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‎cmake/Hunter/config.cmake‎

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# Temporary pybind11 2.6.3dev1 chrono bindings patch
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# Pybind11 2.7.0
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hunter_config(
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pybind11
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VERSION "2.6.3dev1"
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URL "https://github.com/pybind/pybind11/archive/54430436fee2afc4f8443691075a6208f9ea8eba.tar.gz"
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SHA1 "c8550f7d77e92045c996d17f1d214223d1e2e620"
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VERSION "2.7.0"
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URL "https://github.com/pybind/pybind11/archive/refs/tags/v2.7.0.tar.gz"
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SHA1 "3a7010e5952c56e08c8f9b7d6fb458a173fd585a"
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)

‎cmake/pybind11-mkdoc.cmake‎

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# Docstring wrap width
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-w 80
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-o "${output_path}"
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# C++ standard
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-std=c++14
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# List of include directories
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"-I$<JOIN:$<TARGET_PROPERTY:${target},INTERFACE_INCLUDE_DIRECTORIES>,;-I>"
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# List of compiler definitions

‎depthai-core‎

Submodule depthai-core updated 37 files

‎docs/source/components/bootloader.rst‎

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progressCb parameter takes a callback function, which will be called each time an progress update occurs (rate limited to 1 second). This is mainly
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used to inform the user of the current flashing progress.
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You can also check the version of the current bootloader by using the :ref:`Bootloader Version` example.
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DepthAI Application Package (.dap)
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##################################
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‎docs/source/components/messages/imu_data.rst‎

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IMUData
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=======
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IMU data message is created by the :ref:`IMU` node.
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Reference
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#########
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.. tabs::
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.. tab:: Python
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.. autoclass:: depthai.IMUData
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:members:
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:inherited-members:
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:noindex:
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.. tab:: C++
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.. doxygenclass:: dai::IMUData
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:project: depthai-core
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:members:
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:private-members:
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:undoc-members:
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.. include:: ../../includes/footer-short.rst

‎docs/source/components/nodes/color_camera.rst‎

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.. code-tab:: py
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pipeline = dai.Pipeline()
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cam = pipeline.createColorCamera()
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cam = pipeline.create(dai.node.ColorCamera)
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.. code-tab:: c++
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.. code-tab:: py
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pipeline = dai.Pipeline()
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cam = pipeline.createColorCamera()
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cam = pipeline.create(dai.node.ColorCamera)
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cam.setPreviewSize(300, 300)
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cam.setBoardSocket(dai.CameraBoardSocket.RGB)
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cam.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
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.. tab:: Python
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.. autoclass:: depthai.ColorCamera
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.. autoclass:: depthai.node.ColorCamera
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:members:
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:inherited-members:
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:noindex:

‎docs/source/components/nodes/edge_detector.rst‎

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.. code-tab:: py
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pipeline = dai.Pipeline()
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edgeDetector = pipeline.createEdgeDetector()
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edgeDetector = pipeline.create(dai.node.EdgeDetector)
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.. code-tab:: c++
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.. code-tab:: py
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pipeline = dai.Pipeline()
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edgeDetector = pipeline.createEdgeDetector()
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edgeDetector = pipeline.create(dai.node.EdgeDetector)
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sobelHorizontalKernel = [[1, 0, -1], [2, 0, -2], [1, 0, -1]]
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sobelVerticalKernel = [[1, 2, 1], [0, 0, 0], [-1, -2, -1]]
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.. tab:: Python
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.. autoclass:: depthai.EdgeDetector
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.. autoclass:: depthai.node.EdgeDetector
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:members:
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:inherited-members:
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:noindex:

‎docs/source/components/nodes/image_manip.rst‎

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.. code-tab:: py
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pipeline = dai.Pipeline()
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manip = pipeline.createImageManip()
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manip = pipeline.create(dai.node.ImageManip)
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pipeline = dai.Pipeline()
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manip = pipeline.createImageManip()
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manip = pipeline.create(dai.node.ImageManip)
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manip.initialConfig.setResize(300, 300)
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manip.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)
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manip->initialConfig.setResize(300, 300);
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manip->initialConfig.setFrameType(dai::ImgFrame::Type::BGR888p);
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Image formats supported
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#######################
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ImageManip node supports the following image formats:
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- for RGB input/output types only :code:`RGB888p` / :code:`BGR888p` (planar, not interleaved)
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- :code:`RAW16` input, but can only for cropping (use-case: depth map), outputting same format
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- can output :code:`GRAY8` (either as single plane, or 3-plane RGB as set with setFrameType()), but only from these inputs: :code:`RAW8, :code:`GRAY8`, :code:`YUV420p` (:ref:`ColorCamera` isp), :code:`NV12` (:ref:`ColorCamera` video / still)
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Limitations
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###########
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Besides limitations mentioned above (unsupported frame formats), there are other limitations:
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- Due to HW warp constraint, rotating/warping can be done only on frames whose width values are multiples of 16.
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Examples of functionality
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#########################
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.. tab:: Python
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.. autoclass:: depthai.ImageManip
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.. autoclass:: depthai.node.ImageManip
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:members:
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:inherited-members:
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:noindex:

‎docs/source/components/nodes/imu.rst‎

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IMU
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===
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IMU (`intertial measurement unit <https://en.wikipedia.org/wiki/Inertial_measurement_unit>`__) node can be used to receive data from the IMU chip on the device.
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Our DepthAI devices use `BNO085 <https://www.ceva-dsp.com/product/bno080-085/>`__ 9-axis sensor (`datasheet here <https://www.ceva-dsp.com/wp-content/uploads/2019/10/BNO080_085-Datasheet.pdf>`__)
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that supports sensor fusion on the (IMU) chip itself. The IMU chip is connected to the Myriad X (VPU) over SPI (we have integrated
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`this driver <https://github.com/hcrest/bno080-driver>`__ to the DepthAI).
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How to place it
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###############
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.. tabs::
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.. code-tab:: py
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pipeline = dai.Pipeline()
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imu = pipeline.create(dai.node.IMU)
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.. code-tab:: c++
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dai::Pipeline pipeline;
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auto imu = pipeline.create<dai::node::IMU>();
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Inputs and Outputs
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##################
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.. code-block::
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┌──────────────┐
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│ │
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│ │ out
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│ IMU ├─────────►
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│ │
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│ │
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└──────────────┘
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**Message types**
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- :code:`out` - :ref:`IMUData`
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Maximum frequencies
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###################
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Maximum output frequencies are 500 Hz raw accelerometer, 1000 Hz raw gyroscope values individually, and 500 Hz combined (synced) output.
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You can obtain the combined (synced) 500 Hz output with :code:`imu.enableIMUSensor([dai.IMUSensor.RAW_ACCELEROMETER, dai.IMUSensor.RAW_GYROSCOPE], 500)`.
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Usage
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#####
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.. tabs::
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.. code-tab:: py
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pipeline = dai.Pipeline()
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imu = pipeline.create(dai.node.IMU)
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# enable RAW_ACCELEROMETER and RAW_GYROSCOPE at 100 hz rate
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imu.enableIMUSensor([dai.IMUSensor.RAW_ACCELEROMETER, dai.IMUSensor.RAW_GYROSCOPE], 100)
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# above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available
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imu.setBatchReportThreshold(1)
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# maximum number of IMU packets in a batch, if it's reached device will block sending until host can receive it
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# if lower or equal to batchReportThreshold then the sending is always blocking on device
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# useful to reduce device's CPU load and number of lost packets, if CPU load is high on device side due to multiple nodes
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imu.setMaxBatchReports(10)
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.. code-tab:: c++
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dai::Pipeline pipeline;
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auto imu = pipeline.create<dai::node::IMU>();
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// enable RAW_ACCELEROMETER and RAW_GYROSCOPE at 100 hz rate
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imu->enableIMUSensor({dai::IMUSensor::RAW_ACCELEROMETER, dai::IMUSensor::RAW_GYROSCOPE}, 100);
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// above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available
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imu->setBatchReportThreshold(1);
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// maximum number of IMU packets in a batch, if it's reached device will block sending until host can receive it
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// if lower or equal to batchReportThreshold then the sending is always blocking on device
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// useful to reduce device's CPU load and number of lost packets, if CPU load is high on device side due to multiple nodes
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imu->setMaxBatchReports(10);
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IMU sensors
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###########
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When enabling the IMU sensors (:code:`imu.enableIMUSensor()`), you can select between the following sensors:
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- :code:`ACCELEROMETER_RAW`
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- :code:`ACCELEROMETER`
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- :code:`LINEAR_ACCELERATION`
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- :code:`GRAVITY`
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- :code:`GYROSCOPE_RAW`
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- :code:`GYROSCOPE_CALIBRATED`
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- :code:`GYROSCOPE_UNCALIBRATED`
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- :code:`MAGNETOMETER_RAW`
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- :code:`MAGNETOMETER_CALIBRATED`
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- :code:`MAGNETOMETER_UNCALIBRATED`
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- :code:`ROTATION_VECTOR`
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- :code:`GAME_ROTATION_VECTOR`
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- :code:`GEOMAGNETIC_ROTATION_VECTOR`
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- :code:`ARVR_STABILIZED_ROTATION_VECTOR`
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- :code:`ARVR_STABILIZED_GAME_ROTATION_VECTOR`
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Here are **descriptions of all sensors**:
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.. autoclass:: depthai.IMUSensor
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:noindex:
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Examples of functionality
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#########################
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- :ref:`IMU Accelerometer & Gyroscope`
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- :ref:`IMU Rotation Vector`
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Reference
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#########
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.. tabs::
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.. tab:: Python
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.. autoclass:: depthai.node.IMU
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:members:
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:inherited-members:
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:noindex:
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.. tab:: C++
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.. doxygenclass:: dai::node::IMU
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:project: depthai-core
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:members:
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:private-members:
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:undoc-members:
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.. include:: ../../includes/footer-short.rst

‎docs/source/components/nodes/mobilenet_detection_network.rst‎

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pipeline = dai.Pipeline()
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mobilenetDet = pipeline.createMobileNetDetectionNetwork()
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mobilenetDet = pipeline.create(dai.node.MobileNetDetectionNetwork)
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pipeline = dai.Pipeline()
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mobilenetDet = pipeline.create(dai.node.MobileNetDetectionNetwork)
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mobilenetDet.setConfidenceThreshold(0.5)
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mobilenetDet.setBlobPath(nnBlobPath)
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.. autoclass:: depthai.MobileNetDetectionNetwork
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.. autoclass:: depthai.node.MobileNetDetectionNetwork
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