Depth Class Reference

OAK class to capture depth frames. More...

Inheritance diagram for Depth:

Collaboration diagram for Depth:

Public Member Functions
def	__init__ (self, configs=ConfigOak())
	@breif constructor More...
def	capture (self)
	Alias for get_frames. More...
def	display (self, frame, windowName='frame')
	displays a frame More...
def	get_configs (self)
	returns the configs of the camera More...
def	get_frames (self, bool normalization=False, int scaleFactor=1)
	Gets the next frame. More...
def	getCameraIntrinsics (self)
	Returns the intrinsic camera matrix and distortion coefficients. More...
def	printConfigs (self)
	Prints out the configurations in a more human readable way. More...
def	set (self, cam, key, value)
	Set a particular configuration. More...
def	set_configs (self, configs)
	sets all of the configs of the camera More...
def	start (self)
	Start the capture stream. More...
def	stop (self)
	Stop the capture stream and release the device from use. More...
Public Member Functions inherited from Base
None	__init__ (self, configs, K=None)
	Base class instantiator for camera runners. More...
def	get (self, key)
def	get_frames (self)
def	readClicks (self)
	Read the mouse clicks recorded on a window. More...
def	registerMouseClicks (self, str windowName)
	Register a window to record mouse clicks. More...
def	set (self, key, value)
def	set_intrinsic (self, K)

Public Attributes
	calculationAlgorithm
	the calculation algorithm used for the spacital location calculator More...
	cameraMatrix
	camera intrinsic matrix More...
	depthCam
	depth camera node (dai.node.StereoDetph object) More...
	depthQueue
	frame queue for the depth camera More...
	depthXLink
	link for depth camera (dai.node.XLinkOut object) More...
	device
	the camera device (dai.Device object) More...
	distortionCoeffs
	camera distortion coefficients More...
	K
	camera intrinsic matrix More...
	monoLeftCam
	left mono camera node (dai.node.MonoCamera object) More...
	monoRightCam
	right mono camera node (dai.node.MonoCamera object) More...
	pipeline
	camera pipeline (dai.Pipeline object) More...
	ready
	indicates if the camera is ready to stream images More...
	spatialCalcConfigInQueue
	queue for the spatial calculator configuration More...
	spatialCalcConfigXLink
	link for spatial loocation calculator (dai.node.XLinkOut object) More...
	spatialCalcQueue
	queue for the spactial calculator More...
	spatialDataXLink
	link for spatial location data (dai.node.XLinkOut object) More...
	spatialLocationCalculator
	spatial location calculator node (dai.node.SpatialLocationCalculator object) More...
Public Attributes inherited from Base
	configs
	configuration dictionary for the camera More...
	K
	the camera's intrinsic matrix More...
	pts
	callback to append clicks to points list More...

Detailed Description

OAK class to capture depth frames.

The depth images are aligned to the left camera by default class initialization

OAK class to capture depth frames

The depth images are aligned to the left camera by default class initialization

Constructor & Destructor Documentation

__init__()

def __init__	(		self,
			configs = ConfigOak()
	)

@breif constructor

Parameters

[in]

configs

ConfigOak object. Optional argument

Reimplemented in RGBD.

Member Function Documentation

capture()

def capture

(

self

)

Alias for get_frames.

Alias for get_frames

display()

def display	(		self,
			frame,
			windowName = 'frame'
	)

displays a frame

Parameters

frame	the frame to display
windowName	the name of the window to display the frame on

get_configs()

def get_configs

(

self

)

returns the configs of the camera

Returns

configs the config dictionary of the camera

Reimplemented from Base.

get_frames()

def get_frames	(		self,
		bool	normalization = False,
		int	scaleFactor = 1
	)

Gets the next frame.

Parameters

[in]	normalization	if True, will normalize depth frame [0,255] for viewing. If False, depth frame is in meters
[in]	scaleFactor	scaling factor on outputted frame

Returns

depthFrame the depth frame

Gets the next frame

Args:
    normalization (optional) : 
        - if True -> will normalize the depth frame [0,255]
        - if False -> raw depth frame will be returned
    scaleFactor (optional) : scaling factor on outputted frame
Returns:
    depth frame in units of [m] if not normalized
        - if normalized, range will be from [0,255]

getCameraIntrinsics()

def getCameraIntrinsics

(

self

)

Returns the intrinsic camera matrix and distortion coefficients.

Returns

out the camera intrinsic matrix and distortion coefficients

Returns the intrinsic camera matrix and distortion coefficients

Returns:
    cameraMatrix:
    distortionCoeffs :
        (list (3,3)) intrinsice camera matrix distortionCoeffs 
        (list (,14)) distortion coefficients of the camera

Reimplemented in RGBD.

printConfigs()

def printConfigs

(

self

)

Prints out the configurations in a more human readable way.

Prints out the configurations in a more human readable way

set()

def set	(		self,
			cam,
			key,
			value
	)

Set a particular configuration.

Parameters

cam	name of the camera to config (monoLeftCam / monoRightCam / depthCam / spatialLocationCalculator)
key	The configuration name
value	The value to be set

Set a particular configuration

Args:
    cam (any): name of the camera to config 
        - (monoLeftCam / monoRightCam / depthCam / spatialLocationCalculator)
    key (any): The configuration name
    value (any): The value to be set

set_configs()

def set_configs	(		self,
			configs
	)

sets all of the configs of the camera

Parameters

[in]

configs

the config dictionary for the camera

Reimplemented from Base.

start()

def start

(

self

)

Start the capture stream.

This must be called before get_frames() or capture()

Start the capture stream. This must be called before get_frames() or capture()

Reimplemented from Base.

Reimplemented in RGBD.

stop()

def stop

(

self

)

Stop the capture stream and release the device from use.

Stop the capture stream and release the device from use

Reimplemented from Base.

Reimplemented in RGBD.

Member Data Documentation

calculationAlgorithm

calculationAlgorithm

the calculation algorithm used for the spacital location calculator

cameraMatrix

cameraMatrix

camera intrinsic matrix

depthCam

depthCam

depth camera node (dai.node.StereoDetph object)

depthQueue

depthQueue

frame queue for the depth camera

depthXLink

depthXLink

link for depth camera (dai.node.XLinkOut object)

device

device

the camera device (dai.Device object)

distortionCoeffs

distortionCoeffs

camera distortion coefficients

K

K

camera intrinsic matrix

monoLeftCam

monoLeftCam

left mono camera node (dai.node.MonoCamera object)

monoRightCam

monoRightCam

right mono camera node (dai.node.MonoCamera object)

pipeline

pipeline

camera pipeline (dai.Pipeline object)

ready

ready

indicates if the camera is ready to stream images

spatialCalcConfigInQueue

spatialCalcConfigInQueue

queue for the spatial calculator configuration

spatialCalcConfigXLink

spatialCalcConfigXLink

link for spatial loocation calculator (dai.node.XLinkOut object)

spatialCalcQueue

spatialCalcQueue

queue for the spactial calculator

spatialDataXLink

spatialDataXLink

link for spatial location data (dai.node.XLinkOut object)

spatialLocationCalculator

spatialLocationCalculator

spatial location calculator node (dai.node.SpatialLocationCalculator object)

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The documentation for this class was generated from the following file:

• /home/mary/python/camera/camera/OAK.py