)	Retrieve configuration data for EdgeDetector
`setSobelFilterKernels`(self, …)	Set sobel filter horizontal and vertical 3x3 kernels

__init__(self: depthai.EdgeDetectorConfig) → None ¶

getConfigData(self: depthai.EdgeDetectorConfig) → depthai.EdgeDetectorConfigData ¶

Retrieve configuration data for EdgeDetector

Returns: sobel filter horizontal and vertical 3x3 kernels
Return type: EdgeDetectorConfigData

setSobelFilterKernels(self: depthai.EdgeDetectorConfig, horizontalKernel: List[List[int]], verticalKernel: List[List[int]]) → None ¶

Set sobel filter horizontal and vertical 3x3 kernels

Parameter horizontalKernel:: Used for horizontal gradient computation in 3x3 Sobel filter
Parameter verticalKernel:: Used for vertical gradient computation in 3x3 Sobel filter

class depthai.EdgeDetectorConfigData¶

Bases: pybind11_builtins.pybind11_object

EdgeDetectorConfigData configuration data structure

Methods:

__init__(self)

Attributes:

`sobelFilterHorizontalKernel`	Used for horizontal gradient computation in 3x3 Sobel filter Format - 3x3 matrix, 2nd column must be 0 Default - +1 0 -1; +2 0 -2; +1 0 -1
`sobelFilterVerticalKernel`	Used for vertical gradient computation in 3x3 Sobel filter Format - 3x3 matrix, 2nd row must be 0 Default - +1 +2 +1; 0 0 0; -1 -2 -1

__init__(self: depthai.EdgeDetectorConfigData) → None ¶

property sobelFilterHorizontalKernel¶: Used for horizontal gradient computation in 3x3 Sobel filter Format - 3x3 matrix, 2nd column must be 0 Default - +1 0 -1; +2 0 -2; +1 0 -1

property sobelFilterVerticalKernel¶: Used for vertical gradient computation in 3x3 Sobel filter Format - 3x3 matrix, 2nd row must be 0 Default - +1 +2 +1; 0 0 0; -1 -2 -1

class depthai.EdgeDetectorProperties¶

Bases: pybind11_builtins.pybind11_object

Specify properties for EdgeDetector

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`initialConfig`	Initial edge detector config
`numFramesPool`	Num frames in output pool
`outputFrameSize`	300x300 BGR image -> 3003003 bytes)

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property initialConfig¶: Initial edge detector config

property numFramesPool¶: Num frames in output pool

property outputFrameSize¶

300x300 BGR image -> 300*300*3 bytes)

Type: Maximum output frame size in bytes (eg

class depthai.EepromData¶

Bases: pybind11_builtins.pybind11_object

EepromData structure

Contains the Calibration and Board data stored on device

Methods:

__init__(self)

Attributes:

`boardName`
`boardRev`
`cameraData`
`imuExtrinsics`
`stereoRectificationData`
`version`

__init__(self: depthai.EepromData) → None ¶

property boardName¶

property boardRev¶

property cameraData¶

property imuExtrinsics¶

property stereoRectificationData¶

property version¶

class depthai.Extrinsics¶

Bases: pybind11_builtins.pybind11_object

Extrinsics structure

Methods:

__init__(self)

Attributes:

`rotationMatrix`
`specTranslation`
`toCameraSocket`
`translation`

__init__(self: depthai.Extrinsics) → None ¶

property rotationMatrix¶

property specTranslation¶

property toCameraSocket¶

property translation¶

class depthai.FeatureTrackerConfig¶

Bases: depthai.Buffer

FeatureTrackerConfig message. Carries config for feature tracking algorithm

Classes:

`CornerDetector`	Corner detector configuration structure.
`FeatureMaintainer`	FeatureMaintainer configuration structure.
`MotionEstimator`	Used for feature reidentification between current and previous features.

Methods:

`__init__`(args, *kwargs)	Overloaded function.
`get`(self)	Retrieve configuration data for FeatureTracker.
`set`(self, config)	Set explicit configuration.
`setCornerDetector`(args, *kwargs)	Overloaded function.
`setFeatureMaintainer`(args, *kwargs)	Overloaded function.
`setHwMotionEstimation`(self)	Set hardware accelerated motion estimation using block matching.
`setMotionEstimator`(args, *kwargs)	Overloaded function.
`setNumTargetFeatures`(self, numTargetFeatures)	Set number of target features to detect.
`setOpticalFlow`(args, *kwargs)	Overloaded function.

class CornerDetector¶

Bases: pybind11_builtins.pybind11_object

Corner detector configuration structure.

Classes:

`Thresholds`	Threshold settings structure for corner detector.
`Type`	Members:

Methods:

__init__(self)

Attributes:

`cellGridDimension`	Ensures distributed feature detection across the image.
`enableSobel`	Enable 3x3 Sobel operator to smoothen the image whose gradient is to be computed.
`enableSorting`	Enable sorting detected features based on their score or not.
`numMaxFeatures`	Hard limit for the maximum number of features that can be detected.
`numTargetFeatures`	Target number of features to detect.
`thresholds`	Threshold settings.
`type`	Corner detector algorithm type.

class Thresholds¶

Bases: pybind11_builtins.pybind11_object

Threshold settings structure for corner detector.

Methods:

__init__(self)

Attributes:

`decreaseFactor`	When detected number of features exceeds the maximum in a cell threshold is lowered by multiplying its value with this factor.
`increaseFactor`	When detected number of features doesn’t exceed the maximum in a cell, threshold is increased by multiplying its value with this factor.
`initialValue`	Minimum strength of a feature which will be detected.
`max`	Maximum limit for threshold.
`min`	Minimum limit for threshold.

__init__(self: depthai.RawFeatureTrackerConfig.CornerDetector.Thresholds) → None ¶

property decreaseFactor¶: When detected number of features exceeds the maximum in a cell threshold is lowered by multiplying its value with this factor.

property increaseFactor¶: When detected number of features doesn’t exceed the maximum in a cell, threshold is increased by multiplying its value with this factor.

property initialValue¶: Minimum strength of a feature which will be detected. 0 means automatic threshold update. Recommended so the tracker can adapt to different scenes/textures. Each cell has its own threshold. Empirical value.

property max¶: Maximum limit for threshold. Applicable when automatic threshold update is enabled. 0 means auto. Empirical value.

property min¶: Minimum limit for threshold. Applicable when automatic threshold update is enabled. 0 means auto, 6000000 for HARRIS, 1200 for SHI_THOMASI. Empirical value.

class Type¶

Bases: pybind11_builtins.pybind11_object

Members:

HARRIS

SHI_THOMASI

Attributes:

`HARRIS`
`SHI_THOMASI`
`name`
`value`

Methods:

__init__(self, value)

HARRIS = <Type.HARRIS: 0>¶

SHI_THOMASI = <Type.SHI_THOMASI: 1>¶

__init__(self: depthai.RawFeatureTrackerConfig.CornerDetector.Type, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.RawFeatureTrackerConfig.CornerDetector) → None ¶

property cellGridDimension¶: Ensures distributed feature detection across the image. Image is divided into horizontal and vertical cells, each cell has a target feature count = numTargetFeatures / cellGridDimension. Each cell has its own feature threshold. A value of 4 means that the image is divided into 4x4 cells of equal width/height. Maximum 4, minimum 1.

property enableSobel¶: Enable 3x3 Sobel operator to smoothen the image whose gradient is to be computed. If disabled, a simple 1D row/column differentiator is used for gradient.

property enableSorting¶: Enable sorting detected features based on their score or not.

property numMaxFeatures¶: Hard limit for the maximum number of features that can be detected. 0 means auto, will be set to the maximum value based on memory constraints.

property numTargetFeatures¶: Target number of features to detect. Maximum number of features is determined at runtime based on algorithm type.

property thresholds¶: Threshold settings. These are advanced settings, suitable for debugging/special cases.

property type¶: Corner detector algorithm type.

class FeatureMaintainer¶

Bases: pybind11_builtins.pybind11_object

FeatureMaintainer configuration structure.

Methods:

__init__(self)

Attributes:

`enable`	Enable feature maintaining or not.
`lostFeatureErrorThreshold`	Optical flow measures the tracking error for every feature.
`minimumDistanceBetweenFeatures`	Used to filter out detected feature points that are too close.
`trackedFeatureThreshold`	Once a feature was detected and we started tracking it, we need to update its Harris score on each image.

__init__(self: depthai.RawFeatureTrackerConfig.FeatureMaintainer) → None ¶

property enable¶: Enable feature maintaining or not.

property lostFeatureErrorThreshold¶: Optical flow measures the tracking error for every feature. If the point can’t be tracked or it’s out of the image it will set this error to a maximum value. This threshold defines the level where the tracking accuracy is considered too bad to keep the point.

property minimumDistanceBetweenFeatures¶: Used to filter out detected feature points that are too close. Requires sorting enabled in detector. Unit of measurement is squared euclidean distance in pixels.

property trackedFeatureThreshold¶: Once a feature was detected and we started tracking it, we need to update its Harris score on each image. This is needed because a feature point can disappear, or it can become too weak to be tracked. This threshold defines the point where such a feature must be dropped. As the goal of the algorithm is to provide longer tracks, we try to add strong points and track them until they are absolutely untrackable. This is why, this value is usually smaller than the detection threshold.

class MotionEstimator¶

Bases: pybind11_builtins.pybind11_object

Used for feature reidentification between current and previous features.

Classes:

`OpticalFlow`	Optical flow configuration structure.
`Type`	Members:

Methods:

__init__(self)

Attributes:

`enable`	Enable motion estimation or not.
`opticalFlow`	Optical flow configuration.
`type`	Motion estimator algorithm type.

class OpticalFlow¶

Bases: pybind11_builtins.pybind11_object

Optical flow configuration structure.

Methods:

__init__(self)

Attributes:

`epsilon`	Feature tracking termination criteria.
`maxIterations`	Feature tracking termination criteria.
`pyramidLevels`	Number of pyramid levels, only for optical flow.
`searchWindowHeight`	Image patch height used to track features.
`searchWindowWidth`	Image patch width used to track features.

__init__(self: depthai.RawFeatureTrackerConfig.MotionEstimator.OpticalFlow) → None ¶

property epsilon¶: Feature tracking termination criteria. Optical flow will refine the feature position on each pyramid level until the displacement between two refinements is smaller than this value. Decreasing this number increases runtime.

property maxIterations¶: Feature tracking termination criteria. Optical flow will refine the feature position maximum this many times on each pyramid level. If the Epsilon criteria described in the previous chapter is not met after this number of iterations, the algorithm will continue with the current calculated value. Increasing this number increases runtime.

property pyramidLevels¶: Number of pyramid levels, only for optical flow. AUTO means it’s decided based on input resolution: 3 if image width <= 640, else 4. Valid values are either 3/4 for VGA, 4 for 720p and above.

property searchWindowHeight¶: Image patch height used to track features. Must be an odd number, maximum 9. N means the algorithm will be able to track motion at most (N-1)/2 pixels in a direction per pyramid level. Increasing this number increases runtime

property searchWindowWidth¶: Image patch width used to track features. Must be an odd number, maximum 9. N means the algorithm will be able to track motion at most (N-1)/2 pixels in a direction per pyramid level. Increasing this number increases runtime

class Type¶

Bases: pybind11_builtins.pybind11_object

Members:

LUCAS_KANADE_OPTICAL_FLOW

HW_MOTION_ESTIMATION

Attributes:

`HW_MOTION_ESTIMATION`
`LUCAS_KANADE_OPTICAL_FLOW`
`name`
`value`

Methods:

__init__(self, value)

HW_MOTION_ESTIMATION = <Type.HW_MOTION_ESTIMATION: 1>¶

LUCAS_KANADE_OPTICAL_FLOW = <Type.LUCAS_KANADE_OPTICAL_FLOW: 0>¶

__init__(self: depthai.RawFeatureTrackerConfig.MotionEstimator.Type, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.RawFeatureTrackerConfig.MotionEstimator) → None ¶

property enable¶: Enable motion estimation or not.

property opticalFlow¶: Optical flow configuration. Takes effect only if MotionEstimator algorithm type set to LUCAS_KANADE_OPTICAL_FLOW.

property type¶: Motion estimator algorithm type.

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: depthai.FeatureTrackerConfig) -> None
__init__(self: depthai.FeatureTrackerConfig, arg0: depthai.RawFeatureTrackerConfig) -> None

get(self: depthai.FeatureTrackerConfig) → depthai.RawFeatureTrackerConfig ¶

Retrieve configuration data for FeatureTracker.

Returns: config for feature tracking algorithm

set(self: depthai.FeatureTrackerConfig, config: depthai.RawFeatureTrackerConfig) → None ¶

Set explicit configuration.

Parameter config:: Explicit configuration

setCornerDetector(*args, **kwargs)¶

Overloaded function.

setCornerDetector(self: depthai.FeatureTrackerConfig, cornerDetector: depthai.RawFeatureTrackerConfig.CornerDetector.Type) -> None

Set corner detector algorithm type.

Parameter cornerDetector:: Corner detector type, HARRIS or SHI_THOMASI

setCornerDetector(self: depthai.FeatureTrackerConfig, config: depthai.RawFeatureTrackerConfig.CornerDetector) -> None

Set corner detector full configuration.

Parameter config:: Corner detector configuration

setFeatureMaintainer(*args, **kwargs)¶

Overloaded function.

setFeatureMaintainer(self: depthai.FeatureTrackerConfig, enable: bool) -> None

Enable or disable feature maintainer.

Parameter enable:

setFeatureMaintainer(self: depthai.FeatureTrackerConfig, config: depthai.RawFeatureTrackerConfig.FeatureMaintainer) -> None

Set feature maintainer full configuration.

Parameter config:: feature maintainer configuration

setHwMotionEstimation(self: depthai.FeatureTrackerConfig) → None ¶: Set hardware accelerated motion estimation using block matching. Faster than optical flow (software implementation) but might not be as accurate.

setMotionEstimator(*args, **kwargs)¶

Overloaded function.

setMotionEstimator(self: depthai.FeatureTrackerConfig, enable: bool) -> None

Enable or disable motion estimator.

Parameter enable:

setMotionEstimator(self: depthai.FeatureTrackerConfig, config: depthai.RawFeatureTrackerConfig.MotionEstimator) -> None

Set motion estimator full configuration.

Parameter config:: Motion estimator configuration

setNumTargetFeatures(self: depthai.FeatureTrackerConfig, numTargetFeatures: int) → None ¶

Set number of target features to detect.

Parameter numTargetFeatures:: Number of features

setOpticalFlow(*args, **kwargs)¶

Overloaded function.

setOpticalFlow(self: depthai.FeatureTrackerConfig) -> None

Set optical flow as motion estimation algorithm type.

setOpticalFlow(self: depthai.FeatureTrackerConfig, config: depthai.RawFeatureTrackerConfig.MotionEstimator.OpticalFlow) -> None

Set optical flow full configuration.

Parameter config:: Optical flow configuration

class depthai.FeatureTrackerProperties¶

Bases: pybind11_builtins.pybind11_object

Specify properties for FeatureTracker

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`initialConfig`	Initial feature tracker config
`numMemorySlices`	Number of memory slices reserved for feature tracking.
`numShaves`	Number of shaves reserved for feature tracking.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property initialConfig¶: Initial feature tracker config

property numMemorySlices¶: Number of memory slices reserved for feature tracking. Optical flow can use 1 or 2 memory slices, while for corner detection only 1 is enough. Maximum number of features depends on the number of allocated memory slices. Hardware motion estimation doesn’t require memory slices. Maximum 2, minimum 1.

property numShaves¶: Number of shaves reserved for feature tracking. Optical flow can use 1 or 2 shaves, while for corner detection only 1 is enough. Hardware motion estimation doesn’t require shaves. Maximum 2, minimum 1.

class depthai.GlobalProperties¶

Bases: pybind11_builtins.pybind11_object

Specify properties which apply for whole pipeline

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`cameraTuningBlobSize`	Camera tuning blob size in bytes
`cameraTuningBlobUri`	Uri which points to camera tuning blob
`leonOsFrequencyHz`
`leonRtFrequencyHz`
`pipelineName`
`pipelineVersion`
`xlinkChunkSize`	Chunk size for splitting device-sent XLink packets, in bytes.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property cameraTuningBlobSize¶: Camera tuning blob size in bytes

property cameraTuningBlobUri¶: Uri which points to camera tuning blob

property leonOsFrequencyHz¶

property leonRtFrequencyHz¶

property pipelineName¶

property pipelineVersion¶

property xlinkChunkSize¶: Chunk size for splitting device-sent XLink packets, in bytes. A larger value could increase performance, with 0 disabling chunking. A negative value won’t modify the device defaults - configured per protocol, currently 64*1024 for both USB and Ethernet.

class depthai.IMUData¶

Bases: depthai.Buffer

IMUData message. Carries normalized detection results

Methods:

__init__(self)

Attributes:

packets

Detections

__init__(self: depthai.IMUData) → None ¶

property packets¶: Detections

class depthai.IMUPacket¶

Bases: pybind11_builtins.pybind11_object

IMU output

Contains combined output for all possible modes. Only the enabled outputs are populated.

Methods:

__init__(self)

Attributes:

`acceleroMeter`
`gyroscope`
`magneticField`
`rotationVector`

__init__(self: depthai.IMUPacket) → None ¶

property acceleroMeter¶

property gyroscope¶

property magneticField¶

property rotationVector¶

class depthai.IMUProperties¶

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`batchReportThreshold`
`imuSensors`
`maxBatchReports`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property batchReportThreshold¶

property imuSensors¶

property maxBatchReports¶

class depthai.IMUReport¶

Bases: pybind11_builtins.pybind11_object

Classes:

Accuracy

Members:

Methods:

__init__(self)

Attributes:

`accuracy`
`sequence`
`timestamp`

class Accuracy¶

Bases: pybind11_builtins.pybind11_object

Members:

UNRELIABLE

LOW

MEDIUM

HIGH

Attributes:

`HIGH`
`LOW`
`MEDIUM`
`UNRELIABLE`
`name`
`value`

Methods:

__init__(self, value)

HIGH = <Accuracy.HIGH: 3>¶

LOW = <Accuracy.LOW: 1>¶

MEDIUM = <Accuracy.MEDIUM: 2>¶

UNRELIABLE = <Accuracy.UNRELIABLE: 0>¶

__init__(self: depthai.IMUReport.Accuracy, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.IMUReport) → None ¶

property accuracy¶

property sequence¶

property timestamp¶

class depthai.IMUReportAccelerometer¶

Bases: depthai.IMUReport

Accelerometer

Units are [m/s^2]

Methods:

__init__(self)

Attributes:

`x`
`y`
`z`

__init__(self: depthai.IMUReportAccelerometer) → None ¶

property x¶

property y¶

property z¶

class depthai.IMUReportGyroscope¶

Bases: depthai.IMUReport

Gyroscope

Units are [rad/s]

Methods:

__init__(self)

Attributes:

`x`
`y`
`z`

__init__(self: depthai.IMUReportGyroscope) → None ¶

property x¶

property y¶

property z¶

class depthai.IMUReportMagneticField¶

Bases: depthai.IMUReport

Magnetic field

Units are [uTesla]

Methods:

__init__(self)

Attributes:

`x`
`y`
`z`

__init__(self: depthai.IMUReportMagneticField) → None ¶

property x¶

property y¶

property z¶

class depthai.IMUReportRotationVectorWAcc¶

Bases: depthai.IMUReport

Rotation Vector with Accuracy

Contains quaternion components: i,j,k,real

Methods:

__init__(self)

Attributes:

`i`
`j`
`k`
`real`
`rotationVectorAccuracy`

__init__(self: depthai.IMUReportRotationVectorWAcc) → None ¶

property i¶

property j¶

property k¶

property real¶

property rotationVectorAccuracy¶

class depthai.IMUSensor¶

Bases: pybind11_builtins.pybind11_object

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

https://www.ceva-dsp.com/wp-content/uploads/2019/10/BNO080_085-Datasheet.pdf

Members:

ACCELEROMETER_RAW : Section 2.1.1

Acceleration of the device without any postprocessing, straight from the sensor. Units are [m/s^2]

ACCELEROMETER : Section 2.1.1

Acceleration of the device including gravity. Units are [m/s^2]

LINEAR_ACCELERATION : Section 2.1.1

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

GRAVITY : Section 2.1.1

Gravity. Units are [m/s^2]

GYROSCOPE_RAW : Section 2.1.2

The angular velocity of the device without any postprocessing, straight from the sensor. Units are [rad/s]

GYROSCOPE_CALIBRATED : Section 2.1.2

The angular velocity of the device. Units are [rad/s]

GYROSCOPE_UNCALIBRATED : Section 2.1.2

Angular velocity without bias compensation. Units are [rad/s]

MAGNETOMETER_RAW : Section 2.1.3

Magnetic field measurement without any postprocessing, straight from the sensor. Units are [uTesla]

MAGNETOMETER_CALIBRATED : Section 2.1.3

The fully calibrated magnetic field measurement. Units are [uTesla]

MAGNETOMETER_UNCALIBRATED : Section 2.1.3

The magnetic field measurement without hard-iron offset applied. Units are [uTesla]

ROTATION_VECTOR : Section 2.2

The rotation vector provides an orientation output that is expressed as a quaternion referenced to magnetic north and gravity. It is produced by fusing the outputs of the accelerometer, gyroscope and magnetometer. The rotation vector is the most accurate orientation estimate available. The magnetometer provides correction in yaw to reduce drift and the gyroscope enables the most responsive performance.

GAME_ROTATION_VECTOR : Section 2.2

The game rotation vector is an orientation output that is expressed as a quaternion with no specific reference for heading, while roll and pitch are referenced against gravity. It is produced by fusing the outputs of the accelerometer and the gyroscope (i.e. no magnetometer). The game rotation vector does not use the magnetometer to correct the gyroscopes drift in yaw. This is a deliberate omission (as specified by Google) to allow gaming applications to use a smoother representation of the orientation without the jumps that an instantaneous correction provided by a magnetic field update could provide. Long term the output will likely drift in yaw due to the characteristics of gyroscopes, but this is seen as preferable for this output versus a corrected output.

GEOMAGNETIC_ROTATION_VECTOR : Section 2.2

The geomagnetic rotation vector is an orientation output that is expressed as a quaternion referenced to magnetic north and gravity. It is produced by fusing the outputs of the accelerometer and magnetometer. The gyroscope is specifically excluded in order to produce a rotation vector output using less power than is required to produce the rotation vector of section 2.2.4. The consequences of removing the gyroscope are: Less responsive output since the highly dynamic outputs of the gyroscope are not used More errors in the presence of varying magnetic fields.

ARVR_STABILIZED_ROTATION_VECTOR : Section 2.2

Estimates of the magnetic field and the roll/pitch of the device can create a potential correction in the rotation vector produced. For applications (typically augmented or virtual reality applications) where a sudden jump can be disturbing, the output is adjusted to prevent these jumps in a manner that takes account of the velocity of the sensor system.

ARVR_STABILIZED_GAME_ROTATION_VECTOR : Section 2.2

While the magnetometer is removed from the calculation of the game rotation vector, the accelerometer itself can create a potential correction in the rotation vector produced (i.e. the estimate of gravity changes). For applications (typically augmented or virtual reality applications) where a sudden jump can be disturbing, the output is adjusted to prevent these jumps in a manner that takes account of the velocity of the sensor system. This process is called AR/VR stabilization.

Attributes:

`ACCELEROMETER`
`ACCELEROMETER_RAW`
`ARVR_STABILIZED_GAME_ROTATION_VECTOR`
`ARVR_STABILIZED_ROTATION_VECTOR`
`GAME_ROTATION_VECTOR`
`GEOMAGNETIC_ROTATION_VECTOR`
`GRAVITY`
`GYROSCOPE_CALIBRATED`
`GYROSCOPE_RAW`
`GYROSCOPE_UNCALIBRATED`
`LINEAR_ACCELERATION`
`MAGNETOMETER_CALIBRATED`
`MAGNETOMETER_RAW`
`MAGNETOMETER_UNCALIBRATED`
`ROTATION_VECTOR`
`name`
`value`

Methods:

__init__(self, value)

ACCELEROMETER = <IMUSensor.ACCELEROMETER: 1>¶

ACCELEROMETER_RAW = <IMUSensor.ACCELEROMETER_RAW: 20>¶

ARVR_STABILIZED_GAME_ROTATION_VECTOR = <IMUSensor.ARVR_STABILIZED_GAME_ROTATION_VECTOR: 41>¶

ARVR_STABILIZED_ROTATION_VECTOR = <IMUSensor.ARVR_STABILIZED_ROTATION_VECTOR: 40>¶

GAME_ROTATION_VECTOR = <IMUSensor.GAME_ROTATION_VECTOR: 8>¶

GEOMAGNETIC_ROTATION_VECTOR = <IMUSensor.GEOMAGNETIC_ROTATION_VECTOR: 9>¶

GRAVITY = <IMUSensor.GRAVITY: 6>¶

GYROSCOPE_CALIBRATED = <IMUSensor.GYROSCOPE_CALIBRATED: 2>¶

GYROSCOPE_RAW = <IMUSensor.GYROSCOPE_RAW: 21>¶

GYROSCOPE_UNCALIBRATED = <IMUSensor.GYROSCOPE_UNCALIBRATED: 7>¶

LINEAR_ACCELERATION = <IMUSensor.LINEAR_ACCELERATION: 4>¶

MAGNETOMETER_CALIBRATED = <IMUSensor.MAGNETOMETER_CALIBRATED: 3>¶

MAGNETOMETER_RAW = <IMUSensor.MAGNETOMETER_RAW: 22>¶

MAGNETOMETER_UNCALIBRATED = <IMUSensor.MAGNETOMETER_UNCALIBRATED: 15>¶

ROTATION_VECTOR = <IMUSensor.ROTATION_VECTOR: 5>¶

__init__(self: depthai.IMUSensor, value: int) → None ¶

property name¶

property value¶

class depthai.IMUSensorConfig¶

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

`changeSensitivity`
`reportRate`
`sensitivityEnabled`
`sensitivityRelative`
`sensorId`

__init__(self: depthai.IMUSensorConfig) → None ¶

property changeSensitivity¶

property reportRate¶

property sensitivityEnabled¶

property sensitivityRelative¶

property sensorId¶

class depthai.ImageManipConfig¶

Bases: depthai.Buffer

ImageManipConfig message. Specifies image manipulation options like:

Crop
Resize
Warp
…

Methods:

`__init__`(self)
`getCropConfig`(self)	returns Crop configuration
`getCropXMax`(self)	returns Bottom right X coordinate of crop region
`getCropXMin`(self)	returns Top left X coordinate of crop region
`getCropYMax`(self)	returns Bottom right Y coordinate of crop region
`getCropYMin`(self)	returns Top left Y coordinate of crop region
`getFormatConfig`(self)	returns Format configuration
`getResizeConfig`(self)	returns Resize configuration
`getResizeHeight`(self)	returns Output image height
`getResizeWidth`(self)	returns Output image width
`isResizeThumbnail`(self)	returns True if resize thumbnail mode is set, false otherwise
`setCenterCrop`(self, ratio, whRatio)	Specifies a centered crop.
`setCropRect`(args, *kwargs)	Overloaded function.
`setCropRotatedRect`(self, rr, normalizedCoords)	Specifies crop with rotated rectangle.
`setFrameType`(self, name)	Specify output frame type.
`setHorizontalFlip`(self, flip)	Specify horizontal flip
`setKeepAspectRatio`(self, keep)	Specifies to whether to keep aspect ratio or not
`setResize`(args, *kwargs)	Overloaded function.
`setResizeThumbnail`(args, *kwargs)	Overloaded function.
`setReusePreviousImage`(self, reuse)	Instruct ImageManip to not remove current image from its queue and use the same for next message.
`setRotationDegrees`(self, deg)	Specifies clockwise rotation in degrees
`setRotationRadians`(self, rad)	Specifies clockwise rotation in radians
`setSkipCurrentImage`(self, skip)	Instructs ImageManip to skip current image and wait for next in queue.
`setWarpBorderFillColor`(self, red, green, blue)	Specifies fill color for border pixels.
`setWarpBorderReplicatePixels`(self)	Specifies that warp replicates border pixels
`setWarpTransformFourPoints`(self, pt, …)	Specifies warp by supplying 4 points in either absolute or normalized coordinates
`setWarpTransformMatrix3x3`(self, mat)	Specifies warp with a 3x3 matrix

__init__(self: depthai.ImageManipConfig) → None ¶

getCropConfig(self: depthai.ImageManipConfig) → depthai.RawImageManipConfig.CropConfig ¶

Returns: Crop configuration

getCropXMax(self: depthai.ImageManipConfig) → float ¶

Returns: Bottom right X coordinate of crop region

getCropXMin(self: depthai.ImageManipConfig) → float ¶

Returns: Top left X coordinate of crop region

getCropYMax(self: depthai.ImageManipConfig) → float ¶

Returns: Bottom right Y coordinate of crop region

getCropYMin(self: depthai.ImageManipConfig) → float ¶

Returns: Top left Y coordinate of crop region

getFormatConfig(self: depthai.ImageManipConfig) → depthai.RawImageManipConfig.FormatConfig ¶

Returns: Format configuration

getResizeConfig(self: depthai.ImageManipConfig) → depthai.RawImageManipConfig.ResizeConfig ¶

Returns: Resize configuration

getResizeHeight(self: depthai.ImageManipConfig) → int ¶

Returns: Output image height

getResizeWidth(self: depthai.ImageManipConfig) → int ¶

Returns: Output image width

isResizeThumbnail(self: depthai.ImageManipConfig) → bool ¶

Returns: True if resize thumbnail mode is set, false otherwise

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

Specifies a centered crop.

Parameter ratio:: Ratio between input image and crop region (0..1)
Parameter whRatio:: Crop region aspect ratio - 1 equals to square, 1.7 equals to 16:9, …

setCropRect(*args, **kwargs)¶

Overloaded function.

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

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

Parameter xmin:: Top left X coordinate of rectangle
Parameter ymin:: Top left Y coordinate of rectangle
Parameter xmax:: Bottom right X coordinate of rectangle
Parameter ymax:: Bottom right Y coordinate of rectangle

setCropRect(self: depthai.ImageManipConfig, coordinates: Tuple[float, float, float, float]) -> None

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

Parameter coordinates:: Coordinate of rectangle

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

Specifies crop with rotated rectangle. Optionally as non normalized coordinates

Parameter rr:: Rotated rectangle which specifies crop
Parameter normalizedCoords:: If true coordinates are in normalized range (0..1) otherwise absolute

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

Specify output frame type.

Parameter name:: Frame type

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

Specify horizontal flip

Parameter flip:: True to enable flip, false otherwise

setKeepAspectRatio(self: depthai.ImageManipConfig, keep: bool) → None ¶: Specifies to whether to keep aspect ratio or not

setResize(*args, **kwargs)¶

Overloaded function.

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

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

Parameter w:: Width in pixels
Parameter h:: Height in pixels

setResize(self: depthai.ImageManipConfig, size: Tuple[int, int]) -> None

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

Parameter size:: Size in pixels

setResizeThumbnail(*args, **kwargs)¶

Overloaded function.

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

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

Parameter w:: Width in pixels
Parameter h:: Height in pixels
Parameter bgRed:: Red component
Parameter bgGreen:: Green component
Parameter bgBlue:: Blue component

setResizeThumbnail(self: depthai.ImageManipConfig, size: Tuple[int, int], bgRed: int = 0, bgGreen: int = 0, bgBlue: int = 0) -> None

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

Parameter size:: Size in pixels
Parameter bgRed:: Red component
Parameter bgGreen:: Green component
Parameter bgBlue:: Blue component

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

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

Parameter reuse:: True to enable reuse, false otherwise

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

Specifies clockwise rotation in degrees

Parameter deg:: Rotation in degrees

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

Specifies clockwise rotation in radians

Parameter rad:: Rotation in radians

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

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

Parameter skip:: True to skip current image, false otherwise

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

Specifies fill color for border pixels. Example:

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

Parameter red:: Red component
Parameter green:: Green component
Parameter blue:: Blue component

setWarpBorderReplicatePixels(self: depthai.ImageManipConfig) → None ¶: Specifies that warp replicates border pixels

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

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

Parameter pt:: 4 points specifying warp
Parameter normalizedCoords:: If true pt is interpreted as normalized, absolute otherwise

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

Specifies warp with a 3x3 matrix

Parameter mat:: 3x3 matrix

class depthai.ImgDetection¶

Bases: pybind11_builtins.pybind11_object

ImgDetection structure

Methods:

__init__(self)

Attributes:

`confidence`
`label`
`xmax`
`xmin`
`ymax`
`ymin`

__init__(self: depthai.ImgDetection) → None ¶

property confidence¶

property label¶

property xmax¶

property xmin¶

property ymax¶

property ymin¶

class depthai.ImgDetections¶

Bases: depthai.Buffer

ImgDetections message. Carries normalized detection results

Methods:

__init__(self)

Construct ImgDetections message

Attributes:

detections

Detections

__init__(self: depthai.ImgDetections) → None ¶: Construct ImgDetections message

property detections¶: Detections

class depthai.ImgFrame¶

Bases: depthai.Buffer

ImgFrame message. Carries image data and metadata.

Classes:

`Specs`
`Type`	Members:

Methods:

`__init__`(self)
`getCategory`(self)	Retrieves image category
`getCvFrame`(self)	Returns BGR or grayscale frame compatible with use in other opencv functions
`getFrame`(self, copy)	Returns numpy array with shape as specified by width, height and type
`getHeight`(self)	Retrieves image height in pixels
`getInstanceNum`(self)	Retrieves instance number
`getSequenceNum`(self)	Retrieves image sequence number
`getTimestamp`(self)	Retrieves image timestamp related to steady_clock / time.monotonic
`getTimestampDevice`(self)	Retrieves image timestamp directly captured from device’s monotonic clock, not synchronized to host time.
`getType`(self)	Retrieves image type
`getWidth`(self)	Retrieves image width in pixels
`setCategory`(self, category)	Parameter `category`:
`setFrame`(self, array)	Copies array bytes to ImgFrame buffer
`setHeight`(self, height)	Specifies frame height
`setInstanceNum`(self, instance)	Instance number relates to the origin of the frame (which camera)
`setSequenceNum`(self, seq)	Specifies sequence number
`setSize`(args, *kwargs)	Overloaded function.
`setTimestamp`(self, timestamp)	Specifies current timestamp, related to steady_clock / time.monotonic
`setType`(self, type)	Specifies frame type, RGB, BGR, …
`setWidth`(self, width)	Specifies frame width

class Specs¶

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

`bytesPP`
`height`
`p1Offset`
`p2Offset`
`p3Offset`
`stride`
`type`
`width`

__init__(self: depthai.RawImgFrame.Specs) → None ¶

property bytesPP¶

property height¶

property p1Offset¶

property p2Offset¶

property p3Offset¶

property stride¶

property type¶

property width¶

class Type¶

Bases: pybind11_builtins.pybind11_object

Members:

YUV422i

YUV444p

YUV420p

YUV422p

YUV400p

RGBA8888

RGB161616

RGB888p

BGR888p

RGB888i

BGR888i

RGBF16F16F16p

BGRF16F16F16p

RGBF16F16F16i

BGRF16F16F16i

GRAY8

GRAYF16

LUT2

LUT4

LUT16

RAW16

RAW14

RAW12

RAW10

RAW8

PACK10

PACK12

YUV444i

NV12

NV21

BITSTREAM

HDR

NONE

Attributes:

Methods:

__init__(self, value)

BGR888i = <Type.BGR888i: 10>¶

BGR888p = <Type.BGR888p: 8>¶

BGRF16F16F16i = <Type.BGRF16F16F16i: 29>¶

BGRF16F16F16p = <Type.BGRF16F16F16p: 27>¶

BITSTREAM = <Type.BITSTREAM: 24>¶

GRAY8 = <Type.GRAY8: 30>¶

GRAYF16 = <Type.GRAYF16: 31>¶

HDR = <Type.HDR: 25>¶

LUT16 = <Type.LUT16: 13>¶

LUT2 = <Type.LUT2: 11>¶

LUT4 = <Type.LUT4: 12>¶

NONE = <Type.NONE: 32>¶

NV12 = <Type.NV12: 22>¶

NV21 = <Type.NV21: 23>¶

PACK10 = <Type.PACK10: 19>¶

PACK12 = <Type.PACK12: 20>¶

RAW10 = <Type.RAW10: 17>¶

RAW12 = <Type.RAW12: 16>¶

RAW14 = <Type.RAW14: 15>¶

RAW16 = <Type.RAW16: 14>¶

RAW8 = <Type.RAW8: 18>¶

RGB161616 = <Type.RGB161616: 6>¶

RGB888i = <Type.RGB888i: 9>¶

RGB888p = <Type.RGB888p: 7>¶

RGBA8888 = <Type.RGBA8888: 5>¶

RGBF16F16F16i = <Type.RGBF16F16F16i: 28>¶

RGBF16F16F16p = <Type.RGBF16F16F16p: 26>¶

YUV400p = <Type.YUV400p: 4>¶

YUV420p = <Type.YUV420p: 2>¶

YUV422i = <Type.YUV422i: 0>¶

YUV422p = <Type.YUV422p: 3>¶

YUV444i = <Type.YUV444i: 21>¶

YUV444p = <Type.YUV444p: 1>¶

__init__(self: depthai.RawImgFrame.Type, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.ImgFrame) → None ¶

getCategory(self: depthai.ImgFrame) → int ¶: Retrieves image category

getCvFrame(self: object) → object ¶: Returns BGR or grayscale frame compatible with use in other opencv functions

getFrame(self: object, copy: bool = False) → numpy.ndarray¶: Returns numpy array with shape as specified by width, height and type

getHeight(self: depthai.ImgFrame) → int ¶: Retrieves image height in pixels

getInstanceNum(self: depthai.ImgFrame) → int ¶: Retrieves instance number

getSequenceNum(self: depthai.ImgFrame) → int ¶: Retrieves image sequence number

getTimestamp(self: depthai.ImgFrame) → datetime.timedelta ¶: Retrieves image timestamp related to steady_clock / time.monotonic

getTimestampDevice(self: depthai.ImgFrame) → datetime.timedelta ¶: Retrieves image timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

getType(self: depthai.ImgFrame) → depthai.RawImgFrame.Type ¶: Retrieves image type

getWidth(self: depthai.ImgFrame) → int ¶: Retrieves image width in pixels

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

Parameter category:: Image category

setFrame(self: depthai.ImgFrame, array: numpy.ndarray) → None ¶: Copies array bytes to ImgFrame buffer

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

Specifies frame height

Parameter height:: frame height

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

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

Parameter instance:: Instance number

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

Specifies sequence number

Parameter seq:: Sequence number

setSize(*args, **kwargs)¶

Overloaded function.

setSize(self: depthai.ImgFrame, width: int, height: int) -> None

Specifies frame size

Parameter height:: frame height
Parameter width:: frame width

setSize(self: depthai.ImgFrame, sizer: Tuple[int, int]) -> None

Specifies frame size

Parameter size:: frame size

setTimestamp(self: depthai.ImgFrame, timestamp: datetime.timedelta) → None ¶: Specifies current timestamp, related to steady_clock / time.monotonic

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

Specifies frame type, RGB, BGR, …

Parameter type:: Type of image

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

Specifies frame width

Parameter width:: frame width

class depthai.LogLevel¶

Bases: pybind11_builtins.pybind11_object

Members:

TRACE

DEBUG

INFO

WARN

ERR

CRITICAL

OFF

Attributes:

`CRITICAL`
`DEBUG`
`ERR`
`INFO`
`OFF`
`TRACE`
`WARN`
`name`
`value`

Methods:

__init__(self, value)

CRITICAL = <LogLevel.CRITICAL: 5>¶

DEBUG = <LogLevel.DEBUG: 1>¶

ERR = <LogLevel.ERR: 4>¶

INFO = <LogLevel.INFO: 2>¶

OFF = <LogLevel.OFF: 6>¶

TRACE = <LogLevel.TRACE: 0>¶

WARN = <LogLevel.WARN: 3>¶

__init__(self: depthai.LogLevel, value: int) → None ¶

property name¶

property value¶

class depthai.MedianFilter¶

Bases: pybind11_builtins.pybind11_object

Median filter config for disparity post-processing

Members:

MEDIAN_OFF

KERNEL_3x3

KERNEL_5x5

KERNEL_7x7

Attributes:

`KERNEL_3x3`
`KERNEL_5x5`
`KERNEL_7x7`
`MEDIAN_OFF`
`name`
`value`

Methods:

__init__(self, value)

KERNEL_3x3 = <MedianFilter.KERNEL_3x3: 3>¶

KERNEL_5x5 = <MedianFilter.KERNEL_5x5: 5>¶

KERNEL_7x7 = <MedianFilter.KERNEL_7x7: 7>¶

MEDIAN_OFF = <MedianFilter.MEDIAN_OFF: 0>¶

__init__(self: depthai.MedianFilter, value: int) → None ¶

property name¶

property value¶

class depthai.MemoryInfo¶

Bases: pybind11_builtins.pybind11_object

MemoryInfo structure

Free, remaining and total memory stats

Methods:

__init__(self)

Attributes:

`remaining`
`total`
`used`

__init__(self: depthai.MemoryInfo) → None ¶

property remaining¶

property total¶

property used¶

class depthai.MonoCameraProperties¶

Bases: pybind11_builtins.pybind11_object

Specify properties for MonoCamera such as camera ID, …

Classes:

SensorResolution

Select the camera sensor resolution: 1280×720, 1280×800, 640×400, 640×480

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`boardSocket`
`fps`
`initialControl`
`resolution`

class SensorResolution¶

Bases: pybind11_builtins.pybind11_object

Select the camera sensor resolution: 1280×720, 1280×800, 640×400, 640×480

Members:

THE_720_P

THE_800_P

THE_400_P

THE_480_P

Attributes:

`THE_400_P`
`THE_480_P`
`THE_720_P`
`THE_800_P`
`name`
`value`

Methods:

__init__(self, value)

THE_400_P = <SensorResolution.THE_400_P: 2>¶

THE_480_P = <SensorResolution.THE_480_P: 3>¶

THE_720_P = <SensorResolution.THE_720_P: 0>¶

THE_800_P = <SensorResolution.THE_800_P: 1>¶

__init__(self: depthai.MonoCameraProperties.SensorResolution, value: int) → None ¶

property name¶

property value¶

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property boardSocket¶

property fps¶

property initialControl¶

property resolution¶

class depthai.NNData¶

Bases: depthai.Buffer

NNData message. Carries tensors and their metadata

Methods:

`__init__`(self)	Construct NNData message.
`getAllLayerNames`(self)	returns Names of all layers added
`getAllLayers`(self)	returns All layers and their information
`getFirstLayerFp16`(self)	Convenience function to retrieve float values from first layers FP16 tensor
`getFirstLayerInt32`(self)	Convenience function to retrieve INT32 values from first layers tensor
`getFirstLayerUInt8`(self)	Convenience function to retrieve U8 data from first layer
`getLayer`(self, name, tensor)	Retrieve layers tensor information
`getLayerDatatype`(self, name, datatype)	Retrieve datatype of a layers tensor
`getLayerFp16`(self, name)	Convenience function to retrieve float values from layers FP16 tensor
`getLayerInt32`(self, name)	Convenience function to retrieve INT32 values from layers tensor
`getLayerUInt8`(self, name)	Convenience function to retrieve U8 data from layer
`hasLayer`(self, name)	Checks if given layer exists
`setLayer`(args, *kwargs)	Overloaded function.

__init__(self: depthai.NNData) → None ¶: Construct NNData message.

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

Returns: Names of all layers added

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

Returns: All layers and their information

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

Convenience function to retrieve float values from first layers FP16 tensor

Returns: Float data

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

Convenience function to retrieve INT32 values from first layers tensor

Returns: INT32 data

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

Convenience function to retrieve U8 data from first layer

Returns: U8 binary data

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

Retrieve layers tensor information

Parameter name:: Name of the layer
Parameter tensor:: Outputs tensor information of that layer

Returns: True if layer exists, false otherwise

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

Retrieve datatype of a layers tensor

Parameter name:: Name of the layer
Parameter datatype:: Datatype of layers tensor

Returns: True if layer exists, false otherwise

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

Convenience function to retrieve float values from layers FP16 tensor

Parameter name:: Name of the layer

Returns: Float data

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

Convenience function to retrieve INT32 values from layers tensor

Parameter name:: Name of the layer

Returns: INT32 data

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

Convenience function to retrieve U8 data from layer

Parameter name:: Name of the layer

Returns: U8 binary data

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

Checks if given layer exists

Parameter name:: Name of the layer

Returns: True if layer exists, false otherwise

setLayer(*args, **kwargs)¶

Overloaded function.

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

Set a layer with datatype U8.

Parameter name:: Name of the layer
Parameter data:: Data to store

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

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

Parameter name:: Name of the layer
Parameter data:: Data to store

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

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

Parameter name:: Name of the layer
Parameter data:: Data to store

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

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

Parameter name:: Name of the layer
Parameter data:: Data to store

class depthai.NeuralNetworkProperties¶

Bases: pybind11_builtins.pybind11_object

Specify properties for NeuralNetwork such as blob path, …

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`blobSize`
`blobUri`
`numFrames`
`numNCEPerThread`
`numThreads`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property blobSize¶

property blobUri¶

property numFrames¶

property numNCEPerThread¶

property numThreads¶

class depthai.Node¶

Bases: pybind11_builtins.pybind11_object

Abstract Node

Classes:

`Connection`	Connection between an Input and Output
`Id`	Node identificator.
`Input`
`InputMap`
`Output`
`OutputMap`

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getAssetManager`(args, *kwargs)	Overloaded function.
`getInputRefs`(args, *kwargs)	Overloaded function.
`getInputs`(self)	Retrieves all nodes inputs
`getName`(self)	Retrieves nodes name
`getOutputRefs`(args, *kwargs)	Overloaded function.
`getOutputs`(self)	Retrieves all nodes outputs
`getParentPipeline`(args, *kwargs)	Overloaded function.

Attributes:

`id`	Id of node
`properties`

class Connection¶

Bases: pybind11_builtins.pybind11_object

Connection between an Input and Output

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`inputGroup`
`inputId`
`inputName`
`outputGroup`
`outputId`
`outputName`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property inputGroup¶

property inputId¶

property inputName¶

property outputGroup¶

property outputId¶

property outputName¶

class Id¶

Bases: pybind11_builtins.pybind11_object

Node identificator. Unique for every node on a single Pipeline

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

class Input¶

Bases: pybind11_builtins.pybind11_object

Classes:

Type

Members:

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getBlocking`(self)	Get input queue behavior
`getQueueSize`(self)	Get input queue size.
`getReusePreviousMessage`(self)	Equaivalent to getWaitForMessage but with inverted logic.
`getWaitForMessage`(self)	Get behavior whether to wait for this input when a Node processes certain data or not
`setBlocking`(self, blocking)	Overrides default input queue behavior.
`setQueueSize`(self, size)	Overrides default input queue size.
`setReusePreviousMessage`(self, …)	Equaivalent to setWaitForMessage but with inverted logic.
`setWaitForMessage`(self, waitForMessage)	Overrides default wait for message behavior.

Attributes:

`group`
`name`
`type`
`waitForMessage`

class Type¶

Bases: pybind11_builtins.pybind11_object

Members:

SReceiver

MReceiver

Attributes:

`MReceiver`
`SReceiver`
`name`
`value`

Methods:

__init__(self, value)

MReceiver = <Type.MReceiver: 1>¶

SReceiver = <Type.SReceiver: 0>¶

__init__(self: depthai.Node.Input.Type, value: int) → None ¶

property name¶

property value¶

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getBlocking(self: depthai.Node.Input) → bool ¶

Get input queue behavior

Returns: True blocking, false overwriting

getQueueSize(self: depthai.Node.Input) → int ¶

Get input queue size.

Returns: Maximum input queue size

getReusePreviousMessage(self: depthai.Node.Input) → bool ¶: Equaivalent to getWaitForMessage but with inverted logic.

getWaitForMessage(self: depthai.Node.Input) → bool ¶

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

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

property group¶

property name¶

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

Overrides default input queue behavior.

Parameter blocking:: True blocking, false overwriting

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

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

Parameter size:: Maximum input queue size

setReusePreviousMessage(self: depthai.Node.Input, reusePreviousMessage: bool) → None ¶: Equaivalent to setWaitForMessage but with inverted logic.

setWaitForMessage(self: depthai.Node.Input, waitForMessage: bool) → None ¶

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

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

property type¶

property waitForMessage¶

class InputMap¶

Bases: pybind11_builtins.pybind11_object

Methods:

`__init__`(args, *kwargs)	Initialize self.
`items`(self)

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

items(self: depthai.Node.InputMap) → Iterator¶

class Output¶

Bases: pybind11_builtins.pybind11_object

Classes:

Type

Members:

Methods:

`__init__`(args, *kwargs)	Initialize self.
`canConnect`(self, input)	Check if connection is possible
`getConnections`(self)	Retrieve all connections from this output
`link`(self, input)	Link current output to input.
`unlink`(self, input)	Unlink a previously linked connection

Attributes:

`group`
`name`
`type`

class Type¶

Bases: pybind11_builtins.pybind11_object

Members:

MSender

SSender

Attributes:

`MSender`
`SSender`
`name`
`value`

Methods:

__init__(self, value)

MSender = <Type.MSender: 0>¶

SSender = <Type.SSender: 1>¶

__init__(self: depthai.Node.Output.Type, value: int) → None ¶

property name¶

property value¶

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

canConnect(self: depthai.Node.Output, input: depthai.Node.Input) → bool ¶

Check if connection is possible

Parameter in:: Input to connect to

Returns: True if connection is possible, false otherwise

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

Retrieve all connections from this output

Returns: Vector of connections

property group¶

link(self: depthai.Node.Output, input: depthai.Node.Input) → None ¶

Link current output to input.

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

Parameter in:: Input to link to

property name¶

property type¶

unlink(self: depthai.Node.Output, input: depthai.Node.Input) → None ¶

Unlink a previously linked connection

Throws an error if not linked.

Parameter in:: Input from which to unlink from

class OutputMap¶

Bases: pybind11_builtins.pybind11_object

Methods:

`__init__`(args, *kwargs)	Initialize self.
`items`(self)

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

items(self: depthai.Node.OutputMap) → Iterator¶

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getAssetManager(*args, **kwargs)¶

Overloaded function.

getAssetManager(self: depthai.Node) -> depthai.AssetManager

Get node AssetManager as a const reference

getAssetManager(self: depthai.Node) -> depthai.AssetManager

Get node AssetManager as a const reference

getInputRefs(*args, **kwargs)¶

Overloaded function.

getInputRefs(self: depthai.Node) -> List[depthai.Node.Input]

Retrieves reference to node inputs

getInputRefs(self: depthai.Node) -> List[depthai.Node.Input]

Retrieves reference to node inputs

getInputs(self: depthai.Node) → List[depthai.Node.Input]¶: Retrieves all nodes inputs

getName(self: depthai.Node) → str ¶: Retrieves nodes name

getOutputRefs(*args, **kwargs)¶

Overloaded function.

getOutputRefs(self: depthai.Node) -> List[depthai.Node.Output]

Retrieves reference to node outputs

getOutputRefs(self: depthai.Node) -> List[depthai.Node.Output]

Retrieves reference to node outputs

getOutputs(self: depthai.Node) → List[depthai.Node.Output]¶: Retrieves all nodes outputs

getParentPipeline(*args, **kwargs)¶

Overloaded function.

getParentPipeline(self: depthai.Node) -> depthai.Pipeline
getParentPipeline(self: depthai.Node) -> depthai.Pipeline

property id¶: Id of node

property properties¶

class depthai.ObjectTrackerProperties¶

Bases: pybind11_builtins.pybind11_object

Specify properties for ObjectTracker

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`detectionLabelsToTrack`	Which detections labels to track.
`maxObjectsToTrack`	Maximum number of objects to track.
`trackerIdAssignmentPolicy`	New ID assignment policy.
`trackerThreshold`	Confidence threshold for tracklets.
`trackerType`	Tracking method.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property detectionLabelsToTrack¶: Which detections labels to track. Default all labels are tracked.

property maxObjectsToTrack¶: Maximum number of objects to track. Maximum 60 for SHORT_TERM_KCF, maximum 1000 for other tracking methods. Default 60.

property trackerIdAssignmentPolicy¶: New ID assignment policy.

property trackerThreshold¶: Confidence threshold for tracklets. Above this threshold detections will be tracked. Default 0, all detections are tracked.

property trackerType¶: Tracking method.

class depthai.OpenVINO¶

Bases: pybind11_builtins.pybind11_object

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

Attributes:

`VERSION_2020_3`
`VERSION_2020_4`
`VERSION_2021_1`
`VERSION_2021_2`
`VERSION_2021_3`
`VERSION_2021_4`

Classes:

Version

OpenVINO Version supported version information

Methods:

`__init__`(args, *kwargs)	Initialize self.
`areVersionsBlobCompatible`(v1, v2)	Checks whether two blob versions are compatible
`getBlobLatestSupportedVersion`(majorVersion, …)	Returns latest potentially supported version by a given blob version.
`getBlobSupportedVersions`(majorVersion, …)	Returns a list of potentially supported versions for a specified blob major and minor versions.
`getVersionName`(version)	Returns string representation of a given version
`getVersions`()	returns Supported versions
`parseVersionName`(versionString)	Creates Version from string representation.

VERSION_2020_3 = <Version.VERSION_2020_3: 0>¶

VERSION_2020_4 = <Version.VERSION_2020_4: 1>¶

VERSION_2021_1 = <Version.VERSION_2021_1: 2>¶

VERSION_2021_2 = <Version.VERSION_2021_2: 3>¶

VERSION_2021_3 = <Version.VERSION_2021_3: 4>¶

VERSION_2021_4 = <Version.VERSION_2021_4: 5>¶

class Version¶

Bases: pybind11_builtins.pybind11_object

OpenVINO Version supported version information

Members:

VERSION_2020_3

VERSION_2020_4

VERSION_2021_1

VERSION_2021_2

VERSION_2021_3

VERSION_2021_4

Attributes:

`VERSION_2020_3`
`VERSION_2020_4`
`VERSION_2021_1`
`VERSION_2021_2`
`VERSION_2021_3`
`VERSION_2021_4`
`name`
`value`

Methods:

__init__(self, value)

VERSION_2020_3 = <Version.VERSION_2020_3: 0>¶

VERSION_2020_4 = <Version.VERSION_2020_4: 1>¶

VERSION_2021_1 = <Version.VERSION_2021_1: 2>¶

VERSION_2021_2 = <Version.VERSION_2021_2: 3>¶

VERSION_2021_3 = <Version.VERSION_2021_3: 4>¶

VERSION_2021_4 = <Version.VERSION_2021_4: 5>¶

__init__(self: depthai.OpenVINO.Version, value: int) → None ¶

property name¶

property value¶

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

static areVersionsBlobCompatible(v1: depthai.OpenVINO.Version, v2: depthai.OpenVINO.Version) → bool ¶: Checks whether two blob versions are compatible

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

Returns latest potentially supported version by a given blob version.

Parameter majorVersion:: Major version from OpenVINO blob
Parameter minorVersion:: Minor version from OpenVINO blob

Returns: Latest potentially supported version

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

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

Parameter majorVersion:: Major version from OpenVINO blob
Parameter minorVersion:: Minor version from OpenVINO blob

Returns: Vector of potentially supported versions

static getVersionName(version: depthai.OpenVINO.Version) → str ¶

Returns string representation of a given version

Parameter version:: OpenVINO version

Returns: Name of a given version

static getVersions() → List[depthai.OpenVINO.Version]¶

Returns: Supported versions

static parseVersionName(versionString: str) → depthai.OpenVINO.Version ¶

Creates Version from string representation. Throws if not possible.

Parameter versionString:: Version as string

Returns: Version object if successful

class depthai.Pipeline¶

Bases: pybind11_builtins.pybind11_object

Methods:

`__init__`(self)	Constructs a new pipeline
`create`(self, arg0)
`createColorCamera`(self)
`createEdgeDetector`(self)
`createFeatureTracker`(self)
`createIMU`(self)
`createImageManip`(self)
`createMobileNetDetectionNetwork`(self)
`createMobileNetSpatialDetectionNetwork`(self)
`createMonoCamera`(self)
`createNeuralNetwork`(self)
`createObjectTracker`(self)
`createSPIIn`(self)
`createSPIOut`(self)
`createSpatialLocationCalculator`(self)
`createStereoDepth`(self)
`createSystemLogger`(self)
`createVideoEncoder`(self)
`createXLinkIn`(self)
`createXLinkOut`(self)
`createYoloDetectionNetwork`(self)
`createYoloSpatialDetectionNetwork`(self)
`getAllNodes`(args, *kwargs)	Overloaded function.
`getAssetManager`(args, *kwargs)	Overloaded function.
`getCalibrationData`(self)	gets the calibration data which is set through pipeline
`getConnectionMap`(self)	Get a reference to internal connection representation
`getConnections`(self)	Get all connections
`getDeviceConfig`(self)	Get device configuration needed for this pipeline
`getGlobalProperties`(self)	returns Global properties of current pipeline
`getNode`(args, *kwargs)	Overloaded function.
`getNodeMap`(self)	Get a reference to internal node map
`getOpenVINOVersion`(self)	Get possible OpenVINO version to run this pipeline
`getRequiredOpenVINOVersion`(self)	Get required OpenVINO version to run this pipeline.
`link`(self, arg0, arg1)	Link output to an input.
`remove`(self, node)	Removes a node from pipeline
`setCalibrationData`(self, calibrationDataHandler)	Sets the calibration in pipeline which overrides the calibration data in eeprom
`setCameraTuningBlobPath`(self, path)	Set a camera IQ (Image Quality) tuning blob, used for all cameras
`setOpenVINOVersion`(self, version)	Set a specific OpenVINO version to use with this pipeline
`setXLinkChunkSize`(self, sizeBytes)	Set chunk size for splitting device-sent XLink packets, in bytes.
`unlink`(self, arg0, arg1)	Unlink output from an input.

__init__(self: depthai.Pipeline) → None ¶: Constructs a new pipeline

create(self: depthai.Pipeline, arg0: object) → depthai.Node ¶

createColorCamera(self: depthai.Pipeline) → depthai.node.ColorCamera ¶

createEdgeDetector(self: depthai.Pipeline) → depthai.node.EdgeDetector ¶

createFeatureTracker(self: depthai.Pipeline) → depthai.node.FeatureTracker ¶

createIMU(self: depthai.Pipeline) → depthai.node.IMU ¶

createImageManip(self: depthai.Pipeline) → depthai.node.ImageManip ¶

createMobileNetDetectionNetwork(self: depthai.Pipeline) → depthai.node.MobileNetDetectionNetwork ¶

createMobileNetSpatialDetectionNetwork(self: depthai.Pipeline) → depthai.node.MobileNetSpatialDetectionNetwork ¶

createMonoCamera(self: depthai.Pipeline) → depthai.node.MonoCamera ¶

createNeuralNetwork(self: depthai.Pipeline) → depthai.node.NeuralNetwork ¶

createObjectTracker(self: depthai.Pipeline) → depthai.node.ObjectTracker ¶

createSPIIn(self: depthai.Pipeline) → depthai.node.SPIIn ¶

createSPIOut(self: depthai.Pipeline) → depthai.node.SPIOut ¶

createSpatialLocationCalculator(self: depthai.Pipeline) → depthai.node.SpatialLocationCalculator ¶

createStereoDepth(self: depthai.Pipeline) → depthai.node.StereoDepth ¶

createSystemLogger(self: depthai.Pipeline) → depthai.node.SystemLogger ¶

createVideoEncoder(self: depthai.Pipeline) → depthai.node.VideoEncoder ¶

createXLinkIn(self: depthai.Pipeline) → depthai.node.XLinkIn ¶

createXLinkOut(self: depthai.Pipeline) → depthai.node.XLinkOut ¶

createYoloDetectionNetwork(self: depthai.Pipeline) → depthai.node.YoloDetectionNetwork ¶

createYoloSpatialDetectionNetwork(self: depthai.Pipeline) → depthai.node.YoloSpatialDetectionNetwork ¶

getAllNodes(*args, **kwargs)¶

Overloaded function.

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

Get a vector of all nodes

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

Get a vector of all nodes

getAssetManager(*args, **kwargs)¶

Overloaded function.

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

Get pipelines AssetManager as reference

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

Get pipelines AssetManager as reference

getCalibrationData(self: depthai.Pipeline) → depthai.CalibrationHandler ¶

gets the calibration data which is set through pipeline

Returns: the calibrationHandler with calib data in the pipeline

getConnectionMap(self: depthai.Pipeline) → Dict[int, Set[depthai.Node.Connection]]¶: Get a reference to internal connection representation

getConnections(self: depthai.Pipeline) → List[depthai.Node.Connection]¶: Get all connections

getDeviceConfig(self: depthai.Pipeline) → depthai.Device.Config ¶: Get device configuration needed for this pipeline

getGlobalProperties(self: depthai.Pipeline) → depthai.GlobalProperties ¶

Returns: Global properties of current pipeline

getNode(*args, **kwargs)¶

Overloaded function.

getNode(self: depthai.Pipeline, arg0: int) -> depthai.Node

Get node with id if it exists, nullptr otherwise

getNode(self: depthai.Pipeline, arg0: int) -> depthai.Node

Get node with id if it exists, nullptr otherwise

getNodeMap(self: depthai.Pipeline) → Dict[int, depthai.Node]¶: Get a reference to internal node map

getOpenVINOVersion(self: depthai.Pipeline) → depthai.OpenVINO.Version ¶: Get possible OpenVINO version to run this pipeline

getRequiredOpenVINOVersion(self: depthai.Pipeline) → Optional[depthai.OpenVINO.Version]¶: Get required OpenVINO version to run this pipeline. Can be none

link(self: depthai.Pipeline, arg0: depthai.Node.Output, arg1: depthai.Node.Input) → None ¶

Link output to an input. Both nodes must be on the same pipeline

Throws an error if they aren’t or cannot be connected

Parameter out:: Nodes output to connect from
Parameter in:: Nodes input to connect to

remove(self: depthai.Pipeline, node: depthai.Node) → None ¶: Removes a node from pipeline

setCalibrationData(self: depthai.Pipeline, calibrationDataHandler: depthai.CalibrationHandler) → None ¶

Sets the calibration in pipeline which overrides the calibration data in eeprom

Parameter calibrationDataHandler:: CalibrationHandler object which is loaded with calibration information.

setCameraTuningBlobPath(self: depthai.Pipeline, path: str) → None ¶: Set a camera IQ (Image Quality) tuning blob, used for all cameras

setOpenVINOVersion(self: depthai.Pipeline, version: depthai.OpenVINO.Version = <Version.???: 5>) → None ¶: Set a specific OpenVINO version to use with this pipeline

setXLinkChunkSize(self: depthai.Pipeline, sizeBytes: int) → None ¶: Set chunk size for splitting device-sent XLink packets, in bytes. A larger value could increase performance, with 0 disabling chunking. A negative value won’t modify the device defaults - configured per protocol, currently 64*1024 for both USB and Ethernet.

unlink(self: depthai.Pipeline, arg0: depthai.Node.Output, arg1: depthai.Node.Input) → None ¶

Unlink output from an input.

Throws an error if link doesn’t exists

Parameter out:: Nodes output to unlink from
Parameter in:: Nodes input to unlink to

class depthai.Point2f¶

Bases: pybind11_builtins.pybind11_object

Point2f structure

x and y coordinates that define a 2D point.

Methods:

__init__(*args, **kwargs)

Overloaded function.

Attributes:

`x`
`y`

__init__(*args, **kwargs)¶

Overloaded function.

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

property x¶

property y¶

class depthai.Point3f¶

Bases: pybind11_builtins.pybind11_object

Point3f structure

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

Methods:

__init__(*args, **kwargs)

Overloaded function.

Attributes:

`x`
`y`
`z`

__init__(*args, **kwargs)¶

Overloaded function.

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

property x¶

property y¶

property z¶

class depthai.PrebootConfig¶

Bases: pybind11_builtins.pybind11_object

Classes:

USB

Methods:

__init__(self)

Attributes:

`usb`
`watchdogInitialDelayMs`
`watchdogTimeoutMs`

class USB¶

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

`flashBootedPid`
`flashBootedVid`
`maxSpeed`
`pid`
`vid`

__init__(self: depthai.PrebootConfig.USB) → None ¶

property flashBootedPid¶

property flashBootedVid¶

property maxSpeed¶

property pid¶

property vid¶

__init__(self: depthai.PrebootConfig) → None ¶

property usb¶

property watchdogInitialDelayMs¶

property watchdogTimeoutMs¶

class depthai.ProcessorType¶

Bases: pybind11_builtins.pybind11_object

Members:

LEON_CSS

LEON_MSS

Attributes:

`LEON_CSS`
`LEON_MSS`
`name`
`value`

Methods:

__init__(self, value)

LEON_CSS = <ProcessorType.LEON_CSS: 0>¶

LEON_MSS = <ProcessorType.LEON_MSS: 1>¶

__init__(self: depthai.ProcessorType, value: int) → None ¶

property name¶

property value¶

class depthai.Properties¶

Bases: pybind11_builtins.pybind11_object

Base Properties structure

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

class depthai.RawBuffer¶

Bases: pybind11_builtins.pybind11_object

RawBuffer structure

Methods:

__init__(self)

Attributes:

data

__init__(self: depthai.RawBuffer) → None ¶

property data¶

class depthai.RawCameraControl¶

Bases: depthai.RawBuffer

RawCameraControl structure

Classes:

`AntiBandingMode`	Members:
`AutoFocusMode`	Members:
`AutoWhiteBalanceMode`	Members:
`Command`	Members:
`EffectMode`	Members:
`SceneMode`	Members:

Methods:

`__init__`(self)
`clearCommand`(self, arg0)
`getCommand`(self, arg0)
`setCommand`(self, arg0, arg1)

Attributes:

`aeLockMode`
`afRegion`
`antiBandingMode`
`autoFocusMode`
`awbLockMode`
`awbMode`
`brightness`
`chromaDenoise`
`cmdMask`
`contrast`
`effectMode`
`expCompensation`
`expManual`
`lensPosition`
`lumaDenoise`
`saturation`
`sceneMode`
`sharpness`
`wbColorTemp`

class AntiBandingMode¶

Bases: pybind11_builtins.pybind11_object

Members:

OFF

MAINS_50_HZ

MAINS_60_HZ

AUTO

Attributes:

`AUTO`
`MAINS_50_HZ`
`MAINS_60_HZ`
`OFF`
`name`
`value`

Methods:

__init__(self, value)

AUTO = <AntiBandingMode.AUTO: 3>¶

MAINS_50_HZ = <AntiBandingMode.MAINS_50_HZ: 1>¶

MAINS_60_HZ = <AntiBandingMode.MAINS_60_HZ: 2>¶

OFF = <AntiBandingMode.OFF: 0>¶

__init__(self: depthai.RawCameraControl.AntiBandingMode, value: int) → None ¶

property name¶

property value¶

class AutoFocusMode¶

Bases: pybind11_builtins.pybind11_object

Members:

OFF

AUTO

MACRO

CONTINUOUS_VIDEO

CONTINUOUS_PICTURE

EDOF

Attributes:

`AUTO`
`CONTINUOUS_PICTURE`
`CONTINUOUS_VIDEO`
`EDOF`
`MACRO`
`OFF`
`name`
`value`

Methods:

__init__(self, value)

AUTO = <AutoFocusMode.AUTO: 1>¶

CONTINUOUS_PICTURE = <AutoFocusMode.CONTINUOUS_PICTURE: 4>¶

CONTINUOUS_VIDEO = <AutoFocusMode.CONTINUOUS_VIDEO: 3>¶

EDOF = <AutoFocusMode.EDOF: 5>¶

MACRO = <AutoFocusMode.MACRO: 2>¶

OFF = <AutoFocusMode.OFF: 0>¶

__init__(self: depthai.RawCameraControl.AutoFocusMode, value: int) → None ¶

property name¶

property value¶

class AutoWhiteBalanceMode¶

Bases: pybind11_builtins.pybind11_object

Members:

OFF

AUTO

INCANDESCENT

FLUORESCENT

WARM_FLUORESCENT

DAYLIGHT

CLOUDY_DAYLIGHT

TWILIGHT

SHADE

Attributes:

`AUTO`
`CLOUDY_DAYLIGHT`
`DAYLIGHT`
`FLUORESCENT`
`INCANDESCENT`
`OFF`
`SHADE`
`TWILIGHT`
`WARM_FLUORESCENT`
`name`
`value`

Methods:

__init__(self, value)

AUTO = <AutoWhiteBalanceMode.AUTO: 1>¶

CLOUDY_DAYLIGHT = <AutoWhiteBalanceMode.CLOUDY_DAYLIGHT: 6>¶

DAYLIGHT = <AutoWhiteBalanceMode.DAYLIGHT: 5>¶

FLUORESCENT = <AutoWhiteBalanceMode.FLUORESCENT: 3>¶

INCANDESCENT = <AutoWhiteBalanceMode.INCANDESCENT: 2>¶

OFF = <AutoWhiteBalanceMode.OFF: 0>¶

SHADE = <AutoWhiteBalanceMode.SHADE: 8>¶

TWILIGHT = <AutoWhiteBalanceMode.TWILIGHT: 7>¶

WARM_FLUORESCENT = <AutoWhiteBalanceMode.WARM_FLUORESCENT: 4>¶

__init__(self: depthai.RawCameraControl.AutoWhiteBalanceMode, value: int) → None ¶

property name¶

property value¶

class Command¶

Bases: pybind11_builtins.pybind11_object

Members:

START_STREAM

STOP_STREAM

STILL_CAPTURE

MOVE_LENS

AF_TRIGGER

AE_MANUAL

AE_AUTO

AWB_MODE

SCENE_MODE

ANTIBANDING_MODE

EXPOSURE_COMPENSATION

AE_LOCK

AE_TARGET_FPS_RANGE

AWB_LOCK

CAPTURE_INTENT

CONTROL_MODE

FRAME_DURATION

SENSITIVITY

EFFECT_MODE

AF_MODE

NOISE_REDUCTION_STRENGTH

SATURATION

BRIGHTNESS

STREAM_FORMAT

RESOLUTION

SHARPNESS

CUSTOM_USECASE

CUSTOM_CAPT_MODE

CUSTOM_EXP_BRACKETS

CUSTOM_CAPTURE

CONTRAST

AE_REGION

AF_REGION

LUMA_DENOISE

CHROMA_DENOISE

WB_COLOR_TEMP

Attributes:

Methods:

__init__(self, value)

AE_AUTO = <Command.AE_AUTO: 7>¶

AE_LOCK = <Command.AE_LOCK: 13>¶

AE_MANUAL = <Command.AE_MANUAL: 6>¶

AE_REGION = <Command.AE_REGION: 45>¶

AE_TARGET_FPS_RANGE = <Command.AE_TARGET_FPS_RANGE: 14>¶

AF_MODE = <Command.AF_MODE: 26>¶

AF_REGION = <Command.AF_REGION: 46>¶

AF_TRIGGER = <Command.AF_TRIGGER: 5>¶

ANTIBANDING_MODE = <Command.ANTIBANDING_MODE: 10>¶

AWB_LOCK = <Command.AWB_LOCK: 16>¶

AWB_MODE = <Command.AWB_MODE: 8>¶

BRIGHTNESS = <Command.BRIGHTNESS: 31>¶

CAPTURE_INTENT = <Command.CAPTURE_INTENT: 17>¶

CHROMA_DENOISE = <Command.CHROMA_DENOISE: 48>¶

CONTRAST = <Command.CONTRAST: 44>¶

CONTROL_MODE = <Command.CONTROL_MODE: 18>¶

CUSTOM_CAPTURE = <Command.CUSTOM_CAPTURE: 43>¶

CUSTOM_CAPT_MODE = <Command.CUSTOM_CAPT_MODE: 41>¶

CUSTOM_EXP_BRACKETS = <Command.CUSTOM_EXP_BRACKETS: 42>¶

CUSTOM_USECASE = <Command.CUSTOM_USECASE: 40>¶

EFFECT_MODE = <Command.EFFECT_MODE: 24>¶

EXPOSURE_COMPENSATION = <Command.EXPOSURE_COMPENSATION: 11>¶

FRAME_DURATION = <Command.FRAME_DURATION: 21>¶

LUMA_DENOISE = <Command.LUMA_DENOISE: 47>¶

MOVE_LENS = <Command.MOVE_LENS: 4>¶

NOISE_REDUCTION_STRENGTH = <Command.NOISE_REDUCTION_STRENGTH: 27>¶

RESOLUTION = <Command.RESOLUTION: 34>¶

SATURATION = <Command.SATURATION: 28>¶

SCENE_MODE = <Command.SCENE_MODE: 9>¶

SENSITIVITY = <Command.SENSITIVITY: 23>¶

SHARPNESS = <Command.SHARPNESS: 35>¶

START_STREAM = <Command.START_STREAM: 1>¶

STILL_CAPTURE = <Command.STILL_CAPTURE: 3>¶

STOP_STREAM = <Command.STOP_STREAM: 2>¶

STREAM_FORMAT = <Command.STREAM_FORMAT: 33>¶

WB_COLOR_TEMP = <Command.WB_COLOR_TEMP: 49>¶

__init__(self: depthai.RawCameraControl.Command, value: int) → None ¶

property name¶

property value¶

class EffectMode¶

Bases: pybind11_builtins.pybind11_object

Members:

OFF

MONO

NEGATIVE

SOLARIZE

SEPIA

POSTERIZE

WHITEBOARD

BLACKBOARD

AQUA

Attributes:

`AQUA`
`BLACKBOARD`
`MONO`
`NEGATIVE`
`OFF`
`POSTERIZE`
`SEPIA`
`SOLARIZE`
`WHITEBOARD`
`name`
`value`

Methods:

__init__(self, value)

AQUA = <EffectMode.AQUA: 8>¶

BLACKBOARD = <EffectMode.BLACKBOARD: 7>¶

MONO = <EffectMode.MONO: 1>¶

NEGATIVE = <EffectMode.NEGATIVE: 2>¶

OFF = <EffectMode.OFF: 0>¶

POSTERIZE = <EffectMode.POSTERIZE: 5>¶

SEPIA = <EffectMode.SEPIA: 4>¶

SOLARIZE = <EffectMode.SOLARIZE: 3>¶

WHITEBOARD = <EffectMode.WHITEBOARD: 6>¶

__init__(self: depthai.RawCameraControl.EffectMode, value: int) → None ¶

property name¶

property value¶

class SceneMode¶

Bases: pybind11_builtins.pybind11_object

Members:

UNSUPPORTED

FACE_PRIORITY

ACTION

PORTRAIT

LANDSCAPE

NIGHT

NIGHT_PORTRAIT

THEATRE

BEACH

SNOW

SUNSET

STEADYPHOTO

FIREWORKS

SPORTS

PARTY

CANDLELIGHT

BARCODE

Attributes:

`ACTION`
`BARCODE`
`BEACH`
`CANDLELIGHT`
`FACE_PRIORITY`
`FIREWORKS`
`LANDSCAPE`
`NIGHT`
`NIGHT_PORTRAIT`
`PARTY`
`PORTRAIT`
`SNOW`
`SPORTS`
`STEADYPHOTO`
`SUNSET`
`THEATRE`
`UNSUPPORTED`
`name`
`value`

Methods:

__init__(self, value)

ACTION = <SceneMode.ACTION: 2>¶

BARCODE = <SceneMode.BARCODE: 16>¶

BEACH = <SceneMode.BEACH: 8>¶

CANDLELIGHT = <SceneMode.CANDLELIGHT: 15>¶

FACE_PRIORITY = <SceneMode.FACE_PRIORITY: 1>¶

FIREWORKS = <SceneMode.FIREWORKS: 12>¶

LANDSCAPE = <SceneMode.LANDSCAPE: 4>¶

NIGHT = <SceneMode.NIGHT: 5>¶

NIGHT_PORTRAIT = <SceneMode.NIGHT_PORTRAIT: 6>¶

PARTY = <SceneMode.PARTY: 14>¶

PORTRAIT = <SceneMode.PORTRAIT: 3>¶

SNOW = <SceneMode.SNOW: 9>¶

SPORTS = <SceneMode.SPORTS: 13>¶

STEADYPHOTO = <SceneMode.STEADYPHOTO: 11>¶

SUNSET = <SceneMode.SUNSET: 10>¶

THEATRE = <SceneMode.THEATRE: 7>¶

UNSUPPORTED = <SceneMode.UNSUPPORTED: 0>¶

__init__(self: depthai.RawCameraControl.SceneMode, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.RawCameraControl) → None ¶

property aeLockMode¶

property afRegion¶

property antiBandingMode¶

property autoFocusMode¶

property awbLockMode¶

property awbMode¶

property brightness¶

property chromaDenoise¶

clearCommand(self: depthai.RawCameraControl, arg0: depthai.RawCameraControl.Command) → None ¶

property cmdMask¶

property contrast¶

property effectMode¶

property expCompensation¶

property expManual¶

getCommand(self: depthai.RawCameraControl, arg0: depthai.RawCameraControl.Command) → bool ¶

property lensPosition¶

property lumaDenoise¶

property saturation¶

property sceneMode¶

setCommand(self: depthai.RawCameraControl, arg0: depthai.RawCameraControl.Command, arg1: bool) → None ¶

property sharpness¶

property wbColorTemp¶

class depthai.RawEdgeDetectorConfig¶

Bases: depthai.RawBuffer

RawEdgeDetectorConfig configuration structure

Methods:

__init__(self)

Attributes:

config

__init__(self: depthai.RawEdgeDetectorConfig) → None ¶

property config¶

class depthai.RawFeatureTrackerConfig¶

Bases: depthai.RawBuffer

RawFeatureTrackerConfig configuration structure

Classes:

`CornerDetector`	Corner detector configuration structure.
`FeatureMaintainer`	FeatureMaintainer configuration structure.
`MotionEstimator`	Used for feature reidentification between current and previous features.

Methods:

__init__(self)

Attributes:

`cornerDetector`	Corner detector configuration.
`featureMaintainer`	FeatureMaintainer configuration.
`motionEstimator`	Motion estimator configuration.

class CornerDetector¶

Bases: pybind11_builtins.pybind11_object

Corner detector configuration structure.

Classes:

`Thresholds`	Threshold settings structure for corner detector.
`Type`	Members:

Methods:

__init__(self)

Attributes:

`cellGridDimension`	Ensures distributed feature detection across the image.
`enableSobel`	Enable 3x3 Sobel operator to smoothen the image whose gradient is to be computed.
`enableSorting`	Enable sorting detected features based on their score or not.
`numMaxFeatures`	Hard limit for the maximum number of features that can be detected.
`numTargetFeatures`	Target number of features to detect.
`thresholds`	Threshold settings.
`type`	Corner detector algorithm type.

class Thresholds¶

Bases: pybind11_builtins.pybind11_object

Threshold settings structure for corner detector.

Methods:

__init__(self)

Attributes:

`decreaseFactor`	When detected number of features exceeds the maximum in a cell threshold is lowered by multiplying its value with this factor.
`increaseFactor`	When detected number of features doesn’t exceed the maximum in a cell, threshold is increased by multiplying its value with this factor.
`initialValue`	Minimum strength of a feature which will be detected.
`max`	Maximum limit for threshold.
`min`	Minimum limit for threshold.

__init__(self: depthai.RawFeatureTrackerConfig.CornerDetector.Thresholds) → None ¶

property decreaseFactor¶: When detected number of features exceeds the maximum in a cell threshold is lowered by multiplying its value with this factor.

property increaseFactor¶: When detected number of features doesn’t exceed the maximum in a cell, threshold is increased by multiplying its value with this factor.

property initialValue¶: Minimum strength of a feature which will be detected. 0 means automatic threshold update. Recommended so the tracker can adapt to different scenes/textures. Each cell has its own threshold. Empirical value.

property max¶: Maximum limit for threshold. Applicable when automatic threshold update is enabled. 0 means auto. Empirical value.

property min¶: Minimum limit for threshold. Applicable when automatic threshold update is enabled. 0 means auto, 6000000 for HARRIS, 1200 for SHI_THOMASI. Empirical value.

class Type¶

Bases: pybind11_builtins.pybind11_object

Members:

HARRIS

SHI_THOMASI

Attributes:

`HARRIS`
`SHI_THOMASI`
`name`
`value`

Methods:

__init__(self, value)

HARRIS = <Type.HARRIS: 0>¶

SHI_THOMASI = <Type.SHI_THOMASI: 1>¶

__init__(self: depthai.RawFeatureTrackerConfig.CornerDetector.Type, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.RawFeatureTrackerConfig.CornerDetector) → None ¶

property cellGridDimension¶: Ensures distributed feature detection across the image. Image is divided into horizontal and vertical cells, each cell has a target feature count = numTargetFeatures / cellGridDimension. Each cell has its own feature threshold. A value of 4 means that the image is divided into 4x4 cells of equal width/height. Maximum 4, minimum 1.

property enableSobel¶: Enable 3x3 Sobel operator to smoothen the image whose gradient is to be computed. If disabled, a simple 1D row/column differentiator is used for gradient.

property enableSorting¶: Enable sorting detected features based on their score or not.

property numMaxFeatures¶: Hard limit for the maximum number of features that can be detected. 0 means auto, will be set to the maximum value based on memory constraints.

property numTargetFeatures¶: Target number of features to detect. Maximum number of features is determined at runtime based on algorithm type.

property thresholds¶: Threshold settings. These are advanced settings, suitable for debugging/special cases.

property type¶: Corner detector algorithm type.

class FeatureMaintainer¶

Bases: pybind11_builtins.pybind11_object

FeatureMaintainer configuration structure.

Methods:

__init__(self)

Attributes:

`enable`	Enable feature maintaining or not.
`lostFeatureErrorThreshold`	Optical flow measures the tracking error for every feature.
`minimumDistanceBetweenFeatures`	Used to filter out detected feature points that are too close.
`trackedFeatureThreshold`	Once a feature was detected and we started tracking it, we need to update its Harris score on each image.

__init__(self: depthai.RawFeatureTrackerConfig.FeatureMaintainer) → None ¶

property enable¶: Enable feature maintaining or not.

property lostFeatureErrorThreshold¶: Optical flow measures the tracking error for every feature. If the point can’t be tracked or it’s out of the image it will set this error to a maximum value. This threshold defines the level where the tracking accuracy is considered too bad to keep the point.

property minimumDistanceBetweenFeatures¶: Used to filter out detected feature points that are too close. Requires sorting enabled in detector. Unit of measurement is squared euclidean distance in pixels.

property trackedFeatureThreshold¶: Once a feature was detected and we started tracking it, we need to update its Harris score on each image. This is needed because a feature point can disappear, or it can become too weak to be tracked. This threshold defines the point where such a feature must be dropped. As the goal of the algorithm is to provide longer tracks, we try to add strong points and track them until they are absolutely untrackable. This is why, this value is usually smaller than the detection threshold.

class MotionEstimator¶

Bases: pybind11_builtins.pybind11_object

Used for feature reidentification between current and previous features.

Classes:

`OpticalFlow`	Optical flow configuration structure.
`Type`	Members:

Methods:

__init__(self)

Attributes:

`enable`	Enable motion estimation or not.
`opticalFlow`	Optical flow configuration.
`type`	Motion estimator algorithm type.

class OpticalFlow¶

Bases: pybind11_builtins.pybind11_object

Optical flow configuration structure.

Methods:

__init__(self)

Attributes:

`epsilon`	Feature tracking termination criteria.
`maxIterations`	Feature tracking termination criteria.
`pyramidLevels`	Number of pyramid levels, only for optical flow.
`searchWindowHeight`	Image patch height used to track features.
`searchWindowWidth`	Image patch width used to track features.

__init__(self: depthai.RawFeatureTrackerConfig.MotionEstimator.OpticalFlow) → None ¶

property epsilon¶: Feature tracking termination criteria. Optical flow will refine the feature position on each pyramid level until the displacement between two refinements is smaller than this value. Decreasing this number increases runtime.

property maxIterations¶: Feature tracking termination criteria. Optical flow will refine the feature position maximum this many times on each pyramid level. If the Epsilon criteria described in the previous chapter is not met after this number of iterations, the algorithm will continue with the current calculated value. Increasing this number increases runtime.

property pyramidLevels¶: Number of pyramid levels, only for optical flow. AUTO means it’s decided based on input resolution: 3 if image width <= 640, else 4. Valid values are either 3/4 for VGA, 4 for 720p and above.

property searchWindowHeight¶: Image patch height used to track features. Must be an odd number, maximum 9. N means the algorithm will be able to track motion at most (N-1)/2 pixels in a direction per pyramid level. Increasing this number increases runtime

property searchWindowWidth¶: Image patch width used to track features. Must be an odd number, maximum 9. N means the algorithm will be able to track motion at most (N-1)/2 pixels in a direction per pyramid level. Increasing this number increases runtime

class Type¶

Bases: pybind11_builtins.pybind11_object

Members:

LUCAS_KANADE_OPTICAL_FLOW

HW_MOTION_ESTIMATION

Attributes:

`HW_MOTION_ESTIMATION`
`LUCAS_KANADE_OPTICAL_FLOW`
`name`
`value`

Methods:

__init__(self, value)

HW_MOTION_ESTIMATION = <Type.HW_MOTION_ESTIMATION: 1>¶

LUCAS_KANADE_OPTICAL_FLOW = <Type.LUCAS_KANADE_OPTICAL_FLOW: 0>¶

__init__(self: depthai.RawFeatureTrackerConfig.MotionEstimator.Type, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.RawFeatureTrackerConfig.MotionEstimator) → None ¶

property enable¶: Enable motion estimation or not.

property opticalFlow¶: Optical flow configuration. Takes effect only if MotionEstimator algorithm type set to LUCAS_KANADE_OPTICAL_FLOW.

property type¶: Motion estimator algorithm type.

__init__(self: depthai.RawFeatureTrackerConfig) → None ¶

property cornerDetector¶: Corner detector configuration. Used for feature detection.

property featureMaintainer¶: FeatureMaintainer configuration. Used for feature maintaining.

property motionEstimator¶: Motion estimator configuration. Used for feature reidentification between current and previous features.

class depthai.RawIMUData¶

Bases: depthai.RawBuffer

Methods:

__init__(self)

Attributes:

packets

__init__(self: depthai.RawIMUData) → None ¶

property packets¶

class depthai.RawImageManipConfig¶

Bases: depthai.RawBuffer

RawImageManipConfig structure

Classes:

`CropConfig`
`CropRect`
`FormatConfig`
`ResizeConfig`

Methods:

__init__(self)

Attributes:

`cropConfig`
`enableCrop`
`enableFormat`
`enableResize`
`formatConfig`
`resizeConfig`

class CropConfig¶

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

`cropRatio`
`cropRect`
`cropRotatedRect`
`enableCenterCropRectangle`
`enableRotatedRect`
`normalizedCoords`
`widthHeightAspectRatio`

__init__(self: depthai.RawImageManipConfig.CropConfig) → None ¶

property cropRatio¶

property cropRect¶

property cropRotatedRect¶

property enableCenterCropRectangle¶

property enableRotatedRect¶

property normalizedCoords¶

property widthHeightAspectRatio¶

class CropRect¶

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

`xmax`
`xmin`
`ymax`
`ymin`

__init__(self: depthai.RawImageManipConfig.CropRect) → None ¶

property xmax¶

property xmin¶

property ymax¶

property ymin¶

class FormatConfig¶

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

`flipHorizontal`
`type`

__init__(self: depthai.RawImageManipConfig.FormatConfig) → None ¶

property flipHorizontal¶

property type¶

class ResizeConfig¶

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

`bgBlue`
`bgGreen`
`bgRed`
`enableRotation`
`enableWarp4pt`
`enableWarpMatrix`
`height`
`keepAspectRatio`
`lockAspectRatioFill`
`normalizedCoords`
`rotationAngleDeg`
`warpBorderReplicate`
`warpFourPoints`
`warpMatrix3x3`
`width`

__init__(self: depthai.RawImageManipConfig.ResizeConfig) → None ¶

property bgBlue¶

property bgGreen¶

property bgRed¶

property enableRotation¶

property enableWarp4pt¶

property enableWarpMatrix¶

property height¶

property keepAspectRatio¶

property lockAspectRatioFill¶

property normalizedCoords¶

property rotationAngleDeg¶

property warpBorderReplicate¶

property warpFourPoints¶

property warpMatrix3x3¶

property width¶

__init__(self: depthai.RawImageManipConfig) → None ¶

property cropConfig¶

property enableCrop¶

property enableFormat¶

property enableResize¶

property formatConfig¶

property resizeConfig¶

class depthai.RawImgDetections¶

Bases: depthai.RawBuffer

RawImgDetections structure

Methods:

__init__(self)

Attributes:

detections

__init__(self: depthai.RawImgDetections) → None ¶

property detections¶

class depthai.RawImgFrame¶

Bases: depthai.RawBuffer

RawImgFrame structure

Classes:

`Specs`
`Type`	Members:

Methods:

__init__(self)

Attributes:

`category`
`fb`
`instanceNum`
`sequenceNum`
`ts`
`tsDevice`

class Specs¶

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(self)

Attributes:

`bytesPP`
`height`
`p1Offset`
`p2Offset`
`p3Offset`
`stride`
`type`
`width`

__init__(self: depthai.RawImgFrame.Specs) → None ¶

property bytesPP¶

property height¶

property p1Offset¶

property p2Offset¶

property p3Offset¶

property stride¶

property type¶

property width¶

class Type¶

Bases: pybind11_builtins.pybind11_object

Members:

YUV422i

YUV444p

YUV420p

YUV422p

YUV400p

RGBA8888

RGB161616

RGB888p

BGR888p

RGB888i

BGR888i

RGBF16F16F16p

BGRF16F16F16p

RGBF16F16F16i

BGRF16F16F16i

GRAY8

GRAYF16

LUT2

LUT4

LUT16

RAW16

RAW14

RAW12

RAW10

RAW8

PACK10

PACK12

YUV444i

NV12

NV21

BITSTREAM

HDR

NONE

Attributes:

Methods:

__init__(self, value)

BGR888i = <Type.BGR888i: 10>¶

BGR888p = <Type.BGR888p: 8>¶

BGRF16F16F16i = <Type.BGRF16F16F16i: 29>¶

BGRF16F16F16p = <Type.BGRF16F16F16p: 27>¶

BITSTREAM = <Type.BITSTREAM: 24>¶

GRAY8 = <Type.GRAY8: 30>¶

GRAYF16 = <Type.GRAYF16: 31>¶

HDR = <Type.HDR: 25>¶

LUT16 = <Type.LUT16: 13>¶

LUT2 = <Type.LUT2: 11>¶

LUT4 = <Type.LUT4: 12>¶

NONE = <Type.NONE: 32>¶

NV12 = <Type.NV12: 22>¶

NV21 = <Type.NV21: 23>¶

PACK10 = <Type.PACK10: 19>¶

PACK12 = <Type.PACK12: 20>¶

RAW10 = <Type.RAW10: 17>¶

RAW12 = <Type.RAW12: 16>¶

RAW14 = <Type.RAW14: 15>¶

RAW16 = <Type.RAW16: 14>¶

RAW8 = <Type.RAW8: 18>¶

RGB161616 = <Type.RGB161616: 6>¶

RGB888i = <Type.RGB888i: 9>¶

RGB888p = <Type.RGB888p: 7>¶

RGBA8888 = <Type.RGBA8888: 5>¶

RGBF16F16F16i = <Type.RGBF16F16F16i: 28>¶

RGBF16F16F16p = <Type.RGBF16F16F16p: 26>¶

YUV400p = <Type.YUV400p: 4>¶

YUV420p = <Type.YUV420p: 2>¶

YUV422i = <Type.YUV422i: 0>¶

YUV422p = <Type.YUV422p: 3>¶

YUV444i = <Type.YUV444i: 21>¶

YUV444p = <Type.YUV444p: 1>¶

__init__(self: depthai.RawImgFrame.Type, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.RawImgFrame) → None ¶

property category¶

property fb¶

property instanceNum¶

property sequenceNum¶

property ts¶

property tsDevice¶

class depthai.RawNNData¶

Bases: depthai.RawBuffer

RawNNData structure

Methods:

__init__(self)

Attributes:

`batchSize`
`tensors`

__init__(self: depthai.RawNNData) → None ¶

property batchSize¶

property tensors¶

class depthai.RawSpatialImgDetections¶

Bases: depthai.RawBuffer

RawSpatialImgDetections structure

Methods:

__init__(self)

Attributes:

detections

__init__(self: depthai.RawSpatialImgDetections) → None ¶

property detections¶

class depthai.RawStereoDepthConfig¶

Bases: depthai.RawBuffer

RawStereoDepthConfig configuration structure

Classes:

`AlgorithmControl`
`CensusTransform`	The basic cost function used by the Stereo Accelerator for matching the left and right images is the Census Transform.
`CostAggregation`	Cost Aggregation is based on Semi Global Block Matching (SGBM).
`CostMatching`	The matching cost is way of measuring the similarity of image locations in stereo correspondence algorithm.
`MedianFilter`	Median filter config for disparity post-processing
`PostProcessing`	Post-processing filters, all the filters are applied in disparity domain.

Methods:

__init__(self)

Attributes:

`algorithmControl`	Controls the flow of stereo algorithm - left-right check, subpixel etc.
`censusTransform`	Census transform settings.
`costAggregation`	Cost aggregation settings.
`costMatching`	Cost matching settings.
`postProcessing`	Controls the postprocessing of disparity and/or depth map.

class AlgorithmControl¶

Bases: pybind11_builtins.pybind11_object

Classes:

DepthAlign

Align the disparity/depth to the perspective of a rectified output, or center it

Methods:

__init__(self)

Attributes:

`depthAlign`	Set the disparity/depth alignment to the perspective of a rectified output, or center it
`enableExtended`	Disparity range increased from 95 to 190, combined from full resolution and downscaled images.
`enableLeftRightCheck`	Computes and combines disparities in both L-R and R-L directions, and combine them.
`enableSubpixel`	Computes disparity with sub-pixel interpolation (5 fractional bits), suitable for long range
`leftRightCheckThreshold`	Left-right check threshold for left-right, right-left disparity map combine, 0..128 Used only when left-right check mode is enabled.
`subpixelFractionalBits`	Number of fractional bits for subpixel mode

class DepthAlign¶

Bases: pybind11_builtins.pybind11_object

Align the disparity/depth to the perspective of a rectified output, or center it

Members:

RECTIFIED_RIGHT :

RECTIFIED_LEFT :

CENTER :

Attributes:

`CENTER`
`RECTIFIED_LEFT`
`RECTIFIED_RIGHT`
`name`
`value`

Methods:

__init__(self, value)

CENTER = <DepthAlign.CENTER: 2>¶

RECTIFIED_LEFT = <DepthAlign.RECTIFIED_LEFT: 1>¶

RECTIFIED_RIGHT = <DepthAlign.RECTIFIED_RIGHT: 0>¶

__init__(self: depthai.RawStereoDepthConfig.AlgorithmControl.DepthAlign, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.RawStereoDepthConfig.AlgorithmControl) → None ¶

property depthAlign¶: Set the disparity/depth alignment to the perspective of a rectified output, or center it

property enableExtended¶: Disparity range increased from 95 to 190, combined from full resolution and downscaled images. Suitable for short range objects

property enableLeftRightCheck¶: Computes and combines disparities in both L-R and R-L directions, and combine them. For better occlusion handling

property enableSubpixel¶: Computes disparity with sub-pixel interpolation (5 fractional bits), suitable for long range

property leftRightCheckThreshold¶: Left-right check threshold for left-right, right-left disparity map combine, 0..128 Used only when left-right check mode is enabled. Defines the maximum difference between the confidence of pixels from left-right and right-left confidence maps

property subpixelFractionalBits¶

Number of fractional bits for subpixel mode

Valid values: 3,4,5

Defines the number of fractional disparities: 2^x

Median filter postprocessing is supported only for 3 fractional bits

class CensusTransform¶

Bases: pybind11_builtins.pybind11_object

The basic cost function used by the Stereo Accelerator for matching the left and right images is the Census Transform. It works on a block of pixels and computes a bit vector which represents the structure of the image in that block. There are two types of Census Transform based on how the middle pixel is used: Classic Approach and Modified Census. The comparisons that are made between pixels can be or not thresholded. In some cases a mask can be applied to filter out only specific bits from the entire bit stream. All these approaches are: Classic Approach: Uses middle pixel to compare against all its neighbors over a defined window. Each comparison results in a new bit, that is 0 if central pixel is smaller, or 1 if is it bigger than its neighbor. Modified Census Transform: same as classic Census Transform, but instead of comparing central pixel with its neighbors, the window mean will be compared with each pixel over the window. Thresholding Census Transform: same as classic Census Transform, but it is not enough that a neighbor pixel to be bigger than the central pixel, it must be significant bigger (based on a threshold). Census Transform with Mask: same as classic Census Transform, but in this case not all of the pixel from the support window are part of the binary descriptor. We use a ma sk “M” to define which pixels are part of the binary descriptor (1), and which pixels should be skipped (0).

Classes:

KernelSize

Census transform kernel size possible values.

Methods:

__init__(self)

Attributes:

`enableMeanMode`	If enabled, each pixel in the window is compared with the mean window value instead of the central pixel.
`kernelMask`	Census transform mask, default - auto, mask is set based on resolution and kernel size.
`kernelSize`	Census transform kernel size.
`threshold`	Census transform comparison threshold value.

class KernelSize¶

Bases: pybind11_builtins.pybind11_object

Census transform kernel size possible values.

Members:

AUTO :

KERNEL_5x5 :

KERNEL_7x7 :

KERNEL_7x9 :

Attributes:

`AUTO`
`KERNEL_5x5`
`KERNEL_7x7`
`KERNEL_7x9`
`name`
`value`

Methods:

__init__(self, value)

AUTO = <KernelSize.AUTO: -1>¶

KERNEL_5x5 = <KernelSize.KERNEL_5x5: 0>¶

KERNEL_7x7 = <KernelSize.KERNEL_7x7: 1>¶

KERNEL_7x9 = <KernelSize.KERNEL_7x9: 2>¶

__init__(self: depthai.RawStereoDepthConfig.CensusTransform.KernelSize, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.RawStereoDepthConfig.CensusTransform) → None ¶

property enableMeanMode¶: If enabled, each pixel in the window is compared with the mean window value instead of the central pixel.

property kernelMask¶: Census transform mask, default - auto, mask is set based on resolution and kernel size. Disabled for 400p input resolution. Enabled for 720p. 0XA82415 for 5x5 census transform kernel. 0XAA02A8154055 for 7x7 census transform kernel. 0X2AA00AA805540155 for 7x9 census transform kernel. Empirical values.

property kernelSize¶: Census transform kernel size.

property threshold¶: Census transform comparison threshold value.

class CostAggregation¶

Bases: pybind11_builtins.pybind11_object

Cost Aggregation is based on Semi Global Block Matching (SGBM). This algorithm uses a semi global technique to aggregate the cost map. Ultimately the idea is to build inertia into the stereo algorithm. If a pixel has very little texture information, then odds are the correct disparity for this pixel is close to that of the previous pixel considered. This means that we get improved results in areas with low texture.

Methods:

__init__(self)

Attributes:

`divisionFactor`	Cost calculation linear equation parameters.
`horizontalPenaltyCostP1`	Horizontal P1 penalty cost parameter.
`horizontalPenaltyCostP2`	Horizontal P2 penalty cost parameter.
`verticalPenaltyCostP1`	Vertical P1 penalty cost parameter.
`verticalPenaltyCostP2`	Vertical P2 penalty cost parameter.

__init__(self: depthai.RawStereoDepthConfig.CostAggregation) → None ¶

property divisionFactor¶: Cost calculation linear equation parameters.

property horizontalPenaltyCostP1¶: Horizontal P1 penalty cost parameter.

property horizontalPenaltyCostP2¶: Horizontal P2 penalty cost parameter.

property verticalPenaltyCostP1¶: Vertical P1 penalty cost parameter.

property verticalPenaltyCostP2¶: Vertical P2 penalty cost parameter.

class CostMatching¶

Bases: pybind11_builtins.pybind11_object

The matching cost is way of measuring the similarity of image locations in stereo correspondence algorithm. Based on the configuration parameters and based on the descriptor type, a linear equation is applied to computing the cost for each candidate disparity at each pixel.

Classes:

`DisparityWidth`	Disparity search range: 64 or 96 pixels are supported by the HW.
`LinearEquationParameters`	The linear equation applied for computing the cost is: COMB_COST = αAD + β(CTC<<3).

Methods:

__init__(self)

Attributes:

`confidenceThreshold`	Disparities with confidence value under this threshold are accepted.
`disparityWidth`	Disparity search range, default 96 pixels.
`enableCompanding`	Disparity companding using sparse matching.
`invalidDisparityValue`	Used only for debug purposes, SW postprocessing handled only invalid value of 0 properly.
`linearEquationParameters`	Cost calculation linear equation parameters.

class DisparityWidth¶

Bases: pybind11_builtins.pybind11_object

Disparity search range: 64 or 96 pixels are supported by the HW.

Members:

DISPARITY_64 :

DISPARITY_96 :

Attributes:

`DISPARITY_64`
`DISPARITY_96`
`name`
`value`

Methods:

__init__(self, value)

DISPARITY_64 = <DisparityWidth.DISPARITY_64: 0>¶

DISPARITY_96 = <DisparityWidth.DISPARITY_96: 1>¶

__init__(self: depthai.RawStereoDepthConfig.CostMatching.DisparityWidth, value: int) → None ¶

property name¶

property value¶

class LinearEquationParameters¶

Bases: pybind11_builtins.pybind11_object

The linear equation applied for computing the cost is: COMB_COST = α*AD + β*(CTC<<3). CLAMP(COMB_COST >> 5, threshold). Where AD is the Absolute Difference between 2 pixels values. CTC is the Census Transform Cost between 2 pixels, based on Hamming distance (xor). The α and β parameters are subject to fine tuning by the user.

Methods:

__init__(self)

Attributes:

`alpha`
`beta`
`threshold`

__init__(self: depthai.RawStereoDepthConfig.CostMatching.LinearEquationParameters) → None ¶

property alpha¶

property beta¶

property threshold¶

__init__(self: depthai.RawStereoDepthConfig.CostMatching) → None ¶

property confidenceThreshold¶: Disparities with confidence value under this threshold are accepted. Higher confidence threshold means disparities with less confidence are accepted too.

property disparityWidth¶: Disparity search range, default 96 pixels.

property enableCompanding¶: Disparity companding using sparse matching. Matching pixel by pixel for N disparities. Matching every 2nd pixel for M disparitites. Matching every 4th pixel for T disparities. In case of 96 disparities: N=48, M=32, T=16. This way the search range is extended to 176 disparities, by sparse matching. Note: when enabling this flag only depth map will be affected, disparity map is not.

property invalidDisparityValue¶: Used only for debug purposes, SW postprocessing handled only invalid value of 0 properly.

property linearEquationParameters¶: Cost calculation linear equation parameters.

class MedianFilter¶

Bases: pybind11_builtins.pybind11_object

Median filter config for disparity post-processing

Members:

MEDIAN_OFF

KERNEL_3x3

KERNEL_5x5

KERNEL_7x7

Attributes:

`KERNEL_3x3`
`KERNEL_5x5`
`KERNEL_7x7`
`MEDIAN_OFF`
`name`
`value`

Methods:

__init__(self, value)

KERNEL_3x3 = <MedianFilter.KERNEL_3x3: 3>¶

KERNEL_5x5 = <MedianFilter.KERNEL_5x5: 5>¶

KERNEL_7x7 = <MedianFilter.KERNEL_7x7: 7>¶

MEDIAN_OFF = <MedianFilter.MEDIAN_OFF: 0>¶

__init__(self: depthai.MedianFilter, value: int) → None ¶

property name¶

property value¶

class PostProcessing¶

Bases: pybind11_builtins.pybind11_object

Post-processing filters, all the filters are applied in disparity domain.

Classes:

`DecimationFilter`	Decimation filter.
`SpatialFilter`	1D edge-preserving spatial filter using high-order domain transform.
`SpeckleFilter`	Speckle filtering.
`TemporalFilter`	Temporal filtering with optional persistence.
`ThresholdFilter`	Threshold filtering.

Methods:

__init__(self)

Attributes:

`bilateralSigmaValue`	Sigma value for bilateral filter.
`decimationFilter`	Decimation filter.
`median`	Set kernel size for disparity/depth median filtering, or disable
`spatialFilter`	This type of filter will smooth the depth noise while attempting to preserve edges.
`speckleFilter`	Speckle filtering.
`temporalFilter`	Temporal filtering with optional persistence.
`thresholdFilter`	Threshold filtering.

class DecimationFilter¶

Bases: pybind11_builtins.pybind11_object

Decimation filter. Reduces the depth scene complexity. The filter runs on kernel sizes [2x2] to [8x8] pixels.

Classes:

DecimationMode

Decimation algorithm type.

Methods:

__init__(self)

Attributes:

`decimationFactor`	Decimation factor.
`decimationMode`	Decimation algorithm type.

class DecimationMode¶

Bases: pybind11_builtins.pybind11_object

Decimation algorithm type.

Members:

PIXEL_SKIPPING :

NON_ZERO_MEDIAN :

NON_ZERO_MEAN :

Attributes:

`NON_ZERO_MEAN`
`NON_ZERO_MEDIAN`
`PIXEL_SKIPPING`
`name`
`value`

Methods:

__init__(self, value)

NON_ZERO_MEAN = <DecimationMode.NON_ZERO_MEAN: 2>¶

NON_ZERO_MEDIAN = <DecimationMode.NON_ZERO_MEDIAN: 1>¶

PIXEL_SKIPPING = <DecimationMode.PIXEL_SKIPPING: 0>¶

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.DecimationFilter) → None ¶

property decimationFactor¶: Decimation factor. Valid values are 1,2,3,4. Disparity/depth map x/y resolution will be decimated with this value.

property decimationMode¶: Decimation algorithm type.

class SpatialFilter¶

Bases: pybind11_builtins.pybind11_object

1D edge-preserving spatial filter using high-order domain transform.

Methods:

__init__(self)

Attributes:

`alpha`	The Alpha factor in an exponential moving average with Alpha=1 - no filter.
`delta`	Step-size boundary.
`enable`	Whether to enable or disable the filter.
`holeFillingRadius`	An in-place heuristic symmetric hole-filling mode applied horizontally during the filter passes.
`numIterations`	Nubmer of iterations over the image in both horizontal and vertical direction.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.SpatialFilter) → None ¶

property alpha¶: The Alpha factor in an exponential moving average with Alpha=1 - no filter. Alpha = 0 - infinite filter. Determines the amount of smoothing.

property delta¶: Step-size boundary. Establishes the threshold used to preserve “edges”. If the disparity value between neighboring pixels exceed the disparity threshold set by this delta parameter, then filtering will be temporarily disabled. Default value 0 means auto: 3 disparity integer levels. In case of subpixel mode it’s 3*number of subpixel levels.

property enable¶: Whether to enable or disable the filter.

property holeFillingRadius¶: An in-place heuristic symmetric hole-filling mode applied horizontally during the filter passes. Intended to rectify minor artefacts with minimal performance impact. Search radius for hole filling.

property numIterations¶: Nubmer of iterations over the image in both horizontal and vertical direction.

class SpeckleFilter¶

Bases: pybind11_builtins.pybind11_object

Speckle filtering. Removes speckle noise.

Methods:

__init__(self)

Attributes:

`enable`	Whether to enable or disable the filter.
`speckleRange`	Speckle search range.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.SpeckleFilter) → None ¶

property enable¶: Whether to enable or disable the filter.

property speckleRange¶: Speckle search range.

class TemporalFilter¶

Bases: pybind11_builtins.pybind11_object

Temporal filtering with optional persistence. More details about the filter can be found here:

Classes:

PersistencyMode

Persistency algorithm type.

Methods:

__init__(self)

Attributes:

`alpha`	The Alpha factor in an exponential moving average with Alpha=1 - no filter.
`delta`	Step-size boundary.
`enable`	Whether to enable or disable the filter.
`persistencyMode`	Persistency mode.

class PersistencyMode¶

Bases: pybind11_builtins.pybind11_object

Persistency algorithm type.

Members:

PERSISTENCY_OFF :

VALID_8_OUT_OF_8 :

VALID_2_IN_LAST_3 :

VALID_2_IN_LAST_4 :

VALID_2_OUT_OF_8 :

VALID_1_IN_LAST_2 :

VALID_1_IN_LAST_5 :

VALID_1_IN_LAST_8 :

PERSISTENCY_INDEFINITELY :

Attributes:

`PERSISTENCY_INDEFINITELY`
`PERSISTENCY_OFF`
`VALID_1_IN_LAST_2`
`VALID_1_IN_LAST_5`
`VALID_1_IN_LAST_8`
`VALID_2_IN_LAST_3`
`VALID_2_IN_LAST_4`
`VALID_2_OUT_OF_8`
`VALID_8_OUT_OF_8`
`name`
`value`

Methods:

__init__(self, value)

PERSISTENCY_INDEFINITELY = <PersistencyMode.PERSISTENCY_INDEFINITELY: 8>¶

PERSISTENCY_OFF = <PersistencyMode.PERSISTENCY_OFF: 0>¶

VALID_1_IN_LAST_2 = <PersistencyMode.VALID_1_IN_LAST_2: 5>¶

VALID_1_IN_LAST_5 = <PersistencyMode.VALID_1_IN_LAST_5: 6>¶

VALID_1_IN_LAST_8 = <PersistencyMode.VALID_1_IN_LAST_8: 7>¶

VALID_2_IN_LAST_3 = <PersistencyMode.VALID_2_IN_LAST_3: 2>¶

VALID_2_IN_LAST_4 = <PersistencyMode.VALID_2_IN_LAST_4: 3>¶

VALID_2_OUT_OF_8 = <PersistencyMode.VALID_2_OUT_OF_8: 4>¶

VALID_8_OUT_OF_8 = <PersistencyMode.VALID_8_OUT_OF_8: 1>¶

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.TemporalFilter) → None ¶

property alpha¶: The Alpha factor in an exponential moving average with Alpha=1 - no filter. Alpha = 0 - infinite filter. Determines the extent of the temporal history that should be averaged.

property delta¶: Step-size boundary. Establishes the threshold used to preserve surfaces (edges). If the disparity value between neighboring pixels exceed the disparity threshold set by this delta parameter, then filtering will be temporarily disabled. Default value 0 means auto: 3 disparity integer levels. In case of subpixel mode it’s 3*number of subpixel levels.

property enable¶: Whether to enable or disable the filter.

property persistencyMode¶: Persistency mode. If the current disparity/depth value is invalid, it will be replaced by an older value, based on persistency mode.

class ThresholdFilter¶

Bases: pybind11_builtins.pybind11_object

Threshold filtering. Filters out distances outside of a given interval.

Methods:

__init__(self)

Attributes:

`maxRange`	Minimum range in millimeters.
`minRange`	Minimum range in millimeters.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.ThresholdFilter) → None ¶

property maxRange¶: Minimum range in millimeters. Depth values over this value are invalidated.

property minRange¶: Minimum range in millimeters. Depth values under this value are invalidated.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing) → None ¶

property bilateralSigmaValue¶: Sigma value for bilateral filter. 0 means disabled. A larger value of the parameter means that farther colors within the pixel neighborhood will be mixed together.

property decimationFilter¶: Decimation filter. Reduces disparity/depth map x/y complexity, reducing runtime complexity for other filters.

property median¶: Set kernel size for disparity/depth median filtering, or disable

property spatialFilter¶

This type of filter will smooth the depth noise while attempting to preserve edges.

Type: Edge-preserving filtering

property speckleFilter¶: Speckle filtering. Removes speckle noise.

property temporalFilter¶: Temporal filtering with optional persistence. More details about the filter can be found here:

property thresholdFilter¶: Threshold filtering. Filters out distances outside of a given interval.

__init__(self: depthai.RawStereoDepthConfig) → None ¶

property algorithmControl¶: Controls the flow of stereo algorithm - left-right check, subpixel etc.

property censusTransform¶: Census transform settings.

property costAggregation¶: Cost aggregation settings.

property costMatching¶: Cost matching settings.

property postProcessing¶: Controls the postprocessing of disparity and/or depth map.

class depthai.RawSystemInformation¶

Bases: depthai.RawBuffer

System information of device

Memory usage, cpu usage and chip temperature

Methods:

__init__(self)

Attributes:

`chipTemperature`
`cmxMemoryUsage`
`ddrMemoryUsage`
`leonCssCpuUsage`
`leonCssMemoryUsage`
`leonMssCpuUsage`
`leonMssMemoryUsage`

__init__(self: depthai.RawSystemInformation) → None ¶

property chipTemperature¶

property cmxMemoryUsage¶

property ddrMemoryUsage¶

property leonCssCpuUsage¶

property leonCssMemoryUsage¶

property leonMssCpuUsage¶

property leonMssMemoryUsage¶

class depthai.RawTrackedFeatures¶

Bases: depthai.RawBuffer

RawTrackedFeatures structure

Methods:

__init__(self)

Attributes:

trackedFeatures

__init__(self: depthai.RawTrackedFeatures) → None ¶

property trackedFeatures¶

class depthai.RawTracklets¶

Bases: depthai.RawBuffer

RawTracklets structure

Methods:

__init__(self)

Attributes:

tracklets

__init__(self: depthai.RawTracklets) → None ¶

property tracklets¶

class depthai.Rect¶

Bases: pybind11_builtins.pybind11_object

Rect structure

x,y coordinates together with width and height that define a rectangle. Can be either normalized [0,1] or absolute representation.

Methods:

`__init__`(args, *kwargs)	Overloaded function.
`area`(self)	Area (width*height) of the rectangle
`bottomRight`(self)	The bottom-right corner
`contains`(self, arg0)	Checks whether the rectangle contains the point.
`denormalize`(self, width, height)	Denormalize rectangle.
`empty`(self)	True if rectangle is empty.
`isNormalized`(self)	Whether rectangle is normalized (coordinates in [0,1] range) or not.
`normalize`(self, width, height)	Normalize rectangle.
`size`(self)	Size (width, height) of the rectangle
`topLeft`(self)	The top-left corner.

Attributes:

`height`
`width`
`x`
`y`

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: depthai.Rect) -> None
__init__(self: depthai.Rect, arg0: float, arg1: float, arg2: float, arg3: float) -> None
__init__(self: depthai.Rect, arg0: depthai.Point2f, arg1: depthai.Point2f) -> None
__init__(self: depthai.Rect, arg0: depthai.Point2f, arg1: depthai.Size2f) -> None

area(self: depthai.Rect) → float ¶: Area (width*height) of the rectangle

bottomRight(self: depthai.Rect) → depthai.Point2f ¶: The bottom-right corner

contains(self: depthai.Rect, arg0: depthai.Point2f) → bool ¶: Checks whether the rectangle contains the point.

denormalize(self: depthai.Rect, width: int, height: int) → depthai.Rect ¶

Denormalize rectangle.

Parameter width:: Destination frame width.
Parameter height:: Destination frame height.

empty(self: depthai.Rect) → bool ¶: True if rectangle is empty.

property height¶

isNormalized(self: depthai.Rect) → bool ¶: Whether rectangle is normalized (coordinates in [0,1] range) or not.

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

Normalize rectangle.

Parameter width:: Source frame width.
Parameter height:: Source frame height.

size(self: depthai.Rect) → depthai.Size2f ¶: Size (width, height) of the rectangle

topLeft(self: depthai.Rect) → depthai.Point2f ¶: The top-left corner.

property width¶

property x¶

property y¶

class depthai.RotatedRect¶

Bases: pybind11_builtins.pybind11_object

RotatedRect structure

Methods:

__init__(self)

Attributes:

`angle`
`center`
`size`

__init__(self: depthai.RotatedRect) → None ¶

property angle¶

property center¶

property size¶

class depthai.SPIInProperties¶

Bases: pybind11_builtins.pybind11_object

Properties for SPIIn node

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`busId`
`maxDataSize`
`numFrames`
`streamName`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property busId¶

property maxDataSize¶

property numFrames¶

property streamName¶

class depthai.SPIOutProperties¶

Bases: pybind11_builtins.pybind11_object

Specify properties for SPIOut node

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`busId`
`streamName`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property busId¶

property streamName¶

class depthai.ScriptProperties¶

Bases: pybind11_builtins.pybind11_object

Specify ScriptProperties options such as script uri, script name, …

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`processor`	Which processor should execute the script
`scriptName`	Name of script
`scriptUri`	Uri which points to actual script

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property processor¶: Which processor should execute the script

property scriptName¶: Name of script

property scriptUri¶: Uri which points to actual script

class depthai.Size2f¶

Bases: pybind11_builtins.pybind11_object

Size2f structure

width, height values define the size of the shape/frame

Methods:

__init__(*args, **kwargs)

Overloaded function.

Attributes:

`height`
`width`

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: depthai.Size2f) -> None
__init__(self: depthai.Size2f, arg0: float, arg1: float) -> None

property height¶

property width¶

class depthai.SpatialDetectionNetworkProperties¶

Bases: depthai.DetectionNetworkProperties

Specify properties for SpatialDetectionNetwork

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`depthThresholds`
`detectedBBScaleFactor`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property depthThresholds¶

property detectedBBScaleFactor¶

class depthai.SpatialImgDetection¶

Bases: depthai.ImgDetection

SpatialImgDetection structure

Contains image detection results together with spatial location data.

Methods:

__init__(self)

Attributes:

spatialCoordinates

__init__(self: depthai.SpatialImgDetection) → None ¶

property spatialCoordinates¶

class depthai.SpatialImgDetections¶

Bases: depthai.Buffer

SpatialImgDetections message. Carries detection results together with spatial location data

Methods:

__init__(self)

Attributes:

detections

__init__(self: depthai.SpatialImgDetections) → None ¶

property detections¶

class depthai.SpatialLocationCalculatorAlgorithm¶

Bases: pybind11_builtins.pybind11_object

Members:

AVERAGE

MIN

MAX

Attributes:

`AVERAGE`
`MAX`
`MIN`
`name`
`value`

Methods:

__init__(self, value)

AVERAGE = <SpatialLocationCalculatorAlgorithm.AVERAGE: 0>¶

MAX = <SpatialLocationCalculatorAlgorithm.MAX: 2>¶

MIN = <SpatialLocationCalculatorAlgorithm.MIN: 1>¶

__init__(self: depthai.SpatialLocationCalculatorAlgorithm, value: int) → None ¶

property name¶

property value¶

class depthai.SpatialLocationCalculatorConfig¶

Bases: depthai.Buffer

SpatialLocationCalculatorConfig message. Carries ROI (region of interest) and threshold for depth calculation

Methods:

`__init__`(self)
`addROI`(self, ROI)	Add a new ROI to configuration data.
`getConfigData`(self)	Retrieve configuration data for SpatialLocationCalculator
`setROIs`(self, ROIs)	Set a vector of ROIs as configuration data.

__init__(self: depthai.SpatialLocationCalculatorConfig) → None ¶

addROI(self: depthai.SpatialLocationCalculatorConfig, ROI: depthai.SpatialLocationCalculatorConfigData) → None ¶

Add a new ROI to configuration data.

Parameter roi:: Configuration parameters for ROI (region of interest)

getConfigData(self: depthai.SpatialLocationCalculatorConfig) → List[depthai.SpatialLocationCalculatorConfigData]¶

Retrieve configuration data for SpatialLocationCalculator

Returns: Vector of configuration parameters for ROIs (region of interests)

setROIs(self: depthai.SpatialLocationCalculatorConfig, ROIs: List[depthai.SpatialLocationCalculatorConfigData]) → None ¶

Set a vector of ROIs as configuration data.

Parameter ROIs:: Vector of configuration parameters for ROIs (region of interests)

class depthai.SpatialLocationCalculatorConfigData¶

Bases: pybind11_builtins.pybind11_object

SpatialLocation configuration data structure

Methods:

__init__(self)

Attributes:

`calculationAlgorithm`	Calculation method used to obtain spatial locations Average - the average of ROI is used for calculation.
`depthThresholds`	Upper and lower thresholds for depth values to take into consideration.
`roi`	Region of interest for spatial location calculation.

__init__(self: depthai.SpatialLocationCalculatorConfigData) → None ¶

property calculationAlgorithm¶: Calculation method used to obtain spatial locations Average - the average of ROI is used for calculation. Min: the minimum value inside ROI is used for calculation. Max: the maximum value inside ROI is used for calculation. Default: average.

property depthThresholds¶: Upper and lower thresholds for depth values to take into consideration.

property roi¶: Region of interest for spatial location calculation.

class depthai.SpatialLocationCalculatorConfigThresholds¶

Bases: pybind11_builtins.pybind11_object

SpatialLocation configuration thresholds structure

Contains configuration data for lower and upper threshold in millimeters for ROI. Values outside of threshold range will be ignored when calculating spatial coordinates from depth map.

Methods:

__init__(self)

Attributes:

`lowerThreshold`
`upperThreshold`

__init__(self: depthai.SpatialLocationCalculatorConfigThresholds) → None ¶

property lowerThreshold¶

property upperThreshold¶

class depthai.SpatialLocationCalculatorData¶

Bases: depthai.Buffer

SpatialLocationCalculatorData message. Carries spatial information (X,Y,Z) and their configuration parameters

Methods:

`__init__`(self)
`getSpatialLocations`(self)	Retrieve configuration data for SpatialLocationCalculatorData.

Attributes:

spatialLocations

__init__(self: depthai.SpatialLocationCalculatorData) → None ¶

getSpatialLocations(self: depthai.SpatialLocationCalculatorData) → List[depthai.SpatialLocations]¶

Retrieve configuration data for SpatialLocationCalculatorData.

Returns: Vector of spatial location data, carrying spatial information (X,Y,Z)

property spatialLocations¶

class depthai.SpatialLocationCalculatorProperties¶

Bases: pybind11_builtins.pybind11_object

Specify properties for SpatialLocationCalculator

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

roiConfig

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property roiConfig¶

class depthai.SpatialLocations¶

Bases: pybind11_builtins.pybind11_object

SpatialLocations structure

Contains configuration data, average depth for the calculated ROI on depth map. Together with spatial coordinates: x,y,z relative to the center of depth map. Units are in millimeters.

Methods:

__init__(self)

Attributes:

`config`	Configuration for selected ROI
`depthAverage`	Average of depth values inside the ROI between the specified thresholds in config
`depthAveragePixelCount`	Number of depth values used to calculate depthAverage based on config
`depthMax`	Maximum of depth values inside the ROI between the specified thresholds in config
`depthMin`	Minimum of depth values inside the ROI between the specified thresholds in config
`spatialCoordinates`	Spatial coordinates - x,y,z; x,y are the relative positions of the center of ROI to the center of depth map

__init__(self: depthai.SpatialLocations) → None ¶

property config¶: Configuration for selected ROI

property depthAverage¶: Average of depth values inside the ROI between the specified thresholds in config

property depthAveragePixelCount¶: Number of depth values used to calculate depthAverage based on config

property depthMax¶: Maximum of depth values inside the ROI between the specified thresholds in config

property depthMin¶: Minimum of depth values inside the ROI between the specified thresholds in config

property spatialCoordinates¶: Spatial coordinates - x,y,z; x,y are the relative positions of the center of ROI to the center of depth map

class depthai.StereoDepthConfig¶

Bases: depthai.Buffer

StereoDepthConfig message.

Classes:

`AlgorithmControl`
`CensusTransform`	The basic cost function used by the Stereo Accelerator for matching the left and right images is the Census Transform.
`CostAggregation`	Cost Aggregation is based on Semi Global Block Matching (SGBM).
`CostMatching`	The matching cost is way of measuring the similarity of image locations in stereo correspondence algorithm.
`MedianFilter`	Median filter config for disparity post-processing
`PostProcessing`	Post-processing filters, all the filters are applied in disparity domain.

Methods:

`__init__`(self)
`get`(self)	Retrieve configuration data for StereoDepth.
`getBilateralFilterSigma`(self)	Get sigma value for 5x5 bilateral filter
`getConfidenceThreshold`(self)	Get confidence threshold for disparity calculation
`getLeftRightCheckThreshold`(self)	Get threshold for left-right check combine
`getMaxDisparity`(self)	Useful for normalization of the disparity map.
`getMedianFilter`(self)	Get median filter setting
`set`(self, config)	Set explicit configuration.
`setBilateralFilterSigma`(self, sigma)	A larger value of the parameter means that farther colors within the pixel neighborhood will be mixed together, resulting in larger areas of semi-equal color.
`setConfidenceThreshold`(self, confThr)	Confidence threshold for disparity calculation
`setDepthAlign`(self, align)	Parameter `align`:
`setExtendedDisparity`(self, enable)	Disparity range increased from 95 to 190, combined from full resolution and downscaled images.
`setLeftRightCheck`(self, enable)	Computes and combines disparities in both L-R and R-L directions, and combine them.
`setLeftRightCheckThreshold`(self, sigma)	Parameter `threshold`:
`setMedianFilter`(self, median)	Parameter `median`:
`setSubpixel`(self, enable)	Computes disparity with sub-pixel interpolation (5 fractional bits).

class AlgorithmControl¶

Bases: pybind11_builtins.pybind11_object

Classes:

DepthAlign

Align the disparity/depth to the perspective of a rectified output, or center it

Methods:

__init__(self)

Attributes:

`depthAlign`	Set the disparity/depth alignment to the perspective of a rectified output, or center it
`enableExtended`	Disparity range increased from 95 to 190, combined from full resolution and downscaled images.
`enableLeftRightCheck`	Computes and combines disparities in both L-R and R-L directions, and combine them.
`enableSubpixel`	Computes disparity with sub-pixel interpolation (5 fractional bits), suitable for long range
`leftRightCheckThreshold`	Left-right check threshold for left-right, right-left disparity map combine, 0..128 Used only when left-right check mode is enabled.
`subpixelFractionalBits`	Number of fractional bits for subpixel mode

class DepthAlign¶

Bases: pybind11_builtins.pybind11_object

Align the disparity/depth to the perspective of a rectified output, or center it

Members:

RECTIFIED_RIGHT :

RECTIFIED_LEFT :

CENTER :

Attributes:

`CENTER`
`RECTIFIED_LEFT`
`RECTIFIED_RIGHT`
`name`
`value`

Methods:

__init__(self, value)

CENTER = <DepthAlign.CENTER: 2>¶

RECTIFIED_LEFT = <DepthAlign.RECTIFIED_LEFT: 1>¶

RECTIFIED_RIGHT = <DepthAlign.RECTIFIED_RIGHT: 0>¶

__init__(self: depthai.RawStereoDepthConfig.AlgorithmControl.DepthAlign, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.RawStereoDepthConfig.AlgorithmControl) → None ¶

property depthAlign¶: Set the disparity/depth alignment to the perspective of a rectified output, or center it

property enableExtended¶: Disparity range increased from 95 to 190, combined from full resolution and downscaled images. Suitable for short range objects

property enableLeftRightCheck¶: Computes and combines disparities in both L-R and R-L directions, and combine them. For better occlusion handling

property enableSubpixel¶: Computes disparity with sub-pixel interpolation (5 fractional bits), suitable for long range

property leftRightCheckThreshold¶: Left-right check threshold for left-right, right-left disparity map combine, 0..128 Used only when left-right check mode is enabled. Defines the maximum difference between the confidence of pixels from left-right and right-left confidence maps

property subpixelFractionalBits¶

Number of fractional bits for subpixel mode

Valid values: 3,4,5

Defines the number of fractional disparities: 2^x

Median filter postprocessing is supported only for 3 fractional bits

class CensusTransform¶

Bases: pybind11_builtins.pybind11_object

The basic cost function used by the Stereo Accelerator for matching the left and right images is the Census Transform. It works on a block of pixels and computes a bit vector which represents the structure of the image in that block. There are two types of Census Transform based on how the middle pixel is used: Classic Approach and Modified Census. The comparisons that are made between pixels can be or not thresholded. In some cases a mask can be applied to filter out only specific bits from the entire bit stream. All these approaches are: Classic Approach: Uses middle pixel to compare against all its neighbors over a defined window. Each comparison results in a new bit, that is 0 if central pixel is smaller, or 1 if is it bigger than its neighbor. Modified Census Transform: same as classic Census Transform, but instead of comparing central pixel with its neighbors, the window mean will be compared with each pixel over the window. Thresholding Census Transform: same as classic Census Transform, but it is not enough that a neighbor pixel to be bigger than the central pixel, it must be significant bigger (based on a threshold). Census Transform with Mask: same as classic Census Transform, but in this case not all of the pixel from the support window are part of the binary descriptor. We use a ma sk “M” to define which pixels are part of the binary descriptor (1), and which pixels should be skipped (0).

Classes:

KernelSize

Census transform kernel size possible values.

Methods:

__init__(self)

Attributes:

`enableMeanMode`	If enabled, each pixel in the window is compared with the mean window value instead of the central pixel.
`kernelMask`	Census transform mask, default - auto, mask is set based on resolution and kernel size.
`kernelSize`	Census transform kernel size.
`threshold`	Census transform comparison threshold value.

class KernelSize¶

Bases: pybind11_builtins.pybind11_object

Census transform kernel size possible values.

Members:

AUTO :

KERNEL_5x5 :

KERNEL_7x7 :

KERNEL_7x9 :

Attributes:

`AUTO`
`KERNEL_5x5`
`KERNEL_7x7`
`KERNEL_7x9`
`name`
`value`

Methods:

__init__(self, value)

AUTO = <KernelSize.AUTO: -1>¶

KERNEL_5x5 = <KernelSize.KERNEL_5x5: 0>¶

KERNEL_7x7 = <KernelSize.KERNEL_7x7: 1>¶

KERNEL_7x9 = <KernelSize.KERNEL_7x9: 2>¶

__init__(self: depthai.RawStereoDepthConfig.CensusTransform.KernelSize, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.RawStereoDepthConfig.CensusTransform) → None ¶

property enableMeanMode¶: If enabled, each pixel in the window is compared with the mean window value instead of the central pixel.

property kernelMask¶: Census transform mask, default - auto, mask is set based on resolution and kernel size. Disabled for 400p input resolution. Enabled for 720p. 0XA82415 for 5x5 census transform kernel. 0XAA02A8154055 for 7x7 census transform kernel. 0X2AA00AA805540155 for 7x9 census transform kernel. Empirical values.

property kernelSize¶: Census transform kernel size.

property threshold¶: Census transform comparison threshold value.

class CostAggregation¶

Bases: pybind11_builtins.pybind11_object

Cost Aggregation is based on Semi Global Block Matching (SGBM). This algorithm uses a semi global technique to aggregate the cost map. Ultimately the idea is to build inertia into the stereo algorithm. If a pixel has very little texture information, then odds are the correct disparity for this pixel is close to that of the previous pixel considered. This means that we get improved results in areas with low texture.

Methods:

__init__(self)

Attributes:

`divisionFactor`	Cost calculation linear equation parameters.
`horizontalPenaltyCostP1`	Horizontal P1 penalty cost parameter.
`horizontalPenaltyCostP2`	Horizontal P2 penalty cost parameter.
`verticalPenaltyCostP1`	Vertical P1 penalty cost parameter.
`verticalPenaltyCostP2`	Vertical P2 penalty cost parameter.

__init__(self: depthai.RawStereoDepthConfig.CostAggregation) → None ¶

property divisionFactor¶: Cost calculation linear equation parameters.

property horizontalPenaltyCostP1¶: Horizontal P1 penalty cost parameter.

property horizontalPenaltyCostP2¶: Horizontal P2 penalty cost parameter.

property verticalPenaltyCostP1¶: Vertical P1 penalty cost parameter.

property verticalPenaltyCostP2¶: Vertical P2 penalty cost parameter.

class CostMatching¶

Bases: pybind11_builtins.pybind11_object

The matching cost is way of measuring the similarity of image locations in stereo correspondence algorithm. Based on the configuration parameters and based on the descriptor type, a linear equation is applied to computing the cost for each candidate disparity at each pixel.

Classes:

`DisparityWidth`	Disparity search range: 64 or 96 pixels are supported by the HW.
`LinearEquationParameters`	The linear equation applied for computing the cost is: COMB_COST = αAD + β(CTC<<3).

Methods:

__init__(self)

Attributes:

`confidenceThreshold`	Disparities with confidence value under this threshold are accepted.
`disparityWidth`	Disparity search range, default 96 pixels.
`enableCompanding`	Disparity companding using sparse matching.
`invalidDisparityValue`	Used only for debug purposes, SW postprocessing handled only invalid value of 0 properly.
`linearEquationParameters`	Cost calculation linear equation parameters.

class DisparityWidth¶

Bases: pybind11_builtins.pybind11_object

Disparity search range: 64 or 96 pixels are supported by the HW.

Members:

DISPARITY_64 :

DISPARITY_96 :

Attributes:

`DISPARITY_64`
`DISPARITY_96`
`name`
`value`

Methods:

__init__(self, value)

DISPARITY_64 = <DisparityWidth.DISPARITY_64: 0>¶

DISPARITY_96 = <DisparityWidth.DISPARITY_96: 1>¶

__init__(self: depthai.RawStereoDepthConfig.CostMatching.DisparityWidth, value: int) → None ¶

property name¶

property value¶

class LinearEquationParameters¶

Bases: pybind11_builtins.pybind11_object

The linear equation applied for computing the cost is: COMB_COST = α*AD + β*(CTC<<3). CLAMP(COMB_COST >> 5, threshold). Where AD is the Absolute Difference between 2 pixels values. CTC is the Census Transform Cost between 2 pixels, based on Hamming distance (xor). The α and β parameters are subject to fine tuning by the user.

Methods:

__init__(self)

Attributes:

`alpha`
`beta`
`threshold`

__init__(self: depthai.RawStereoDepthConfig.CostMatching.LinearEquationParameters) → None ¶

property alpha¶

property beta¶

property threshold¶

__init__(self: depthai.RawStereoDepthConfig.CostMatching) → None ¶

property confidenceThreshold¶: Disparities with confidence value under this threshold are accepted. Higher confidence threshold means disparities with less confidence are accepted too.

property disparityWidth¶: Disparity search range, default 96 pixels.

property enableCompanding¶: Disparity companding using sparse matching. Matching pixel by pixel for N disparities. Matching every 2nd pixel for M disparitites. Matching every 4th pixel for T disparities. In case of 96 disparities: N=48, M=32, T=16. This way the search range is extended to 176 disparities, by sparse matching. Note: when enabling this flag only depth map will be affected, disparity map is not.

property invalidDisparityValue¶: Used only for debug purposes, SW postprocessing handled only invalid value of 0 properly.

property linearEquationParameters¶: Cost calculation linear equation parameters.

class MedianFilter¶

Bases: pybind11_builtins.pybind11_object

Median filter config for disparity post-processing

Members:

MEDIAN_OFF

KERNEL_3x3

KERNEL_5x5

KERNEL_7x7

Attributes:

`KERNEL_3x3`
`KERNEL_5x5`
`KERNEL_7x7`
`MEDIAN_OFF`
`name`
`value`

Methods:

__init__(self, value)

KERNEL_3x3 = <MedianFilter.KERNEL_3x3: 3>¶

KERNEL_5x5 = <MedianFilter.KERNEL_5x5: 5>¶

KERNEL_7x7 = <MedianFilter.KERNEL_7x7: 7>¶

MEDIAN_OFF = <MedianFilter.MEDIAN_OFF: 0>¶

__init__(self: depthai.MedianFilter, value: int) → None ¶

property name¶

property value¶

class PostProcessing¶

Bases: pybind11_builtins.pybind11_object

Post-processing filters, all the filters are applied in disparity domain.

Classes:

`DecimationFilter`	Decimation filter.
`SpatialFilter`	1D edge-preserving spatial filter using high-order domain transform.
`SpeckleFilter`	Speckle filtering.
`TemporalFilter`	Temporal filtering with optional persistence.
`ThresholdFilter`	Threshold filtering.

Methods:

__init__(self)

Attributes:

`bilateralSigmaValue`	Sigma value for bilateral filter.
`decimationFilter`	Decimation filter.
`median`	Set kernel size for disparity/depth median filtering, or disable
`spatialFilter`	This type of filter will smooth the depth noise while attempting to preserve edges.
`speckleFilter`	Speckle filtering.
`temporalFilter`	Temporal filtering with optional persistence.
`thresholdFilter`	Threshold filtering.

class DecimationFilter¶

Bases: pybind11_builtins.pybind11_object

Decimation filter. Reduces the depth scene complexity. The filter runs on kernel sizes [2x2] to [8x8] pixels.

Classes:

DecimationMode

Decimation algorithm type.

Methods:

__init__(self)

Attributes:

`decimationFactor`	Decimation factor.
`decimationMode`	Decimation algorithm type.

class DecimationMode¶

Bases: pybind11_builtins.pybind11_object

Decimation algorithm type.

Members:

PIXEL_SKIPPING :

NON_ZERO_MEDIAN :

NON_ZERO_MEAN :

Attributes:

`NON_ZERO_MEAN`
`NON_ZERO_MEDIAN`
`PIXEL_SKIPPING`
`name`
`value`

Methods:

__init__(self, value)

NON_ZERO_MEAN = <DecimationMode.NON_ZERO_MEAN: 2>¶

NON_ZERO_MEDIAN = <DecimationMode.NON_ZERO_MEDIAN: 1>¶

PIXEL_SKIPPING = <DecimationMode.PIXEL_SKIPPING: 0>¶

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.DecimationFilter) → None ¶

property decimationFactor¶: Decimation factor. Valid values are 1,2,3,4. Disparity/depth map x/y resolution will be decimated with this value.

property decimationMode¶: Decimation algorithm type.

class SpatialFilter¶

Bases: pybind11_builtins.pybind11_object

1D edge-preserving spatial filter using high-order domain transform.

Methods:

__init__(self)

Attributes:

`alpha`	The Alpha factor in an exponential moving average with Alpha=1 - no filter.
`delta`	Step-size boundary.
`enable`	Whether to enable or disable the filter.
`holeFillingRadius`	An in-place heuristic symmetric hole-filling mode applied horizontally during the filter passes.
`numIterations`	Nubmer of iterations over the image in both horizontal and vertical direction.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.SpatialFilter) → None ¶

property alpha¶: The Alpha factor in an exponential moving average with Alpha=1 - no filter. Alpha = 0 - infinite filter. Determines the amount of smoothing.

property delta¶: Step-size boundary. Establishes the threshold used to preserve “edges”. If the disparity value between neighboring pixels exceed the disparity threshold set by this delta parameter, then filtering will be temporarily disabled. Default value 0 means auto: 3 disparity integer levels. In case of subpixel mode it’s 3*number of subpixel levels.

property enable¶: Whether to enable or disable the filter.

property holeFillingRadius¶: An in-place heuristic symmetric hole-filling mode applied horizontally during the filter passes. Intended to rectify minor artefacts with minimal performance impact. Search radius for hole filling.

property numIterations¶: Nubmer of iterations over the image in both horizontal and vertical direction.

class SpeckleFilter¶

Bases: pybind11_builtins.pybind11_object

Speckle filtering. Removes speckle noise.

Methods:

__init__(self)

Attributes:

`enable`	Whether to enable or disable the filter.
`speckleRange`	Speckle search range.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.SpeckleFilter) → None ¶

property enable¶: Whether to enable or disable the filter.

property speckleRange¶: Speckle search range.

class TemporalFilter¶

Bases: pybind11_builtins.pybind11_object

Temporal filtering with optional persistence. More details about the filter can be found here:

Classes:

PersistencyMode

Persistency algorithm type.

Methods:

__init__(self)

Attributes:

`alpha`	The Alpha factor in an exponential moving average with Alpha=1 - no filter.
`delta`	Step-size boundary.
`enable`	Whether to enable or disable the filter.
`persistencyMode`	Persistency mode.

class PersistencyMode¶

Bases: pybind11_builtins.pybind11_object

Persistency algorithm type.

Members:

PERSISTENCY_OFF :

VALID_8_OUT_OF_8 :

VALID_2_IN_LAST_3 :

VALID_2_IN_LAST_4 :

VALID_2_OUT_OF_8 :

VALID_1_IN_LAST_2 :

VALID_1_IN_LAST_5 :

VALID_1_IN_LAST_8 :

PERSISTENCY_INDEFINITELY :

Attributes:

`PERSISTENCY_INDEFINITELY`
`PERSISTENCY_OFF`
`VALID_1_IN_LAST_2`
`VALID_1_IN_LAST_5`
`VALID_1_IN_LAST_8`
`VALID_2_IN_LAST_3`
`VALID_2_IN_LAST_4`
`VALID_2_OUT_OF_8`
`VALID_8_OUT_OF_8`
`name`
`value`

Methods:

__init__(self, value)

PERSISTENCY_INDEFINITELY = <PersistencyMode.PERSISTENCY_INDEFINITELY: 8>¶

PERSISTENCY_OFF = <PersistencyMode.PERSISTENCY_OFF: 0>¶

VALID_1_IN_LAST_2 = <PersistencyMode.VALID_1_IN_LAST_2: 5>¶

VALID_1_IN_LAST_5 = <PersistencyMode.VALID_1_IN_LAST_5: 6>¶

VALID_1_IN_LAST_8 = <PersistencyMode.VALID_1_IN_LAST_8: 7>¶

VALID_2_IN_LAST_3 = <PersistencyMode.VALID_2_IN_LAST_3: 2>¶

VALID_2_IN_LAST_4 = <PersistencyMode.VALID_2_IN_LAST_4: 3>¶

VALID_2_OUT_OF_8 = <PersistencyMode.VALID_2_OUT_OF_8: 4>¶

VALID_8_OUT_OF_8 = <PersistencyMode.VALID_8_OUT_OF_8: 1>¶

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.TemporalFilter) → None ¶

property alpha¶: The Alpha factor in an exponential moving average with Alpha=1 - no filter. Alpha = 0 - infinite filter. Determines the extent of the temporal history that should be averaged.

property delta¶: Step-size boundary. Establishes the threshold used to preserve surfaces (edges). If the disparity value between neighboring pixels exceed the disparity threshold set by this delta parameter, then filtering will be temporarily disabled. Default value 0 means auto: 3 disparity integer levels. In case of subpixel mode it’s 3*number of subpixel levels.

property enable¶: Whether to enable or disable the filter.

property persistencyMode¶: Persistency mode. If the current disparity/depth value is invalid, it will be replaced by an older value, based on persistency mode.

class ThresholdFilter¶

Bases: pybind11_builtins.pybind11_object

Threshold filtering. Filters out distances outside of a given interval.

Methods:

__init__(self)

Attributes:

`maxRange`	Minimum range in millimeters.
`minRange`	Minimum range in millimeters.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing.ThresholdFilter) → None ¶

property maxRange¶: Minimum range in millimeters. Depth values over this value are invalidated.

property minRange¶: Minimum range in millimeters. Depth values under this value are invalidated.

__init__(self: depthai.RawStereoDepthConfig.PostProcessing) → None ¶

property bilateralSigmaValue¶: Sigma value for bilateral filter. 0 means disabled. A larger value of the parameter means that farther colors within the pixel neighborhood will be mixed together.

property decimationFilter¶: Decimation filter. Reduces disparity/depth map x/y complexity, reducing runtime complexity for other filters.

property median¶: Set kernel size for disparity/depth median filtering, or disable

property spatialFilter¶

This type of filter will smooth the depth noise while attempting to preserve edges.

Type: Edge-preserving filtering

property speckleFilter¶: Speckle filtering. Removes speckle noise.

property temporalFilter¶: Temporal filtering with optional persistence. More details about the filter can be found here:

property thresholdFilter¶: Threshold filtering. Filters out distances outside of a given interval.

__init__(self: depthai.StereoDepthConfig) → None ¶

get(self: depthai.StereoDepthConfig) → depthai.RawStereoDepthConfig ¶

Retrieve configuration data for StereoDepth.

Returns: config for stereo depth algorithm

getBilateralFilterSigma(self: depthai.StereoDepthConfig) → int ¶: Get sigma value for 5x5 bilateral filter

getConfidenceThreshold(self: depthai.StereoDepthConfig) → int ¶: Get confidence threshold for disparity calculation

getLeftRightCheckThreshold(self: depthai.StereoDepthConfig) → int ¶: Get threshold for left-right check combine

getMaxDisparity(self: depthai.StereoDepthConfig) → float ¶

Useful for normalization of the disparity map.

Returns: Maximum disparity value that the node can return

getMedianFilter(self: depthai.StereoDepthConfig) → depthai.MedianFilter ¶: Get median filter setting

set(self: depthai.StereoDepthConfig, config: depthai.RawStereoDepthConfig) → None ¶

Set explicit configuration.

Parameter config:: Explicit configuration

setBilateralFilterSigma(self: depthai.StereoDepthConfig, sigma: int) → None ¶

A larger value of the parameter means that farther colors within the pixel neighborhood will be mixed together, resulting in larger areas of semi-equal color.

Parameter sigma:: Set sigma value for 5x5 bilateral filter. 0..65535

setConfidenceThreshold(self: depthai.StereoDepthConfig, confThr: int) → None ¶

Confidence threshold for disparity calculation

Parameter confThr:: Confidence threshold value 0..255

setDepthAlign(self: depthai.StereoDepthConfig, align: depthai.RawStereoDepthConfig.AlgorithmControl.DepthAlign) → None ¶

Parameter align:: Set the disparity/depth alignment: centered (between the ‘left’ and ‘right’ inputs), or from the perspective of a rectified output stream

setExtendedDisparity(self: depthai.StereoDepthConfig, enable: bool) → None ¶: Disparity range increased from 95 to 190, combined from full resolution and downscaled images. Suitable for short range objects

setLeftRightCheck(self: depthai.StereoDepthConfig, enable: bool) → None ¶

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

For better occlusion handling, discarding invalid disparity values

setLeftRightCheckThreshold(self: depthai.StereoDepthConfig, sigma: int) → None ¶

Parameter threshold:: Set threshold for left-right, right-left disparity map combine, 0..255

setMedianFilter(self: depthai.StereoDepthConfig, median: depthai.MedianFilter) → None ¶

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

setSubpixel(self: depthai.StereoDepthConfig, enable: bool) → None ¶

Computes disparity with sub-pixel interpolation (5 fractional bits).

Suitable for long range. Currently incompatible with extended disparity

class depthai.StereoDepthProperties¶

Bases: pybind11_builtins.pybind11_object

Specify properties for StereoDepth

Classes:

`DepthAlign`	Align the disparity/depth to the perspective of a rectified output, or center it
`MedianFilter`	Median filter config for disparity post-processing
`RectificationMesh`

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`depthAlignCamera`	Which camera to align disparity/depth to.
`enableRectification`
`enableRuntimeStereoModeSwitch`	Whether to enable switching stereo modes at runtime or not.
`height`	Input frame height.
`initialConfig`	Initial stereo config
`mesh`	Specify a direct warp mesh to be used for rectification, instead of intrinsics + extrinsic matrices
`numFramesPool`	Num frames in output pool
`numPostProcessingMemorySlices`	Number of memory slices reserved for stereo depth post processing.
`numPostProcessingShaves`	Number of shaves reserved for stereo depth post processing.
`outHeight`	Output disparity/depth height.
`outKeepAspectRatio`	Whether to keep aspect ratio of the input (rectified) or not
`outWidth`	Output disparity/depth width.
`rectifyEdgeFillColor`	Fill color for missing data at frame edges - grayscale 0..255, or -1 to replicate pixels
`width`	Input frame width.

class DepthAlign¶

Bases: pybind11_builtins.pybind11_object

Align the disparity/depth to the perspective of a rectified output, or center it

Members:

RECTIFIED_RIGHT :

RECTIFIED_LEFT :

CENTER :

Attributes:

`CENTER`
`RECTIFIED_LEFT`
`RECTIFIED_RIGHT`
`name`
`value`

Methods:

__init__(self, value)

CENTER = <DepthAlign.CENTER: 2>¶

RECTIFIED_LEFT = <DepthAlign.RECTIFIED_LEFT: 1>¶

RECTIFIED_RIGHT = <DepthAlign.RECTIFIED_RIGHT: 0>¶

__init__(self: depthai.RawStereoDepthConfig.AlgorithmControl.DepthAlign, value: int) → None ¶

property name¶

property value¶

class MedianFilter¶

Bases: pybind11_builtins.pybind11_object

Median filter config for disparity post-processing

Members:

MEDIAN_OFF

KERNEL_3x3

KERNEL_5x5

KERNEL_7x7

Attributes:

`KERNEL_3x3`
`KERNEL_5x5`
`KERNEL_7x7`
`MEDIAN_OFF`
`name`
`value`

Methods:

__init__(self, value)

KERNEL_3x3 = <MedianFilter.KERNEL_3x3: 3>¶

KERNEL_5x5 = <MedianFilter.KERNEL_5x5: 5>¶

KERNEL_7x7 = <MedianFilter.KERNEL_7x7: 7>¶

MEDIAN_OFF = <MedianFilter.MEDIAN_OFF: 0>¶

__init__(self: depthai.MedianFilter, value: int) → None ¶

property name¶

property value¶

class RectificationMesh¶

Bases: pybind11_builtins.pybind11_object

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`meshLeftUri`	Uri which points to the mesh array for ‘left’ input rectification
`meshRightUri`	Uri which points to the mesh array for ‘right’ input rectification
`meshSize`	Mesh array size in bytes, for each of ‘left’ and ‘right’ (need to match)
`stepHeight`	Distance between mesh points, in the vertical direction
`stepWidth`	Distance between mesh points, in the horizontal direction

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property meshLeftUri¶: Uri which points to the mesh array for ‘left’ input rectification

property meshRightUri¶: Uri which points to the mesh array for ‘right’ input rectification

property meshSize¶: Mesh array size in bytes, for each of ‘left’ and ‘right’ (need to match)

property stepHeight¶: Distance between mesh points, in the vertical direction

property stepWidth¶: Distance between mesh points, in the horizontal direction

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property depthAlignCamera¶: Which camera to align disparity/depth to. When configured (not AUTO), takes precedence over ‘depthAlign’

property enableRectification¶

property enableRuntimeStereoModeSwitch¶: Whether to enable switching stereo modes at runtime or not. E.g. standard to subpixel, standard+LR-check to subpixel + LR-check. Note: It will allocate resources for worst cases scenario, should be enabled only if dynamic mode switch is required. Default value: false.

property height¶: Input frame height. Optional (taken from MonoCamera nodes if they exist)

property initialConfig¶: Initial stereo config

property mesh¶: Specify a direct warp mesh to be used for rectification, instead of intrinsics + extrinsic matrices

property numFramesPool¶: Num frames in output pool

property numPostProcessingMemorySlices¶: Number of memory slices reserved for stereo depth post processing. -1 means auto, memory will be allocated based on initial stereo settings and number of shaves. 0 means that it will reuse the memory slices assigned for main stereo algorithm. For optimal performance it’s recommended to allocate more than 0, so post processing will run in parallel with main stereo algorithm.

property numPostProcessingShaves¶: Number of shaves reserved for stereo depth post processing. Post processing can use multiple shaves to increase performance. -1 means auto, resources will be allocated based on enabled filters. 0 means that it will reuse the shave assigned for main stereo algorithm. For optimal performance it’s recommended to allocate more than 0, so post processing will run in parallel with main stereo algorithm.

property outHeight¶: Output disparity/depth height. Currently only used when aligning to RGB

property outKeepAspectRatio¶: Whether to keep aspect ratio of the input (rectified) or not

property outWidth¶: Output disparity/depth width. Currently only used when aligning to RGB

property rectifyEdgeFillColor¶: Fill color for missing data at frame edges - grayscale 0..255, or -1 to replicate pixels

property width¶: Input frame width. Optional (taken from MonoCamera nodes if they exist)

class depthai.StereoRectification¶

Bases: pybind11_builtins.pybind11_object

StereoRectification structure

Methods:

__init__(self)

Attributes:

`leftCameraSocket`
`rectifiedRotationLeft`
`rectifiedRotationRight`
`rightCameraSocket`

__init__(self: depthai.StereoRectification) → None ¶

property leftCameraSocket¶

property rectifiedRotationLeft¶

property rectifiedRotationRight¶

property rightCameraSocket¶

class depthai.SystemInformation¶

Bases: depthai.Buffer

SystemInformation message. Carries memory usage, cpu usage and chip temperatures.

Methods:

__init__(self)

Attributes:

`chipTemperature`
`cmxMemoryUsage`
`ddrMemoryUsage`
`leonCssCpuUsage`
`leonCssMemoryUsage`
`leonMssCpuUsage`
`leonMssMemoryUsage`

__init__(self: depthai.SystemInformation) → None ¶

property chipTemperature¶

property cmxMemoryUsage¶

property ddrMemoryUsage¶

property leonCssCpuUsage¶

property leonCssMemoryUsage¶

property leonMssCpuUsage¶

property leonMssMemoryUsage¶

class depthai.SystemLoggerProperties¶

Bases: pybind11_builtins.pybind11_object

SystemLoggerProperties structure

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

rateHz

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property rateHz¶

class depthai.TensorInfo¶

Bases: pybind11_builtins.pybind11_object

TensorInfo structure

Classes:

`DataType`	Members:
`StorageOrder`	Members:

Methods:

__init__(self)

Attributes:

`dataType`
`dims`
`name`
`numDimensions`
`offset`
`order`
`strides`

class DataType¶

Bases: pybind11_builtins.pybind11_object

Members:

FP16

U8F

INT

FP32

I8

Attributes:

`FP16`
`FP32`
`I8`
`INT`
`U8F`
`name`
`value`

Methods:

__init__(self, value)

FP16 = <DataType.FP16: 0>¶

FP32 = <DataType.FP32: 3>¶

I8 = <DataType.I8: 4>¶

INT = <DataType.INT: 2>¶

U8F = <DataType.U8F: 1>¶

__init__(self: depthai.TensorInfo.DataType, value: int) → None ¶

property name¶

property value¶

class StorageOrder¶

Bases: pybind11_builtins.pybind11_object

Members:

NHWC

NHCW

NCHW

HWC

CHW

WHC

HCW

WCH

CWH

NC

CN

C

H

W

Attributes:

`C`
`CHW`
`CN`
`CWH`
`H`
`HCW`
`HWC`
`NC`
`NCHW`
`NHCW`
`NHWC`
`W`
`WCH`
`WHC`
`name`
`value`

Methods:

__init__(self, value)

C = <StorageOrder.C: 3>¶

CHW = <StorageOrder.CHW: 801>¶

CN = <StorageOrder.CN: 52>¶

CWH = <StorageOrder.CWH: 786>¶

H = <StorageOrder.H: 2>¶

HCW = <StorageOrder.HCW: 561>¶

HWC = <StorageOrder.HWC: 531>¶

NC = <StorageOrder.NC: 67>¶

NCHW = <StorageOrder.NCHW: 17185>¶

NHCW = <StorageOrder.NHCW: 16945>¶

NHWC = <StorageOrder.NHWC: 16915>¶

W = <StorageOrder.W: 1>¶

WCH = <StorageOrder.WCH: 306>¶

WHC = <StorageOrder.WHC: 291>¶

__init__(self: depthai.TensorInfo.StorageOrder, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.TensorInfo) → None ¶

property dataType¶

property dims¶

property name¶

property numDimensions¶

property offset¶

property order¶

property strides¶

class depthai.Timestamp¶

Bases: pybind11_builtins.pybind11_object

Timestamp structure

Methods:

`__init__`(self)
`get`(self)

Attributes:

`nsec`
`sec`

__init__(self: depthai.Timestamp) → None ¶

get(self: depthai.Timestamp) → datetime.timedelta ¶

property nsec¶

property sec¶

class depthai.TrackedFeature¶

Bases: pybind11_builtins.pybind11_object

TrackedFeature structure

Methods:

__init__(self)

Attributes:

`id`	Feature ID.
`position`	x, y position of the detected feature

__init__(self: depthai.TrackedFeature) → None ¶

property id¶: Feature ID. Persistent between frames if motion estimation is enabled.

property position¶: x, y position of the detected feature

class depthai.TrackedFeatures¶

Bases: depthai.Buffer

TrackedFeatures message. Carries position (X, Y) of tracked features and their ID.

Methods:

__init__(self)

Attributes:

trackedFeatures

__init__(self: depthai.TrackedFeatures) → None ¶

property trackedFeatures¶

class depthai.TrackerIdAssignmentPolicy¶

Bases: pybind11_builtins.pybind11_object

Members:

UNIQUE_ID

SMALLEST_ID

Attributes:

`SMALLEST_ID`
`UNIQUE_ID`
`name`
`value`

Methods:

__init__(self, value)

SMALLEST_ID = <TrackerIdAssignmentPolicy.SMALLEST_ID: 1>¶

UNIQUE_ID = <TrackerIdAssignmentPolicy.UNIQUE_ID: 0>¶

__init__(self: depthai.TrackerIdAssignmentPolicy, value: int) → None ¶

property name¶

property value¶

class depthai.TrackerType¶

Bases: pybind11_builtins.pybind11_object

Members:

SHORT_TERM_KCF : Kernelized Correlation Filter tracking

SHORT_TERM_IMAGELESS : Short term tracking without using image data

ZERO_TERM_IMAGELESS : Ability to track the objects without accessing image data.

ZERO_TERM_COLOR_HISTOGRAM : Tracking using image data too.

Attributes:

`SHORT_TERM_IMAGELESS`
`SHORT_TERM_KCF`
`ZERO_TERM_COLOR_HISTOGRAM`
`ZERO_TERM_IMAGELESS`
`name`
`value`

Methods:

__init__(self, value)

SHORT_TERM_IMAGELESS = <TrackerType.SHORT_TERM_IMAGELESS: 3>¶

SHORT_TERM_KCF = <TrackerType.SHORT_TERM_KCF: 1>¶

ZERO_TERM_COLOR_HISTOGRAM = <TrackerType.ZERO_TERM_COLOR_HISTOGRAM: 6>¶

ZERO_TERM_IMAGELESS = <TrackerType.ZERO_TERM_IMAGELESS: 5>¶

__init__(self: depthai.TrackerType, value: int) → None ¶

property name¶

property value¶

class depthai.Tracklet¶

Bases: pybind11_builtins.pybind11_object

Tracklet structure

Contains tracklets from object tracker output.

Classes:

TrackingStatus

Members:

Methods:

__init__(self)

Attributes:

`id`
`label`
`roi`
`spatialCoordinates`
`srcImgDetection`
`status`

class TrackingStatus¶

Bases: pybind11_builtins.pybind11_object

Members:

NEW

TRACKED

LOST

REMOVED

Attributes:

`LOST`
`NEW`
`REMOVED`
`TRACKED`
`name`
`value`

Methods:

__init__(self, value)

LOST = <TrackingStatus.LOST: 2>¶

NEW = <TrackingStatus.NEW: 0>¶

REMOVED = <TrackingStatus.REMOVED: 3>¶

TRACKED = <TrackingStatus.TRACKED: 1>¶

__init__(self: depthai.Tracklet.TrackingStatus, value: int) → None ¶

property name¶

property value¶

__init__(self: depthai.Tracklet) → None ¶

property id¶

property label¶

property roi¶

property spatialCoordinates¶

property srcImgDetection¶

property status¶

class depthai.Tracklets¶

Bases: depthai.Buffer

Tracklets message. Carries object tracking information.

Methods:

__init__(self)

Attributes:

tracklets

Retrieve data for Tracklets.

__init__(self: depthai.Tracklets) → None ¶

property tracklets¶

Retrieve data for Tracklets.

Returns: Vector of object tracker data, carrying tracking information.

class depthai.UsbSpeed¶

Bases: pybind11_builtins.pybind11_object

Get USB Speed

Members:

UNKNOWN

LOW

FULL

HIGH

SUPER

SUPER_PLUS

Attributes:

`FULL`
`HIGH`
`LOW`
`SUPER`
`SUPER_PLUS`
`UNKNOWN`
`name`
`value`

Methods:

__init__(self, value)

FULL = <UsbSpeed.FULL: 2>¶

HIGH = <UsbSpeed.HIGH: 3>¶

LOW = <UsbSpeed.LOW: 1>¶

SUPER = <UsbSpeed.SUPER: 4>¶

SUPER_PLUS = <UsbSpeed.SUPER_PLUS: 5>¶

UNKNOWN = <UsbSpeed.UNKNOWN: 0>¶

__init__(self: depthai.UsbSpeed, value: int) → None ¶

property name¶

property value¶

class depthai.VideoEncoderProperties¶

Bases: pybind11_builtins.pybind11_object

Specify properties for VideoEncoder such as profile, bitrate, …

Classes:

`Profile`	Encoding profile, H264 (AVC), H265 (HEVC) or MJPEG
`RateControlMode`	Rate control mode specifies if constant or variable bitrate should be used (H264 / H265)

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`bitrate`
`keyframeFrequency`
`maxBitrate`
`numBFrames`
`numFramesPool`
`profile`
`quality`
`rateCtrlMode`

class Profile¶

Bases: pybind11_builtins.pybind11_object

Encoding profile, H264 (AVC), H265 (HEVC) or MJPEG

Members:

H264_BASELINE

H264_HIGH

H264_MAIN

H265_MAIN

MJPEG

Attributes:

`H264_BASELINE`
`H264_HIGH`
`H264_MAIN`
`H265_MAIN`
`MJPEG`
`name`
`value`

Methods:

__init__(self, value)

H264_BASELINE = <Profile.H264_BASELINE: 0>¶

H264_HIGH = <Profile.H264_HIGH: 1>¶

H264_MAIN = <Profile.H264_MAIN: 2>¶

H265_MAIN = <Profile.H265_MAIN: 3>¶

MJPEG = <Profile.MJPEG: 4>¶

__init__(self: depthai.VideoEncoderProperties.Profile, value: int) → None ¶

property name¶

property value¶

class RateControlMode¶

Bases: pybind11_builtins.pybind11_object

Rate control mode specifies if constant or variable bitrate should be used (H264 / H265)

Members:

CBR

VBR

Attributes:

`CBR`
`VBR`
`name`
`value`

Methods:

__init__(self, value)

CBR = <RateControlMode.CBR: 0>¶

VBR = <RateControlMode.VBR: 1>¶

__init__(self: depthai.VideoEncoderProperties.RateControlMode, value: int) → None ¶

property name¶

property value¶

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property bitrate¶

property keyframeFrequency¶

property maxBitrate¶

property numBFrames¶

property numFramesPool¶

property profile¶

property quality¶

property rateCtrlMode¶

class depthai.XLinkConnection¶

Bases: pybind11_builtins.pybind11_object

Represents connection between host and device over XLink protocol

Methods:

`__init__`(args, *kwargs)	Overloaded function.
`bootBootloader`(devInfo)
`getAllConnectedDevices`(state)
`getDeviceByMxId`(mxId, state)
`getFirstDevice`(state)

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: depthai.XLinkConnection, arg0: depthai.DeviceInfo, arg1: List[int]) -> None
__init__(self: depthai.XLinkConnection, arg0: depthai.DeviceInfo, arg1: str) -> None
__init__(self: depthai.XLinkConnection, arg0: depthai.DeviceInfo) -> None

static bootBootloader(devInfo: depthai.DeviceInfo) → depthai.DeviceInfo ¶

static getAllConnectedDevices(state: depthai.XLinkDeviceState = <XLinkDeviceState.X_LINK_ANY_STATE: 0>) → List[depthai.DeviceInfo]¶

static getDeviceByMxId(mxId: str, state: depthai.XLinkDeviceState = <XLinkDeviceState.X_LINK_ANY_STATE: 0>) → Tuple[bool, depthai.DeviceInfo]¶

static getFirstDevice(state: depthai.XLinkDeviceState = <XLinkDeviceState.X_LINK_ANY_STATE: 0>) → Tuple[bool, depthai.DeviceInfo]¶

class depthai.XLinkDeviceState¶

Bases: pybind11_builtins.pybind11_object

Members:

X_LINK_ANY_STATE

X_LINK_BOOTED

X_LINK_UNBOOTED

X_LINK_BOOTLOADER

X_LINK_FLASH_BOOTED

Attributes:

`X_LINK_ANY_STATE`
`X_LINK_BOOTED`
`X_LINK_BOOTLOADER`
`X_LINK_FLASH_BOOTED`
`X_LINK_UNBOOTED`
`name`
`value`

Methods:

__init__(self, value)

X_LINK_ANY_STATE = <XLinkDeviceState.X_LINK_ANY_STATE: 0>¶

X_LINK_BOOTED = <XLinkDeviceState.X_LINK_BOOTED: 1>¶

X_LINK_BOOTLOADER = <XLinkDeviceState.X_LINK_BOOTLOADER: 3>¶

X_LINK_FLASH_BOOTED = <XLinkDeviceState.X_LINK_FLASH_BOOTED: 4>¶

X_LINK_UNBOOTED = <XLinkDeviceState.X_LINK_UNBOOTED: 2>¶

__init__(self: depthai.XLinkDeviceState, value: int) → None ¶

property name¶

property value¶

exception depthai.XLinkError¶: Bases: RuntimeError

class depthai.XLinkPlatform¶

Bases: pybind11_builtins.pybind11_object

Members:

X_LINK_ANY_PLATFORM

X_LINK_MYRIAD_2

X_LINK_MYRIAD_X

Attributes:

`X_LINK_ANY_PLATFORM`
`X_LINK_MYRIAD_2`
`X_LINK_MYRIAD_X`
`name`
`value`

Methods:

__init__(self, value)

X_LINK_ANY_PLATFORM = <XLinkPlatform.X_LINK_ANY_PLATFORM: 0>¶

X_LINK_MYRIAD_2 = <XLinkPlatform.X_LINK_MYRIAD_2: 2450>¶

X_LINK_MYRIAD_X = <XLinkPlatform.X_LINK_MYRIAD_X: 2480>¶

__init__(self: depthai.XLinkPlatform, value: int) → None ¶

property name¶

property value¶

class depthai.XLinkProtocol¶

Bases: pybind11_builtins.pybind11_object

Members:

X_LINK_USB_VSC

X_LINK_USB_CDC

X_LINK_PCIE

X_LINK_TCP_IP

X_LINK_IPC

X_LINK_NMB_OF_PROTOCOLS

X_LINK_ANY_PROTOCOL

Attributes:

`X_LINK_ANY_PROTOCOL`
`X_LINK_IPC`
`X_LINK_NMB_OF_PROTOCOLS`
`X_LINK_PCIE`
`X_LINK_TCP_IP`
`X_LINK_USB_CDC`
`X_LINK_USB_VSC`
`name`
`value`

Methods:

__init__(self, value)

X_LINK_ANY_PROTOCOL = <XLinkProtocol.X_LINK_ANY_PROTOCOL: 6>¶

X_LINK_IPC = <XLinkProtocol.X_LINK_IPC: 3>¶

X_LINK_NMB_OF_PROTOCOLS = <XLinkProtocol.X_LINK_NMB_OF_PROTOCOLS: 5>¶

X_LINK_PCIE = <XLinkProtocol.X_LINK_PCIE: 2>¶

X_LINK_TCP_IP = <XLinkProtocol.X_LINK_TCP_IP: 4>¶

X_LINK_USB_CDC = <XLinkProtocol.X_LINK_USB_CDC: 1>¶

X_LINK_USB_VSC = <XLinkProtocol.X_LINK_USB_VSC: 0>¶

__init__(self: depthai.XLinkProtocol, value: int) → None ¶

property name¶

property value¶

exception depthai.XLinkReadError¶: Bases: depthai.XLinkError

exception depthai.XLinkWriteError¶: Bases: depthai.XLinkError

Nodes¶

Classes:

`ColorCamera`	ColorCamera node.
`DetectionNetwork`	DetectionNetwork, base for different network specializations
`EdgeDetector`	EdgeDetector node.
`FeatureTracker`	FeatureTracker node.
`IMU`	IMU node for BNO08X.
`ImageManip`	ImageManip node.
`MobileNetDetectionNetwork`	MobileNetDetectionNetwork node.
`MobileNetSpatialDetectionNetwork`	MobileNetSpatialDetectionNetwork node.
`MonoCamera`	MonoCamera node.
`NeuralNetwork`	NeuralNetwork node.
`ObjectTracker`	ObjectTracker node.
`SPIIn`	SPIIn node.
`SPIOut`	SPIOut node.
`Script`
`SpatialDetectionNetwork`	SpatialDetectionNetwork node.
`SpatialLocationCalculator`	SpatialLocationCalculator node.
`StereoDepth`	StereoDepth node.
`SystemLogger`	SystemLogger node.
`VideoEncoder`	VideoEncoder node.
`XLinkIn`	XLinkIn node.
`XLinkOut`	XLinkOut node.
`YoloDetectionNetwork`	YoloDetectionNetwork node.
`YoloSpatialDetectionNetwork`	YoloSpatialDetectionNetwork node.

class depthai.node.ColorCamera¶

Bases: depthai.Node

ColorCamera node. For use with color sensors.

Classes:

Properties

alias of depthai.ColorCameraProperties

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getBoardSocket`(self)	Retrieves which board socket to use
`getCamId`(self)
`getColorOrder`(self)	Get color order of preview output frames.
`getFp16`(self)	Get fp16 (0..255) data of preview output frames
`getFps`(self)	Get rate at which camera should produce frames
`getImageOrientation`(self)	Get camera image orientation
`getInterleaved`(self)	Get planar or interleaved data of preview output frames
`getIspHeight`(self)	Get ‘isp’ output height
`getIspSize`(self)	Get ‘isp’ output resolution as size, after scaling
`getIspWidth`(self)	Get ‘isp’ output width
`getPreviewHeight`(self)	Get preview height
`getPreviewKeepAspectRatio`(self)	See also setPreviewKeepAspectRatio
`getPreviewSize`(self)	Get preview size as tuple
`getPreviewWidth`(self)	Get preview width
`getResolution`(self)	Get sensor resolution
`getResolutionHeight`(self)	Get sensor resolution height
`getResolutionSize`(self)	Get sensor resolution as size
`getResolutionWidth`(self)	Get sensor resolution width
`getSensorCrop`(self)	returns Sensor top left crop coordinates
`getSensorCropX`(self)	Get sensor top left x crop coordinate
`getSensorCropY`(self)	Get sensor top left y crop coordinate
`getStillHeight`(self)	Get still height
`getStillSize`(self)	Get still size as tuple
`getStillWidth`(self)	Get still width
`getVideoHeight`(self)	Get video height
`getVideoSize`(self)	Get video size as tuple
`getVideoWidth`(self)	Get video width
`getWaitForConfigInput`(self)	See also setWaitForConfigInput
`sensorCenterCrop`(self)	Specify sensor center crop.
`setBoardSocket`(self, boardSocket)	Specify which board socket to use
`setCamId`(self, arg0)
`setColorOrder`(self, colorOrder)	Set color order of preview output images.
`setFp16`(self, fp16)	Set fp16 (0..255) data type of preview output frames
`setFps`(self, fps)	Set rate at which camera should produce frames
`setImageOrientation`(self, imageOrientation)	Set camera image orientation
`setInterleaved`(self, interleaved)	Set planar or interleaved data of preview output frames
`setIspScale`(args, *kwargs)	Overloaded function.
`setPreviewKeepAspectRatio`(self, keep)	Specifies whether preview output should preserve aspect ratio, after downscaling from video size or not.
`setPreviewSize`(args, *kwargs)	Overloaded function.
`setResolution`(self, resolution)	Set sensor resolution
`setSensorCrop`(self, x, y)	Specifies sensor crop rectangle
`setStillSize`(args, *kwargs)	Overloaded function.
`setVideoSize`(args, *kwargs)	Overloaded function.
`setWaitForConfigInput`(self, wait)	Specify to wait until inputConfig receives a configuration message, before sending out a frame.

Attributes:

`initialControl`	Initial control options to apply to sensor
`inputConfig`	Input for ImageManipConfig message, which can modify crop parameters in runtime
`inputControl`	Input for CameraControl message, which can modify camera parameters in runtime
`isp`	Outputs ImgFrame message that carries YUV420 planar (I420/IYUV) frame data.
`preview`	Outputs ImgFrame message that carries BGR/RGB planar/interleaved encoded frame data.
`raw`	Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.
`still`	Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data.
`video`	Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data.

Properties¶

alias of depthai.ColorCameraProperties Classes:

`ColorOrder`	For 24 bit color these can be either RGB or BGR
`SensorResolution`	Select the camera sensor resolution

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`boardSocket`
`colorOrder`
`fps`
`initialControl`
`interleaved`
`previewHeight`
`previewWidth`
`resolution`
`sensorCropX`
`sensorCropY`
`stillHeight`
`stillWidth`
`videoHeight`
`videoWidth`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getBoardSocket(self: depthai.node.ColorCamera) → depthai.CameraBoardSocket ¶

Retrieves which board socket to use

Returns: Board socket to use

getCamId(self: depthai.node.ColorCamera) → int ¶

getColorOrder(self: depthai.node.ColorCamera) → depthai.ColorCameraProperties.ColorOrder ¶: Get color order of preview output frames. RGB or BGR

getFp16(self: depthai.node.ColorCamera) → bool ¶: Get fp16 (0..255) data of preview output frames

getFps(self: depthai.node.ColorCamera) → float ¶

Get rate at which camera should produce frames

Returns: Rate in frames per second

getImageOrientation(self: depthai.node.ColorCamera) → depthai.CameraImageOrientation ¶: Get camera image orientation

getInterleaved(self: depthai.node.ColorCamera) → bool ¶: Get planar or interleaved data of preview output frames

getIspHeight(self: depthai.node.ColorCamera) → int ¶: Get ‘isp’ output height

getIspSize(self: depthai.node.ColorCamera) → Tuple[int, int]¶: Get ‘isp’ output resolution as size, after scaling

getIspWidth(self: depthai.node.ColorCamera) → int ¶: Get ‘isp’ output width

getPreviewHeight(self: depthai.node.ColorCamera) → int ¶: Get preview height

getPreviewKeepAspectRatio(self: depthai.node.ColorCamera) → bool ¶

See also

setPreviewKeepAspectRatio

Returns: Preview keep aspect ratio option

getPreviewSize(self: depthai.node.ColorCamera) → Tuple[int, int]¶: Get preview size as tuple

getPreviewWidth(self: depthai.node.ColorCamera) → int ¶: Get preview width

getResolution(self: depthai.node.ColorCamera) → depthai.ColorCameraProperties.SensorResolution ¶: Get sensor resolution

getResolutionHeight(self: depthai.node.ColorCamera) → int ¶: Get sensor resolution height

getResolutionSize(self: depthai.node.ColorCamera) → Tuple[int, int]¶: Get sensor resolution as size

getResolutionWidth(self: depthai.node.ColorCamera) → int ¶: Get sensor resolution width

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

Returns: Sensor top left crop coordinates

getSensorCropX(self: depthai.node.ColorCamera) → float ¶: Get sensor top left x crop coordinate

getSensorCropY(self: depthai.node.ColorCamera) → float ¶: Get sensor top left y crop coordinate

getStillHeight(self: depthai.node.ColorCamera) → int ¶: Get still height

getStillSize(self: depthai.node.ColorCamera) → Tuple[int, int]¶: Get still size as tuple

getStillWidth(self: depthai.node.ColorCamera) → int ¶: Get still width

getVideoHeight(self: depthai.node.ColorCamera) → int ¶: Get video height

getVideoSize(self: depthai.node.ColorCamera) → Tuple[int, int]¶: Get video size as tuple

getVideoWidth(self: depthai.node.ColorCamera) → int ¶: Get video width

getWaitForConfigInput(self: depthai.node.ColorCamera) → bool ¶

See also

setWaitForConfigInput

Returns: True if wait for inputConfig message, false otherwise

property initialControl¶: Initial control options to apply to sensor

property inputConfig¶

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

Default queue is non-blocking with size 8

property inputControl¶

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

Default queue is blocking with size 8

property isp¶

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

Generated by the ISP engine, and the source for the ‘video’, ‘preview’ and ‘still’ outputs

property preview¶

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

Suitable for use with NeuralNetwork node

property raw¶

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

Captured directly from the camera sensor, and the source for the ‘isp’ output.

sensorCenterCrop(self: depthai.node.ColorCamera) → None ¶: Specify sensor center crop. Resolution size / video size

setBoardSocket(self: depthai.node.ColorCamera, boardSocket: depthai.CameraBoardSocket) → None ¶

Specify which board socket to use

Parameter boardSocket:: Board socket to use

setCamId(self: depthai.node.ColorCamera, arg0: int) → None ¶

setColorOrder(self: depthai.node.ColorCamera, colorOrder: depthai.ColorCameraProperties.ColorOrder) → None ¶: Set color order of preview output images. RGB or BGR

setFp16(self: depthai.node.ColorCamera, fp16: bool) → None ¶: Set fp16 (0..255) data type of preview output frames

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

Set rate at which camera should produce frames

Parameter fps:: Rate in frames per second

setImageOrientation(self: depthai.node.ColorCamera, imageOrientation: depthai.CameraImageOrientation) → None ¶: Set camera image orientation

setInterleaved(self: depthai.node.ColorCamera, interleaved: bool) → None ¶: Set planar or interleaved data of preview output frames

setIspScale(*args, **kwargs)¶

Overloaded function.

setIspScale(self: depthai.node.ColorCamera, numerator: int, denominator: int) -> None

Set ‘isp’ output scaling (numerator/denominator), preserving the aspect ratio. The fraction numerator/denominator is simplified first to a irreducible form, then a set of hardware scaler constraints applies: max numerator = 16, max denominator = 63

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

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

setIspScale(self: depthai.node.ColorCamera, horizNum: int, horizDenom: int, vertNum: int, vertDenom: int) -> None

Set ‘isp’ output scaling, per each direction. If the horizontal scaling factor (horizNum/horizDen) is different than the vertical scaling factor (vertNum/vertDen), a distorted (stretched or squished) image is generated

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

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

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

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

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

setPreviewSize(*args, **kwargs)¶

Overloaded function.

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

Set preview output size

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

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

setResolution(self: depthai.node.ColorCamera, resolution: depthai.ColorCameraProperties.SensorResolution) → None ¶: Set sensor resolution

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

Specifies sensor crop rectangle

Parameter x:: Top left X coordinate
Parameter y:: Top left Y coordinate

setStillSize(*args, **kwargs)¶

Overloaded function.

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

Set still output size

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

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

setVideoSize(*args, **kwargs)¶

Overloaded function.

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

Set video output size

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

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

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

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

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

property still¶

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

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

property video¶

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

Suitable for use with VideoEncoder node

class depthai.node.DetectionNetwork¶

Bases: depthai.node.NeuralNetwork

DetectionNetwork, base for different network specializations

Classes:

Properties

alias of depthai.DetectionNetworkProperties

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getConfidenceThreshold`(self)	Retrieves threshold at which to filter the rest of the detections.
`setConfidenceThreshold`(self, thresh)	Specifies confidence threshold at which to filter the rest of the detections.

Attributes:

`input`	Input message with data to be inferred upon Default queue is blocking with size 5
`out`	Outputs ImgDetections message that carries parsed detection results.
`passthrough`	Passthrough message on which the inference was performed.

Properties¶

alias of depthai.DetectionNetworkProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`anchorMasks`
`anchors`
`classes`
`confidenceThreshold`
`coordinates`
`iouThreshold`
`nnFamily`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getConfidenceThreshold(self: depthai.node.DetectionNetwork) → float ¶

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

Returns: Detection confidence

property input¶: Input message with data to be inferred upon Default queue is blocking with size 5

property out¶: Outputs ImgDetections message that carries parsed detection results. Overrides NeuralNetwork ‘out’ with ImgDetections output message type.

property passthrough¶

Passthrough message on which the inference was performed.

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

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

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

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

class depthai.node.EdgeDetector¶

Bases: depthai.Node

EdgeDetector node. Performs edge detection using 3x3 Sobel filter

Classes:

Properties

alias of depthai.EdgeDetectorProperties

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getWaitForConfigInput`(self)	See also setWaitForConfigInput
`setMaxOutputFrameSize`(self, arg0)	Specify maximum size of output image.
`setNumFramesPool`(self, arg0)	Specify number of frames in pool.
`setWaitForConfigInput`(self, wait)	Specify whether or not wait until configuration message arrives to inputConfig Input.

Attributes:

`initialConfig`	Initial config to use for edge detection.
`inputConfig`	Input EdgeDetectorConfig message with ability to modify parameters in runtime.
`inputImage`	Input image on which edge detection is performed.
`outputImage`	Outputs image frame with detected edges

Properties¶

alias of depthai.EdgeDetectorProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`initialConfig`	Initial edge detector config
`numFramesPool`	Num frames in output pool
`outputFrameSize`	300x300 BGR image -> 3003003 bytes)

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getWaitForConfigInput(self: depthai.node.EdgeDetector) → bool ¶

See also

setWaitForConfigInput

Returns: True if wait for inputConfig message, false otherwise

property initialConfig¶: Initial config to use for edge detection.

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

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

property outputImage¶: Outputs image frame with detected edges

setMaxOutputFrameSize(self: depthai.node.EdgeDetector, arg0: int) → None ¶

Specify maximum size of output image.

Parameter maxFrameSize:: Maximum frame size in bytes

setNumFramesPool(self: depthai.node.EdgeDetector, arg0: int) → None ¶

Specify number of frames in pool.

Parameter numFramesPool:: How many frames should the pool have

setWaitForConfigInput(self: depthai.node.EdgeDetector, wait: bool) → None ¶

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

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

class depthai.node.FeatureTracker¶

Bases: depthai.Node

FeatureTracker node. Performs feature tracking and reidentification using motion estimation between 2 consecutive frames.

Classes:

Properties

alias of depthai.FeatureTrackerProperties

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getWaitForConfigInput`(self)	See also setWaitForConfigInput
`setHardwareResources`(self, numShaves, …)	Specify allocated hardware resources for feature tracking.
`setWaitForConfigInput`(self, wait)	Specify whether or not wait until configuration message arrives to inputConfig Input.

Attributes:

`initialConfig`	Initial config to use for feature tracking.
`inputConfig`	Input FeatureTrackerConfig message with ability to modify parameters in runtime.
`inputImage`	Input message with frame data on which feature tracking is performed.
`outputFeatures`	Outputs TrackedFeatures message that carries tracked features results.
`passthroughInputImage`	Passthrough message on which the calculation was performed.

Properties¶

alias of depthai.FeatureTrackerProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`initialConfig`	Initial feature tracker config
`numMemorySlices`	Number of memory slices reserved for feature tracking.
`numShaves`	Number of shaves reserved for feature tracking.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getWaitForConfigInput(self: depthai.node.FeatureTracker) → bool ¶

See also

setWaitForConfigInput

Returns: True if wait for inputConfig message, false otherwise

property initialConfig¶: Initial config to use for feature tracking.

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

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

property outputFeatures¶: Outputs TrackedFeatures message that carries tracked features results.

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

setHardwareResources(self: depthai.node.FeatureTracker, numShaves: int, numMemorySlices: int) → None ¶

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: depthai.node.FeatureTracker, wait: bool) → None ¶

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

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

class depthai.node.IMU¶

Bases: depthai.Node

IMU node for BNO08X.

Classes:

Properties

alias of depthai.IMUProperties

Methods:

`__init__`(args, *kwargs)	Initialize self.
`enableIMUSensor`(args, *kwargs)	Overloaded function.
`getBatchReportThreshold`(self)	Above this packet threshold data will be sent to host, if queue is not blocked
`getMaxBatchReports`(self)	Maximum number of IMU packets in a batch report
`setBatchReportThreshold`(self, …)	Above this packet threshold data will be sent to host, if queue is not blocked
`setMaxBatchReports`(self, maxBatchReports)	Maximum number of IMU packets in a batch report

Attributes:

out

Outputs IMUData message that carries IMU packets.

Properties¶

alias of depthai.IMUProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`batchReportThreshold`
`imuSensors`
`maxBatchReports`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

enableIMUSensor(*args, **kwargs)¶

Overloaded function.

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

Enable a new IMU sensor with explicit configuration

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

Enable a list of IMU sensors with explicit configuration

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

Enable a new IMU sensor with default configuration

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

Enable a list of IMU sensors with default configuration

getBatchReportThreshold(self: depthai.node.IMU) → int ¶: Above this packet threshold data will be sent to host, if queue is not blocked

getMaxBatchReports(self: depthai.node.IMU) → int ¶: Maximum number of IMU packets in a batch report

property out¶: Outputs IMUData message that carries IMU packets.

setBatchReportThreshold(self: depthai.node.IMU, batchReportThreshold: int) → None ¶: Above this packet threshold data will be sent to host, if queue is not blocked

setMaxBatchReports(self: depthai.node.IMU, maxBatchReports: int) → None ¶: Maximum number of IMU packets in a batch report

class depthai.node.ImageManip¶

Bases: depthai.Node

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

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getWaitForConfigInput`(self)	See also setWaitForConfigInput
`setCenterCrop`(self, arg0, arg1)
`setCropRect`(self, arg0, arg1, arg2, arg3)
`setFrameType`(self, arg0)
`setHorizontalFlip`(self, arg0)
`setKeepAspectRatio`(self, arg0)
`setMaxOutputFrameSize`(self, arg0)	Specify maximum size of output image.
`setNumFramesPool`(self, arg0)	Specify number of frames in pool.
`setResize`(self, arg0, arg1)
`setResizeThumbnail`(self, arg0, arg1, arg2, …)
`setWaitForConfigInput`(self, wait)	Specify whether or not wait until configuration message arrives to inputConfig Input.

Attributes:

`initialConfig`	Initial config to use when manipulating frames
`inputConfig`	Input ImageManipConfig message with ability to modify parameters in runtime Default queue is blocking with size 8
`inputImage`	Input image to be modified Default queue is blocking with size 8
`out`	Outputs ImgFrame message that carries modified image.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getWaitForConfigInput(self: depthai.node.ImageManip) → bool ¶

See also

setWaitForConfigInput

Returns: True if wait for inputConfig message, false otherwise

property initialConfig¶: Initial config to use when manipulating frames

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

property inputImage¶: Input image to be modified Default queue is blocking with size 8

property out¶: Outputs ImgFrame message that carries modified image.

setCenterCrop(self: depthai.node.ImageManip, arg0: float, arg1: float) → None ¶

setCropRect(self: depthai.node.ImageManip, arg0: float, arg1: float, arg2: float, arg3: float) → None ¶

setFrameType(self: depthai.node.ImageManip, arg0: depthai.RawImgFrame.Type) → None ¶

setHorizontalFlip(self: depthai.node.ImageManip, arg0: bool) → None ¶

setKeepAspectRatio(self: depthai.node.ImageManip, arg0: bool) → None ¶

setMaxOutputFrameSize(self: depthai.node.ImageManip, arg0: int) → None ¶

Specify maximum size of output image.

Parameter maxFrameSize:: Maximum frame size in bytes

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

Specify number of frames in pool.

Parameter numFramesPool:: How many frames should the pool have

setResize(self: depthai.node.ImageManip, arg0: int, arg1: int) → None ¶

setResizeThumbnail(self: depthai.node.ImageManip, arg0: int, arg1: int, arg2: int, arg3: int, arg4: int) → None ¶

setWaitForConfigInput(self: depthai.node.ImageManip, wait: bool) → None ¶

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

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

class depthai.node.MobileNetDetectionNetwork¶

Bases: depthai.node.DetectionNetwork

MobileNetDetectionNetwork node. Parses MobileNet results

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

class depthai.node.MobileNetSpatialDetectionNetwork¶

Bases: depthai.node.SpatialDetectionNetwork

MobileNetSpatialDetectionNetwork node. Mobilenet-SSD based network with spatial location data.

Methods:

__init__(*args, **kwargs)

Initialize self.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

class depthai.node.MonoCamera¶

Bases: depthai.Node

MonoCamera node. For use with grayscale sensors.

Classes:

Properties

alias of depthai.MonoCameraProperties

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getBoardSocket`(self)	Retrieves which board socket to use
`getCamId`(self)
`getFps`(self)	Get rate at which camera should produce frames
`getImageOrientation`(self)	Get camera image orientation
`getResolution`(self)	Get sensor resolution
`getResolutionHeight`(self)	Get sensor resolution height
`getResolutionSize`(self)	Get sensor resolution as size
`getResolutionWidth`(self)	Get sensor resolution width
`setBoardSocket`(self, boardSocket)	Specify which board socket to use
`setCamId`(self, arg0)
`setFps`(self, fps)	Set rate at which camera should produce frames
`setImageOrientation`(self, imageOrientation)	Set camera image orientation
`setResolution`(self, resolution)	Set sensor resolution

Attributes:

`initialControl`	Initial control options to apply to sensor
`inputControl`	Input for CameraControl message, which can modify camera parameters in runtime Default queue is blocking with size 8
`out`	Outputs ImgFrame message that carries RAW8 encoded (grayscale) frame data.
`raw`	Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.

Properties¶

alias of depthai.MonoCameraProperties Classes:

SensorResolution

Select the camera sensor resolution: 1280×720, 1280×800, 640×400, 640×480

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`boardSocket`
`fps`
`initialControl`
`resolution`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getBoardSocket(self: depthai.node.MonoCamera) → depthai.CameraBoardSocket ¶

Retrieves which board socket to use

Returns: Board socket to use

getCamId(self: depthai.node.MonoCamera) → int ¶

getFps(self: depthai.node.MonoCamera) → float ¶

Get rate at which camera should produce frames

Returns: Rate in frames per second

getImageOrientation(self: depthai.node.MonoCamera) → depthai.CameraImageOrientation ¶: Get camera image orientation

getResolution(self: depthai.node.MonoCamera) → depthai.MonoCameraProperties.SensorResolution ¶: Get sensor resolution

getResolutionHeight(self: depthai.node.MonoCamera) → int ¶: Get sensor resolution height

getResolutionSize(self: depthai.node.MonoCamera) → Tuple[int, int]¶: Get sensor resolution as size

getResolutionWidth(self: depthai.node.MonoCamera) → int ¶: Get sensor resolution width

property initialControl¶: Initial control options to apply to sensor

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

property out¶

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

Suitable for use StereoDepth node. Processed by ISP

property raw¶

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

Captured directly from the camera sensor

setBoardSocket(self: depthai.node.MonoCamera, boardSocket: depthai.CameraBoardSocket) → None ¶

Specify which board socket to use

Parameter boardSocket:: Board socket to use

setCamId(self: depthai.node.MonoCamera, arg0: int) → None ¶

setFps(self: depthai.node.MonoCamera, fps: float) → None ¶

Set rate at which camera should produce frames

Parameter fps:: Rate in frames per second

setImageOrientation(self: depthai.node.MonoCamera, imageOrientation: depthai.CameraImageOrientation) → None ¶: Set camera image orientation

setResolution(self: depthai.node.MonoCamera, resolution: depthai.MonoCameraProperties.SensorResolution) → None ¶: Set sensor resolution

class depthai.node.NeuralNetwork¶

Bases: depthai.Node

NeuralNetwork node. Runs a neural inference on input data.

Classes:

Properties

alias of depthai.NeuralNetworkProperties

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getNumInferenceThreads`(self)	How many inference threads will be used to run the network
`setBlobPath`(self, path)	Load network blob into assets and use once pipeline is started.
`setNumInferenceThreads`(self, numThreads)	How many threads should the node use to run the network.
`setNumNCEPerInferenceThread`(self, …)	How many Neural Compute Engines should a single thread use for inference
`setNumPoolFrames`(self, numFrames)	Specifies how many frames will be available in the pool

Attributes:

`input`	Input message with data to be inferred upon Default queue is blocking with size 5
`inputs`	Inputs mapped to network inputs.
`out`	Outputs NNData message that carries inference results
`passthrough`	Passthrough message on which the inference was performed.
`passthroughs`	Passthroughs which correspond to specified input

Properties¶

alias of depthai.NeuralNetworkProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`blobSize`
`blobUri`
`numFrames`
`numNCEPerThread`
`numThreads`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getNumInferenceThreads(self: depthai.node.NeuralNetwork) → int ¶

How many inference threads will be used to run the network

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

property input¶: Input message with data to be inferred upon Default queue is blocking with size 5

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

property out¶: Outputs NNData message that carries inference results

property passthrough¶

Passthrough message on which the inference was performed.

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

property passthroughs¶: Passthroughs which correspond to specified input

setBlobPath(self: depthai.node.NeuralNetwork, path: object) → None ¶

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

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

Parameter path:: Path to network blob

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

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

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

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

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

Parameter numNCEPerThread:: Number of NCE per thread

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

Specifies how many frames will be available in the pool

Parameter numFrames:: How many frames will pool have

class depthai.node.ObjectTracker¶

Bases: depthai.Node

ObjectTracker node. Performs object tracking using Kalman filter and hungarian algorithm.

Classes:

Properties

alias of depthai.ObjectTrackerProperties

Methods:

`__init__`(args, *kwargs)	Initialize self.
`setDetectionLabelsToTrack`(self, labels)	Specify detection labels to track.
`setMaxObjectsToTrack`(self, maxObjectsToTrack)	Specify maximum number of object to track.
`setTrackerIdAssignmentPolicy`(self, type)	Specify tracker ID assignment policy.
`setTrackerThreshold`(self, threshold)	Specify tracker threshold.
`setTrackerType`(self, type)	Specify tracker type algorithm.

Attributes:

`inputDetectionFrame`	Input ImgFrame message on which object detection was performed.
`inputDetections`	Input message with image detection from neural network.
`inputTrackerFrame`	Input ImgFrame message on which tracking will be performed.
`out`	Outputs Tracklets message that carries object tracking results.
`passthroughDetectionFrame`	Passthrough ImgFrame message on which object detection was performed.
`passthroughDetections`	Passthrough image detections message from neural network output.
`passthroughTrackerFrame`	Passthrough ImgFrame message on which tracking was performed.

Properties¶

alias of depthai.ObjectTrackerProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`detectionLabelsToTrack`	Which detections labels to track.
`maxObjectsToTrack`	Maximum number of objects to track.
`trackerIdAssignmentPolicy`	New ID assignment policy.
`trackerThreshold`	Confidence threshold for tracklets.
`trackerType`	Tracking method.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

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

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

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

property out¶: Outputs Tracklets message that carries object tracking results.

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

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

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

setDetectionLabelsToTrack(self: depthai.node.ObjectTracker, labels: List[int]) → None ¶

Specify detection labels to track.

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

setMaxObjectsToTrack(self: depthai.node.ObjectTracker, maxObjectsToTrack: int) → None ¶

Specify maximum number of object to track.

Parameter maxObjectsToTrack:: Maximum number of object to track. Maximum 60.

setTrackerIdAssignmentPolicy(self: depthai.node.ObjectTracker, type: depthai.TrackerIdAssignmentPolicy) → None ¶

Specify tracker ID assignment policy.

Parameter type:: Tracker ID assignment policy.

setTrackerThreshold(self: depthai.node.ObjectTracker, threshold: float) → None ¶

Specify tracker threshold.

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

setTrackerType(self: depthai.node.ObjectTracker, type: depthai.TrackerType) → None ¶

Specify tracker type algorithm.

Parameter type:: Tracker type.

class depthai.node.SPIIn¶

Bases: depthai.Node

SPIIn node. Receives messages over SPI.

Classes:

Properties

alias of depthai.SPIInProperties

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getBusId`(self)	Get bus id
`getMaxDataSize`(self)	Get maximum messages size in bytes
`getNumFrames`(self)	Get number of frames in pool
`getStreamName`(self)	Get stream name
`setBusId`(self, id)	Specifies SPI Bus number to use
`setMaxDataSize`(self, maxDataSize)	Set maximum message size it can receive
`setNumFrames`(self, numFrames)	Set number of frames in pool for sending messages forward
`setStreamName`(self, name)	Specifies stream name over which the node will receive data

Attributes:

out

Outputs message of same type as send from host.

Properties¶

alias of depthai.SPIInProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`busId`
`maxDataSize`
`numFrames`
`streamName`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getBusId(self: depthai.node.SPIIn) → int ¶: Get bus id

getMaxDataSize(self: depthai.node.SPIIn) → int ¶: Get maximum messages size in bytes

getNumFrames(self: depthai.node.SPIIn) → int ¶: Get number of frames in pool

getStreamName(self: depthai.node.SPIIn) → str ¶: Get stream name

property out¶: Outputs message of same type as send from host.

setBusId(self: depthai.node.SPIIn, id: int) → None ¶

Specifies SPI Bus number to use

Parameter id:: SPI Bus id

setMaxDataSize(self: depthai.node.SPIIn, maxDataSize: int) → None ¶

Set maximum message size it can receive

Parameter maxDataSize:: Maximum size in bytes

setNumFrames(self: depthai.node.SPIIn, numFrames: int) → None ¶

Set number of frames in pool for sending messages forward

Parameter numFrames:: Maximum number of frames in pool

setStreamName(self: depthai.node.SPIIn, name: str) → None ¶

Specifies stream name over which the node will receive data

Parameter name:: Stream name

class depthai.node.SPIOut¶

Bases: depthai.Node

SPIOut node. Sends messages over SPI.

Classes:

Properties

alias of depthai.SPIOutProperties

Methods:

`__init__`(args, *kwargs)	Initialize self.
`setBusId`(self, id)	Specifies SPI Bus number to use
`setStreamName`(self, name)	Specifies stream name over which the node will send data

Attributes:

input

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

Properties¶

alias of depthai.SPIOutProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`busId`
`streamName`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property input¶

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

Default queue is blocking with size 8

setBusId(self: depthai.node.SPIOut, id: int) → None ¶

Specifies SPI Bus number to use

Parameter id:: SPI Bus id

setStreamName(self: depthai.node.SPIOut, name: str) → None ¶

Specifies stream name over which the node will send data

Parameter name:: Stream name

class depthai.node.Script¶

Bases: depthai.Node

Classes:

Properties

alias of depthai.ScriptProperties

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getProcessor`(self)	Get on which processor the script should run
`getScriptName`(self)	Get filesystem path from where script was loaded.
`getScriptPath`(self)	Get filesystem path from where script was loaded.
`setProcessor`(self, arg0)	Set on which processor the script should run
`setScript`(args, *kwargs)	Overloaded function.
`setScriptPath`(self, arg0)	Specify local filesystem path to load the script

Attributes:

`inputs`
`outputs`

Properties¶

alias of depthai.ScriptProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`processor`	Which processor should execute the script
`scriptName`	Name of script
`scriptUri`	Uri which points to actual script

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getProcessor(self: depthai.node.Script) → depthai.ProcessorType ¶

Get on which processor the script should run

Returns: Processor type - Leon CSS or Leon MSS

getScriptName(self: depthai.node.Script) → str ¶: Get filesystem path from where script was loaded. If script wasn’t set by path, function returns empty string

getScriptPath(self: depthai.node.Script) → str ¶: Get filesystem path from where script was loaded. If script wasn’t set by path, function returns empty string

property inputs¶

property outputs¶

setProcessor(self: depthai.node.Script, arg0: depthai.ProcessorType) → None ¶

Set on which processor the script should run

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

setScript(*args, **kwargs)¶

Overloaded function.

setScript(self: depthai.node.Script, script: str, name: str = ‘’) -> None

Sets script data to be interpreted

Parameter script:: Script string to be interpreted
Parameter name:: Optionally set a name of this script

setScript(self: depthai.node.Script, data: List[int], name: str = ‘’) -> None

Sets script data to be interpreted

Parameter data:: Binary data that represents the script to be interpreted
Parameter name:: Optionally set a name of this script

setScriptPath(self: depthai.node.Script, arg0: str) → None ¶: Specify local filesystem path to load the script

class depthai.node.SpatialDetectionNetwork¶

Bases: depthai.node.DetectionNetwork

SpatialDetectionNetwork node. Runs a neural inference on input image and calculates spatial location data.

Classes:

Properties

alias of depthai.SpatialDetectionNetworkProperties

Methods:

`__init__`(args, *kwargs)	Initialize self.
`setBoundingBoxScaleFactor`(self, scaleFactor)	Specifies scale factor for detected bounding boxes.
`setDepthLowerThreshold`(self, lowerThreshold)	Specifies lower threshold in millimeters for depth values which will used to calculate spatial data
`setDepthUpperThreshold`(self, upperThreshold)	Specifies upper threshold in millimeters for depth values which will used to calculate spatial data
`setSpatialCalculationAlgorithm`(self, …)	Specifies spatial location calculator algorithm: Average/Min/Max

Attributes:

`boundingBoxMapping`	Outputs mapping of detected bounding boxes relative to depth map
`input`	Input message with data to be inferred upon Default queue is blocking with size 5
`inputDepth`	Input message with depth data used to retrieve spatial information about detected object Default queue is non-blocking with size 4
`out`	Outputs ImgDetections message that carries parsed detection results.
`passthrough`	Passthrough message on which the inference was performed.
`passthroughDepth`	Passthrough message for depth frame on which the spatial location calculation was performed.

Properties¶

alias of depthai.SpatialDetectionNetworkProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`depthThresholds`
`detectedBBScaleFactor`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property boundingBoxMapping¶

Outputs mapping of detected bounding boxes relative to depth map

Suitable for when displaying remapped bounding boxes on depth frame

property input¶: Input message with data to be inferred upon Default queue is blocking with size 5

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

property out¶: Outputs ImgDetections message that carries parsed detection results.

property passthrough¶

Passthrough message on which the inference was performed.

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

property passthroughDepth¶

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

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

setBoundingBoxScaleFactor(self: depthai.node.SpatialDetectionNetwork, scaleFactor: float) → None ¶

Specifies scale factor for detected bounding boxes.

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

setDepthLowerThreshold(self: depthai.node.SpatialDetectionNetwork, lowerThreshold: int) → None ¶

Specifies lower threshold in millimeters for depth values which will used to calculate spatial data

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

setDepthUpperThreshold(self: depthai.node.SpatialDetectionNetwork, upperThreshold: int) → None ¶

Specifies upper threshold in millimeters for depth values which will used to calculate spatial data

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

setSpatialCalculationAlgorithm(self: depthai.node.SpatialDetectionNetwork, calculationAlgorithm: depthai.SpatialLocationCalculatorAlgorithm) → None ¶

Specifies spatial location calculator algorithm: Average/Min/Max

Parameter calculationAlgorithm:: Calculation algorithm.

class depthai.node.SpatialLocationCalculator¶

Bases: depthai.Node

SpatialLocationCalculator node. Calculates spatial location data on a set of ROIs on depth map.

Classes:

Properties

alias of depthai.SpatialLocationCalculatorProperties

Methods:

__init__(*args, **kwargs)

Initialize self.

getWaitForConfigInput(self)

See also

setWaitForConfigInput

setWaitForConfigInput(self, wait)

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

Attributes:

`initialConfig`	Initial config to use when calculating spatial location data.
`inputConfig`	Input SpatialLocationCalculatorConfig message with ability to modify parameters in runtime.
`inputDepth`	Input message with depth data used to retrieve spatial information about detected object.
`out`	Outputs SpatialLocationCalculatorData message that carries spatial location results.
`passthroughDepth`	Passthrough message on which the calculation was performed.

Properties¶

alias of depthai.SpatialLocationCalculatorProperties Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

roiConfig

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getWaitForConfigInput(self: depthai.node.SpatialLocationCalculator) → bool ¶

See also

setWaitForConfigInput

Returns: True if wait for inputConfig message, false otherwise

property initialConfig¶: Initial config to use when calculating spatial location data.

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

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

property out¶: Outputs SpatialLocationCalculatorData message that carries spatial location results.

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

setWaitForConfigInput(self: depthai.node.SpatialLocationCalculator, wait: bool) → None ¶

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

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

class depthai.node.StereoDepth¶

Bases: depthai.Node

StereoDepth node. Compute stereo disparity and depth from left-right image pair.

Classes:

`PresetMode`	Preset modes for stereo depth.
`Properties`	alias of `depthai.StereoDepthProperties`

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getMaxDisparity`(self)	Useful for normalization of the disparity map.
`loadCalibrationData`(self, arg0)
`loadCalibrationFile`(self, arg0)
`loadMeshData`(self, dataLeft, dataRight)	Specify mesh calibration data for ‘left’ and ‘right’ inputs, as vectors of bytes.
`loadMeshFiles`(self, pathLeft, pathRight)	Specify local filesystem paths to the mesh calibration files for ‘left’ and ‘right’ inputs.
`setConfidenceThreshold`(self, arg0)	Confidence threshold for disparity calculation
`setDefaultProfilePreset`(self, arg0)	Sets a default preset based on specified option.
`setDepthAlign`(args, *kwargs)	Overloaded function.
`setEmptyCalibration`(self)	Specify that a passthrough/dummy calibration should be used, when input frames are already rectified (e.g.
`setExtendedDisparity`(self, enable)	Disparity range increased from 0-95 to 0-190, combined from full resolution and downscaled images.
`setInputResolution`(args, *kwargs)	Overloaded function.
`setLeftRightCheck`(self, enable)	Computes and combines disparities in both L-R and R-L directions, and combine them.
`setMedianFilter`(self, arg0)	Parameter `median`:
`setMeshStep`(self, width, height)	Set the distance between mesh points.
`setNumFramesPool`(self, arg0)	Specify number of frames in pool.
`setOutputDepth`(self, arg0)
`setOutputKeepAspectRatio`(self, keep)	Specifies whether the frames resized by setOutputSize should preserve aspect ratio, with potential cropping when enabled.
`setOutputRectified`(self, arg0)
`setOutputSize`(self, width, height)	Specify disparity/depth output resolution size, implemented by scaling.
`setPostProcessingHardwareResources`(self, …)	Specify allocated hardware resources for stereo depth.
`setRectification`(self, enable)	Rectify input images or not.
`setRectifyEdgeFillColor`(self, color)	Fill color for missing data at frame edges
`setRectifyMirrorFrame`(self, arg0)	DEPRECATED function.
`setRuntimeModeSwitch`(self, arg0)	Enable runtime stereo mode switch, e.g.
`setSubpixel`(self, enable)	Computes disparity with sub-pixel interpolation (5 fractional bits).

Attributes:

`confidenceMap`	Outputs ImgFrame message that carries RAW8 confidence map.
`debugDispCostDump`	Outputs ImgFrame message that carries cost dump of disparity map.
`debugDispLrCheckIt1`	Outputs ImgFrame message that carries left-right check first iteration (before combining with second iteration) disparity map.
`debugDispLrCheckIt2`	Outputs ImgFrame message that carries left-right check second iteration (before combining with first iteration) disparity map.
`debugExtDispLrCheckIt1`	Outputs ImgFrame message that carries extended left-right check first iteration (downscaled frame, before combining with second iteration) disparity map.
`debugExtDispLrCheckIt2`	Outputs ImgFrame message that carries extended left-right check second iteration (downscaled frame, before combining with first iteration) disparity map.
`depth`	Outputs ImgFrame message that carries RAW16 encoded (0..65535) depth data in millimeters.
`disparity`	RAW8 encoded (0..95) for standard mode; RAW8 encoded (0..190) for extended disparity mode; RAW16 encoded (0..3040) for subpixel disparity mode (32 subpixel levels on top of standard mode).
`initialConfig`	Initial config to use for StereoDepth.
`inputConfig`	Input StereoDepthConfig message with ability to modify parameters in runtime.
`left`	Input for left ImgFrame of left-right pair
`outConfig`	Outputs StereoDepthConfig message that contains current stereo configuration.
`rectifiedLeft`	Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.
`rectifiedRight`	Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.
`right`	Input for right ImgFrame of left-right pair
`syncedLeft`	Passthrough ImgFrame message from ‘left’ Input.
`syncedRight`	Passthrough ImgFrame message from ‘right’ Input.

class PresetMode¶

Bases: pybind11_builtins.pybind11_object

Preset modes for stereo depth.

Members:

HIGH_ACCURACY

HIGH_DENSITY

Attributes:

`HIGH_ACCURACY`
`HIGH_DENSITY`
`name`
`value`

Methods:

__init__(self, value)

HIGH_ACCURACY = <PresetMode.HIGH_ACCURACY: 0>¶

HIGH_DENSITY = <PresetMode.HIGH_DENSITY: 1>¶

__init__(self: depthai.node.StereoDepth.PresetMode, value: int) → None ¶

property name¶

property value¶

Properties¶

alias of depthai.StereoDepthProperties Classes:

`DepthAlign`	Align the disparity/depth to the perspective of a rectified output, or center it
`MedianFilter`	Median filter config for disparity post-processing
`RectificationMesh`

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`depthAlignCamera`	Which camera to align disparity/depth to.
`enableRectification`
`enableRuntimeStereoModeSwitch`	Whether to enable switching stereo modes at runtime or not.
`height`	Input frame height.
`initialConfig`	Initial stereo config
`mesh`	Specify a direct warp mesh to be used for rectification, instead of intrinsics + extrinsic matrices
`numFramesPool`	Num frames in output pool
`numPostProcessingMemorySlices`	Number of memory slices reserved for stereo depth post processing.
`numPostProcessingShaves`	Number of shaves reserved for stereo depth post processing.
`outHeight`	Output disparity/depth height.
`outKeepAspectRatio`	Whether to keep aspect ratio of the input (rectified) or not
`outWidth`	Output disparity/depth width.
`rectifyEdgeFillColor`	Fill color for missing data at frame edges - grayscale 0..255, or -1 to replicate pixels
`width`	Input frame width.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

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

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

property debugDispLrCheckIt1¶: Outputs ImgFrame message that carries left-right check first iteration (before combining with second iteration) disparity map. Useful for debugging/fine tuning.

property debugDispLrCheckIt2¶: Outputs ImgFrame message that carries left-right check second iteration (before combining with first iteration) disparity map. Useful for debugging/fine tuning.

property debugExtDispLrCheckIt1¶: Outputs ImgFrame message that carries extended left-right check first iteration (downscaled frame, before combining with second iteration) disparity map. Useful for debugging/fine tuning.

property debugExtDispLrCheckIt2¶: Outputs ImgFrame message that carries extended left-right check second iteration (downscaled frame, before combining with first iteration) disparity map. Useful for debugging/fine tuning.

property depth¶

Outputs ImgFrame message that carries RAW16 encoded (0..65535) depth data in millimeters.

Non-determined / invalid depth values are set to 0

property disparity¶

RAW8 encoded (0..95) for standard mode; RAW8 encoded (0..190) for extended disparity mode; RAW16 encoded (0..3040) for subpixel disparity mode (32 subpixel levels on top of standard mode).

Type: Outputs ImgFrame message that carries RAW8 / RAW16 encoded disparity data

getMaxDisparity(self: depthai.node.StereoDepth) → float ¶

Useful for normalization of the disparity map.

Returns: Maximum disparity value that the node can return

property initialConfig¶: Initial config to use for StereoDepth.

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

property left¶

Input for left ImgFrame of left-right pair

Default queue is non-blocking with size 8

loadCalibrationData(self: depthai.node.StereoDepth, arg0: List[int]) → None ¶

loadCalibrationFile(self: depthai.node.StereoDepth, arg0: str) → None ¶

loadMeshData(self: depthai.node.StereoDepth, dataLeft: List[int], dataRight: List[int]) → None ¶: Specify mesh calibration data for ‘left’ and ‘right’ inputs, as vectors of bytes. See loadMeshFiles for the expected data format

loadMeshFiles(self: depthai.node.StereoDepth, pathLeft: str, pathRight: str) → None ¶

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

When a mesh calibration is set, it overrides the camera intrinsics/extrinsics matrices. 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

property outConfig¶: Outputs StereoDepthConfig message that contains current stereo configuration.

property rectifiedLeft¶: Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.

property rectifiedRight¶: Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.

property right¶

Input for right ImgFrame of left-right pair

Default queue is non-blocking with size 8

setConfidenceThreshold(self: depthai.node.StereoDepth, arg0: int) → None ¶

Confidence threshold for disparity calculation

Parameter confThr:: Confidence threshold value 0..255

setDefaultProfilePreset(self: depthai.node.StereoDepth, arg0: depthai.node.StereoDepth.PresetMode) → None ¶

Sets a default preset based on specified option.

Parameter mode:: Stereo depth preset mode

setDepthAlign(*args, **kwargs)¶

Overloaded function.

setDepthAlign(self: depthai.node.StereoDepth, align: depthai.RawStereoDepthConfig.AlgorithmControl.DepthAlign) -> None

Parameter align:: Set the disparity/depth alignment: centered (between the ‘left’ and ‘right’ inputs), or from the perspective of a rectified output stream

setDepthAlign(self: depthai.node.StereoDepth, camera: depthai.CameraBoardSocket) -> None

Parameter camera:: Set the camera from whose perspective the disparity/depth will be aligned

setEmptyCalibration(self: depthai.node.StereoDepth) → None ¶: Specify that a passthrough/dummy calibration should be used, when input frames are already rectified (e.g. sourced from recordings on the host)

setExtendedDisparity(self: depthai.node.StereoDepth, enable: bool) → None ¶

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

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

setInputResolution(*args, **kwargs)¶

Overloaded function.

setInputResolution(self: depthai.node.StereoDepth, width: int, height: int) -> None

Specify input resolution size

Optional if MonoCamera exists, otherwise necessary

setInputResolution(self: depthai.node.StereoDepth, resolution: Tuple[int, int]) -> None

Specify input resolution size

Optional if MonoCamera exists, otherwise necessary

setLeftRightCheck(self: depthai.node.StereoDepth, enable: bool) → None ¶

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

For better occlusion handling, discarding invalid disparity values

setMedianFilter(self: depthai.node.StereoDepth, arg0: depthai.MedianFilter) → None ¶

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

setMeshStep(self: depthai.node.StereoDepth, width: int, height: int) → None ¶: Set the distance between mesh points. Default: (16, 16)

setNumFramesPool(self: depthai.node.StereoDepth, arg0: int) → None ¶

Specify number of frames in pool.

Parameter numFramesPool:: How many frames should the pool have

setOutputDepth(self: depthai.node.StereoDepth, arg0: bool) → None ¶

setOutputKeepAspectRatio(self: depthai.node.StereoDepth, keep: bool) → None ¶: Specifies whether the frames resized by setOutputSize should preserve aspect ratio, with potential cropping when enabled. Default true

setOutputRectified(self: depthai.node.StereoDepth, arg0: bool) → None ¶

setOutputSize(self: depthai.node.StereoDepth, width: int, height: int) → None ¶

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

Currently only applicable when aligning to RGB camera

setPostProcessingHardwareResources(self: depthai.node.StereoDepth, arg0: int, arg1: int) → None ¶

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

Parameter numShaves:: Number of shaves.
Parameter numMemorySlices:: Number of memory slices.

setRectification(self: depthai.node.StereoDepth, enable: bool) → None ¶: Rectify input images or not.

setRectifyEdgeFillColor(self: depthai.node.StereoDepth, color: int) → None ¶

Fill color for missing data at frame edges

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

setRectifyMirrorFrame(self: depthai.node.StereoDepth, arg0: bool) → None ¶

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

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

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

setRuntimeModeSwitch(self: depthai.node.StereoDepth, arg0: bool) → None ¶: Enable runtime stereo mode switch, e.g. from standard to LR-check. Note: when enabled resources allocated for worst case to enable switching to any mode.

setSubpixel(self: depthai.node.StereoDepth, enable: bool) → None ¶

Computes disparity with sub-pixel interpolation (5 fractional bits).

Suitable for long range. Currently incompatible with extended disparity

property syncedLeft¶: Passthrough ImgFrame message from ‘left’ Input.

property syncedRight¶: Passthrough ImgFrame message from ‘right’ Input.

class depthai.node.SystemLogger¶

Bases: depthai.Node

SystemLogger node. Send system information periodically.

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getRate`(self)	Gets logging rate, at which messages will be sent out
`setRate`(self, hz)	Specify logging rate, at which messages will be sent out

Attributes:

out

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

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getRate(self: depthai.node.SystemLogger) → float ¶: Gets logging rate, at which messages will be sent out

property out¶: Outputs SystemInformation message that carries various system information like memory and CPU usage, temperatures, …

setRate(self: depthai.node.SystemLogger, hz: float) → None ¶

Specify logging rate, at which messages will be sent out

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

class depthai.node.VideoEncoder¶

Bases: depthai.Node

VideoEncoder node. Encodes frames into MJPEG, H264 or H265.

Classes:

Properties

alias of depthai.VideoEncoderProperties

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getBitrate`(self)	Get bitrate in bps
`getBitrateKbps`(self)	Get bitrate in kbps
`getFrameRate`(self)	Get frame rate
`getHeight`(self)	Get input height
`getKeyframeFrequency`(self)	Get keyframe frequency
`getLossless`(self)	Get lossless mode.
`getNumBFrames`(self)	Get number of B frames
`getNumFramesPool`(self)	Get number of frames in pool
`getProfile`(self)	Get profile
`getQuality`(self)	Get quality
`getRateControlMode`(self)	Get rate control mode
`getSize`(self)	Get input size
`getWidth`(self)	Get input width
`setBitrate`(self, bitrate)	Set output bitrate in bps, for CBR rate control mode.
`setBitrateKbps`(self, bitrateKbps)	Set output bitrate in kbps, for CBR rate control mode.
`setDefaultProfilePreset`(args, *kwargs)	Overloaded function.
`setFrameRate`(self, frameRate)	Sets expected frame rate
`setKeyframeFrequency`(self, freq)	Set keyframe frequency.
`setLossless`(self, arg0)	Set lossless mode.
`setNumBFrames`(self, numBFrames)	Set number of B frames to be inserted
`setNumFramesPool`(self, frames)	Set number of frames in pool
`setProfile`(args, *kwargs)	Overloaded function.
`setQuality`(self, quality)	Set quality
`setRateControlMode`(self, mode)	Set rate control mode

Attributes:

`bitstream`	Outputs ImgFrame message that carries BITSTREAM encoded (MJPEG, H264 or H265) frame data.
`input`	Input for NV12 ImgFrame to be encoded Default queue is blocking with size set by ‘setNumFramesPool’ (4).

Properties¶

alias of depthai.VideoEncoderProperties Classes:

`Profile`	Encoding profile, H264 (AVC), H265 (HEVC) or MJPEG
`RateControlMode`	Rate control mode specifies if constant or variable bitrate should be used (H264 / H265)

Methods:

__init__(*args, **kwargs)

Initialize self.

Attributes:

`bitrate`
`keyframeFrequency`
`maxBitrate`
`numBFrames`
`numFramesPool`
`profile`
`quality`
`rateCtrlMode`

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property bitstream¶: Outputs ImgFrame message that carries BITSTREAM encoded (MJPEG, H264 or H265) frame data.

getBitrate(self: depthai.node.VideoEncoder) → int ¶: Get bitrate in bps

getBitrateKbps(self: depthai.node.VideoEncoder) → int ¶: Get bitrate in kbps

getFrameRate(self: depthai.node.VideoEncoder) → float ¶: Get frame rate

getHeight(self: depthai.node.VideoEncoder) → int ¶: Get input height

getKeyframeFrequency(self: depthai.node.VideoEncoder) → int ¶: Get keyframe frequency

getLossless(self: depthai.node.VideoEncoder) → bool ¶: Get lossless mode. Applies only when using [M]JPEG profile.

getNumBFrames(self: depthai.node.VideoEncoder) → int ¶: Get number of B frames

getNumFramesPool(self: depthai.node.VideoEncoder) → int ¶

Get number of frames in pool

Returns: Number of pool frames

getProfile(self: depthai.node.VideoEncoder) → depthai.VideoEncoderProperties.Profile ¶: Get profile

getQuality(self: depthai.node.VideoEncoder) → int ¶: Get quality

getRateControlMode(self: depthai.node.VideoEncoder) → depthai.VideoEncoderProperties.RateControlMode ¶: Get rate control mode

getSize(self: depthai.node.VideoEncoder) → Tuple[int, int]¶: Get input size

getWidth(self: depthai.node.VideoEncoder) → int ¶: Get input width

property input¶: Input for NV12 ImgFrame to be encoded Default queue is blocking with size set by ‘setNumFramesPool’ (4).

setBitrate(self: depthai.node.VideoEncoder, bitrate: int) → None ¶: Set output bitrate in bps, for CBR rate control mode. 0 for auto (based on frame size and FPS)

setBitrateKbps(self: depthai.node.VideoEncoder, bitrateKbps: int) → None ¶: Set output bitrate in kbps, for CBR rate control mode. 0 for auto (based on frame size and FPS)

setDefaultProfilePreset(*args, **kwargs)¶

Overloaded function.

setDefaultProfilePreset(self: depthai.node.VideoEncoder, fps: float, profile: depthai.VideoEncoderProperties.Profile) -> None

Sets a default preset based on specified frame rate and profile

Parameter fps:: Frame rate in frames per second
Parameter profile:: Encoding profile

setDefaultProfilePreset(self: depthai.node.VideoEncoder, arg0: int, arg1: int, arg2: float, arg3: depthai.VideoEncoderProperties.Profile) -> None

Sets a default preset based on specified input size, frame rate and profile

Parameter width:: Input frame width
Parameter height:: Input frame height
Parameter fps:: Frame rate in frames per second
Parameter profile:: Encoding profile

setDefaultProfilePreset(self: depthai.node.VideoEncoder, arg0: Tuple[int, int], arg1: float, arg2: depthai.VideoEncoderProperties.Profile) -> None

Sets a default preset based on specified input size, frame rate and profile

Parameter size:: Input frame size
Parameter fps:: Frame rate in frames per second
Parameter profile:: Encoding profile

setFrameRate(self: depthai.node.VideoEncoder, frameRate: float) → None ¶

Sets expected frame rate

Parameter frameRate:: Frame rate in frames per second

setKeyframeFrequency(self: depthai.node.VideoEncoder, freq: int) → None ¶

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

Applicable only to H264 and H265 profiles

Examples:

30 FPS video, keyframe frequency: 30. Every 1s a keyframe will be inserted
60 FPS video, keyframe frequency: 180. Every 3s a keyframe will be inserted

setLossless(self: depthai.node.VideoEncoder, arg0: bool) → None ¶

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

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

setNumBFrames(self: depthai.node.VideoEncoder, numBFrames: int) → None ¶: Set number of B frames to be inserted

setNumFramesPool(self: depthai.node.VideoEncoder, frames: int) → None ¶

Set number of frames in pool

Parameter frames:: Number of pool frames

setProfile(*args, **kwargs)¶

Overloaded function.

setProfile(self: depthai.node.VideoEncoder, profile: depthai.VideoEncoderProperties.Profile) -> None

Set encoding profile

setProfile(self: depthai.node.VideoEncoder, arg0: Tuple[int, int], arg1: depthai.VideoEncoderProperties.Profile) -> None

Set encoding profile

setProfile(self: depthai.node.VideoEncoder, arg0: int, arg1: int, arg2: depthai.VideoEncoderProperties.Profile) -> None

Set encoding profile

setQuality(self: depthai.node.VideoEncoder, quality: int) → None ¶

Set quality

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

setRateControlMode(self: depthai.node.VideoEncoder, mode: depthai.VideoEncoderProperties.RateControlMode) → None ¶: Set rate control mode

class depthai.node.XLinkIn¶

Bases: depthai.Node

XLinkIn node. Receives messages over XLink.

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getMaxDataSize`(self)	Get maximum messages size in bytes
`getNumFrames`(self)	Get number of frames in pool
`getStreamName`(self)	Get stream name
`setMaxDataSize`(self, maxDataSize)	Set maximum message size it can receive
`setNumFrames`(self, numFrames)	Set number of frames in pool for sending messages forward
`setStreamName`(self, streamName)	Specifies XLink stream name to use.

Attributes:

out

Outputs message of same type as send from host.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getMaxDataSize(self: depthai.node.XLinkIn) → int ¶: Get maximum messages size in bytes

getNumFrames(self: depthai.node.XLinkIn) → int ¶: Get number of frames in pool

getStreamName(self: depthai.node.XLinkIn) → str ¶: Get stream name

property out¶: Outputs message of same type as send from host.

setMaxDataSize(self: depthai.node.XLinkIn, maxDataSize: int) → None ¶

Set maximum message size it can receive

Parameter maxDataSize:: Maximum size in bytes

setNumFrames(self: depthai.node.XLinkIn, numFrames: int) → None ¶

Set number of frames in pool for sending messages forward

Parameter numFrames:: Maximum number of frames in pool

setStreamName(self: depthai.node.XLinkIn, streamName: str) → None ¶

Specifies XLink stream name to use.

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

Parameter name:: Stream name

class depthai.node.XLinkOut¶

Bases: depthai.Node

XLinkOut node. Sends messages over XLink.

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getFpsLimit`(self)	Get rate limit in messages per second
`getMetadataOnly`(self)	Get whether to transfer only messages attributes and not buffer data
`getStreamName`(self)	Get stream name
`setFpsLimit`(self, fpsLimit)	Specifies a message sending limit.
`setMetadataOnly`(self, arg0)	Specify whether to transfer only messages attributes and not buffer data
`setStreamName`(self, streamName)	Specifies XLink stream name to use.

Attributes:

input

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

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getFpsLimit(self: depthai.node.XLinkOut) → float ¶: Get rate limit in messages per second

getMetadataOnly(self: depthai.node.XLinkOut) → bool ¶: Get whether to transfer only messages attributes and not buffer data

getStreamName(self: depthai.node.XLinkOut) → str ¶: Get stream name

property input¶

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

Default queue is blocking with size 8

setFpsLimit(self: depthai.node.XLinkOut, fpsLimit: float) → None ¶

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

Parameter fps:: Approximate rate limit in messages per second

setMetadataOnly(self: depthai.node.XLinkOut, arg0: bool) → None ¶: Specify whether to transfer only messages attributes and not buffer data

setStreamName(self: depthai.node.XLinkOut, streamName: str) → None ¶

Specifies XLink stream name to use.

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

Parameter name:: Stream name

class depthai.node.YoloDetectionNetwork¶

Bases: depthai.node.DetectionNetwork

YoloDetectionNetwork node. Parses Yolo results

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getAnchorMasks`(self)	Get anchor masks
`getAnchors`(self)	Get anchors
`getCoordinateSize`(self)	Get coordianate size
`getIouThreshold`(self)	Get Iou threshold
`getNumClasses`(self)	Get num classes
`setAnchorMasks`(self, anchorMasks, List[int]])	Set anchor masks
`setAnchors`(self, anchors)	Set anchors
`setCoordinateSize`(self, coordinates)	Set coordianate size
`setIouThreshold`(self, thresh)	Set Iou threshold
`setNumClasses`(self, numClasses)	Set num classes

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getAnchorMasks(self: depthai.node.YoloDetectionNetwork) → Dict[str, List[int]]¶: Get anchor masks

getAnchors(self: depthai.node.YoloDetectionNetwork) → List[float]¶: Get anchors

getCoordinateSize(self: depthai.node.YoloDetectionNetwork) → int ¶: Get coordianate size

getIouThreshold(self: depthai.node.YoloDetectionNetwork) → float ¶: Get Iou threshold

getNumClasses(self: depthai.node.YoloDetectionNetwork) → int ¶: Get num classes

setAnchorMasks(self: depthai.node.YoloDetectionNetwork, anchorMasks: Dict[str, List[int]]) → None ¶: Set anchor masks

setAnchors(self: depthai.node.YoloDetectionNetwork, anchors: List[float]) → None ¶: Set anchors

setCoordinateSize(self: depthai.node.YoloDetectionNetwork, coordinates: int) → None ¶: Set coordianate size

setIouThreshold(self: depthai.node.YoloDetectionNetwork, thresh: float) → None ¶: Set Iou threshold

setNumClasses(self: depthai.node.YoloDetectionNetwork, numClasses: int) → None ¶: Set num classes

class depthai.node.YoloSpatialDetectionNetwork¶

Bases: depthai.node.SpatialDetectionNetwork

YoloSpatialDetectionNetwork node. (tiny)Yolov3/v4 based network with spatial location data.

Methods:

`__init__`(args, *kwargs)	Initialize self.
`getAnchorMasks`(self)	Get anchor masks
`getAnchors`(self)	Get anchors
`getCoordinateSize`(self)	Get coordianate size
`getIouThreshold`(self)	Get Iou threshold
`getNumClasses`(self)	Get num classes
`setAnchorMasks`(self, anchorMasks, List[int]])	Set anchor masks
`setAnchors`(self, anchors)	Set anchors
`setCoordinateSize`(self, coordinates)	Set coordianate size
`setIouThreshold`(self, thresh)	Set Iou threshold
`setNumClasses`(self, numClasses)	Set num classes

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getAnchorMasks(self: depthai.node.YoloSpatialDetectionNetwork) → Dict[str, List[int]]¶: Get anchor masks

getAnchors(self: depthai.node.YoloSpatialDetectionNetwork) → List[float]¶: Get anchors

getCoordinateSize(self: depthai.node.YoloSpatialDetectionNetwork) → int ¶: Get coordianate size

getIouThreshold(self: depthai.node.YoloSpatialDetectionNetwork) → float ¶: Get Iou threshold

getNumClasses(self: depthai.node.YoloSpatialDetectionNetwork) → int ¶: Get num classes

setAnchorMasks(self: depthai.node.YoloSpatialDetectionNetwork, anchorMasks: Dict[str, List[int]]) → None ¶: Set anchor masks

setAnchors(self: depthai.node.YoloSpatialDetectionNetwork, anchors: List[float]) → None ¶: Set anchors

setCoordinateSize(self: depthai.node.YoloSpatialDetectionNetwork, coordinates: int) → None ¶: Set coordianate size

setIouThreshold(self: depthai.node.YoloSpatialDetectionNetwork, thresh: float) → None ¶: Set Iou threshold

setNumClasses(self: depthai.node.YoloSpatialDetectionNetwork, numClasses: int) → None ¶: Set num classes