OAK class to capture images and depth (there are no color images for this camera, only black and white) The depth images are aligned to the left camera by default class initialization. More...

Inheritance diagram for RGBD:

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Collaboration diagram for RGBD:

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Public Member Functions
def	__init__ (self, configs=ConfigOak())
	constructor More...

def	capture (self, bool normalization=True)
	Gets RGBD frames in ImageRGBD() class format. More...

def	get_frames (self, bool normalization=False, bool getBothMonoFrames=False, int scaleFactor=1)
	Gets the next frame. More...

def	getCameraIntrinsics (self)
	Returns the intrinsic camera matrix and distortion coefficients return out camera intrinsic matrix, camera distortion coefficients. More...

def	process_frame (self, theProcessor, figOut=False)
	process a single frame More...

def	process_frames_selected (self, theProcessor, bool figOut=True)
	Replay and process data from the bag file attached to this instance. More...

def	process_loop (self, theProcessor, bool figOut=False)
	ill loop through indefinitely and send the obtained data to the passed function. 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 Depth
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	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...

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
	cameraMatrix
	camera intrinsic matrix More...

	depthQueue
	frame queue for the depth camera More...

	device
	device of the camera (dai.Device object) More...

	distortionCoeffs
	camera distortion coefficients More...

	K
	camera intrinsic matrix More...

	monoLeftQueue
	frame queue for the left mono camera More...

	monoLeftXLink
	link for left mono camera (dai.node.XlinkOut object) More...

	monoRightQueue
	frame queue for the right mono camera More...

	monoRightXLink
	link for right mono camera (dai.node.XlinkOut object) More...

	ready
	indicates if the camera is ready to stream images More...

	spatialCalcConfigInQueue
	queue for the config for the spatial calculator More...

	spatialCalcQueue
	queue for the spatial calculator More...

Public Attributes inherited from Depth
	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 images and depth (there are no color images for this camera, only black and white) The depth images are aligned to the left camera by default class initialization.

OAK class to capture images and depth (there are no color images for this camera, only black and white)

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

Constructor & Destructor Documentation

◆ init()

def __init__	(	self,
		configs = `ConfigOak()`
	)

constructor

Parameters

[in] configs ConfigOak object. Optional argument

Reimplemented from Depth.

Member Function Documentation

◆ capture()

def capture	(		self,
		bool	normalization = `True`
	)

Gets RGBD frames in ImageRGBD() class format.

Parameters

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

Returns: images ImageRGBD object with .color and .depth images populated

Gets RGBD frames in ImageRGBD() class format.
Args:
    normalization (bool):
        - if True, the depth frame will be normalized to 0-255 for better visulaization
        - if False, the depth frame will not be normalized and is returned in units of mm

◆ get_frames()

def get_frames	(		self,
		bool	normalization = `False`,
		bool	getBothMonoFrames = `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]	getBothMonoFrames	if True, returns both left and right frames, False returns only left
[in]	scaleFactor	scaling factor on outputted frame

Returns: out the requested frames

Gets the next frame.

Args:
    normalization (optional) : 
        - if True -> will normalize the depth frame [0,255]
        - if False -> raw depth frame will be returned
    getBothMonoFrames (optional) :
        - if True -> will return both left and right image frames
        - if False -> will only return the left image frame
    scaleFactor (optional) : scaling factor on outputted frame
Returns:
    - if getBothMonoFrames = True -> ((monoLeftFrame, monoRightFrame), depthFrame, True)
    - if getBothMonoFrames = False -> (monoLeftFrame, depthFrame, True)

    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 return out camera intrinsic matrix, camera 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 from Depth.

◆ process_frame()

def process_frame	(	self,
		theProcessor,
		figOut = `False`
	)

process a single frame

Parameters

[in]	theProcessor	RGBD stream data processor. Should handle input.
[in]	figOut	if True, show raw data. if False, do NOT show raw data

Processes a single frame
Args:
    theProcessor (any) :
        - RGBD stream data processor. Should handle input.
    figOut (optional) :
        - true -> automatically show raw data
        - false -> do NOT automatically show raw data

◆ process_frames_selected()

def process_frames_selected	(		self,
			theProcessor,
		bool	figOut = `True`
	)

Replay and process data from the bag file attached to this instance.

Will loop through the bag file and send obtained data to the passed function. The raw data can be visulaized if set, otherwise the processing function is responsible for handling output of raw, intermediate, or final data.

Parameters

[in]	theProcessor	RGBD stream data processor. Should handle input.
[in]	figOut	if True, show raw data. if False, do NOT show raw data

Replay and process data from the bag file attached to this instance.
Will loop through the bag file and send obtained data to the passed function.
The raw data can be visulaized if set, otherwise the processing function is responsible
for handling output of raw, intermediate, or final data.

Args:
    theProcessor (any) :
        - RGBD stream data processor. Should handle input.
    figOut (optional) :
        - true -> automatically show raw data
        - false -> do NOT automatically show raw data

◆ process_loop()

def process_loop	(		self,
			theProcessor,
		bool	figOut = `False`
	)

ill loop through indefinitely and send the obtained data to the passed function.

The raw data can be visualized if set, otherwise the processing function is responsible for handling output of raw, intermediat, or final data

Parameters

[in]	theProcessor	RGBD stream data processor. Should handle input
[in]	figOut	if True, show raw data. if False, do NOT show raw data

Will loop through indefinitely and send the obtained data to the passed function.
The raw data can be visualized if set, otherwise the processing function is 
responsible for handling output of raw, intermediat, or final data
    
Args:
    theProcessor (any) : 
        - RGBD stream data processor. Should handle input
    figOut (optional) : 
        - true -> automatically show raw data
        - false -> do NOT automatically show raw data

◆ 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 Depth.

◆ 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 Depth.

Member Data Documentation

◆ cameraMatrix

cameraMatrix

camera intrinsic matrix

◆ depthQueue

depthQueue

frame queue for the depth camera

◆ device

device

device of the camera (dai.Device object)

◆ distortionCoeffs

distortionCoeffs

camera distortion coefficients

◆ K

K

camera intrinsic matrix

◆ monoLeftQueue

monoLeftQueue

frame queue for the left mono camera

◆ monoLeftXLink

monoLeftXLink

link for left mono camera (dai.node.XlinkOut object)

◆ monoRightQueue

monoRightQueue

frame queue for the right mono camera

◆ monoRightXLink

monoRightXLink

link for right mono camera (dai.node.XlinkOut object)

◆ ready

ready

indicates if the camera is ready to stream images

◆ spatialCalcConfigInQueue

spatialCalcConfigInQueue

queue for the config for the spatial calculator

◆ spatialCalcQueue

spatialCalcQueue

queue for the spatial calculator

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

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ capture()

◆ get_frames()

◆ getCameraIntrinsics()

◆ process_frame()

◆ process_frames_selected()

◆ process_loop()

◆ start()

◆ stop()

Member Data Documentation

◆ cameraMatrix

◆ depthQueue

◆ device

◆ distortionCoeffs

◆ K

◆ monoLeftQueue

◆ monoLeftXLink

◆ monoRightQueue

◆ monoRightXLink

◆ ready

◆ spatialCalcConfigInQueue

◆ spatialCalcQueue

◆ init()