Python API References

class ArducamDepthCamera.ArducamCamera

Bases: object

close() → TofErrorCode: Close the camera

getCameraInfo() → CameraInfo: Get camera information.

getControl(ctrl: Control) → int: Get camera parameters.

open(mode: Connection, index: int = 0) → TofErrorCode

Initialize the camera configuration and turn on the camera, set the initialization frame according to the mode.

mode Specify the connection method.
index Device node, the default value is video0.

openWithFile(path: str, index: int = 0) → TofErrorCode

Initialize the camera configuration and turn on the camera, set the initialization frame according to the mode.

path Specify the config file path.
index Device node, the default value is video0.

releaseFrame(frame: Frame) → TofErrorCode: Free the memory space of the frame.

requestFrame(timeout: int) → Frame: Request a frame of data from the frame processing thread.

setControl(ctrl: Control, value: int) → TofErrorCode: Set camera parameters.

start(type: FrameType) → TofErrorCode: Start the camera stream and start processing.

stop() → TofErrorCode: Stop camera stream and processing.

class ArducamDepthCamera.CameraInfo

Bases: object

bit_width: int

bpp: int

connect: Connection

device_type: DeviceType

height: int

index: int

type: FrameType

width: int

class ArducamDepthCamera.Connection(value: int)

Bases: object

Members:

CSI

USB

CSI: ClassVar[Connection]

USB: ClassVar[Connection]

property name: str

property value: int

class ArducamDepthCamera.Control(value: int)

Bases: object

Members:

RANGE

FMT_WIDTH

FMT_HEIGHT

MODE

FRAME_MODE

EXPOSURE

FRAME_RATE

SKIP_FRAME

SKIP_FRAME_LOOP

AUTO_FRAME_RATE

INTRINSIC_FX

INTRINSIC_FY

INTRINSIC_CX

INTRINSIC_CY

DENOISE

HFLIP

VFLIP

CONFIG_DIR_EXT

LOAD_CALI_DATA

SAVE_CALI_DATA

I2C_BY_PASS

I2C_BUS_NUM

AUTO_FRAME_RATE: ClassVar[Control]

CONFIG_DIR_EXT: ClassVar[Control]

DENOISE: ClassVar[Control]

EXPOSURE: ClassVar[Control]

FMT_HEIGHT: ClassVar[Control]

FMT_WIDTH: ClassVar[Control]

FRAME_MODE: ClassVar[Control]

FRAME_RATE: ClassVar[Control]

HFLIP: ClassVar[Control]

I2C_BUS_NUM: ClassVar[Control]

I2C_BY_PASS: ClassVar[Control]

INTRINSIC_CX: ClassVar[Control]

INTRINSIC_CY: ClassVar[Control]

INTRINSIC_FX: ClassVar[Control]

INTRINSIC_FY: ClassVar[Control]

LOAD_CALI_DATA: ClassVar[Control]

MODE: ClassVar[Control]

RANGE: ClassVar[Control]

SAVE_CALI_DATA: ClassVar[Control]

SKIP_FRAME: ClassVar[Control]

SKIP_FRAME_LOOP: ClassVar[Control]

VFLIP: ClassVar[Control]

property name: str

property value: int

class ArducamDepthCamera.DepthData

Bases: Frame

property amplitude_data: numpy.ndarray[Any, numpy.dtype[numpy.float32]]: Frame data(amplitude data)

property confidence_data: numpy.ndarray[Any, numpy.dtype[numpy.float32]]: Frame data(confidence data)

property data: dict: Frame data

property depth_data: numpy.ndarray[Any, numpy.dtype[numpy.float32]]: Frame data(depth data)

property format: FrameFormat: Frame data format

class ArducamDepthCamera.DeviceType(value: int)

Bases: object

Members:

VGA

HQVGA

HQVGA: ClassVar[DeviceType]

VGA: ClassVar[DeviceType]

property name: str

property value: int

class ArducamDepthCamera.Frame

Bases: object

property data: dict: Frame data

property format: FrameFormat: Frame data format

class ArducamDepthCamera.FrameFormat

Bases: object

height: int

timestamp: int

type: FrameType

width: int

class ArducamDepthCamera.FrameType(value: int)

Bases: object

Members:

RAW

DEPTH

CONFIDENCE

AMPLITUDE

CACHE

AMPLITUDE: ClassVar[FrameType]

CACHE: ClassVar[FrameType]

CONFIDENCE: ClassVar[FrameType]

DEPTH: ClassVar[FrameType]

RAW: ClassVar[FrameType]

property name: str

property value: int

class ArducamDepthCamera.RawData

Bases: Frame

property data: dict: Frame data

property format: FrameFormat: Frame data format

property raw_data: numpy.ndarray[Any, numpy.dtype[numpy.int16]]: Frame data(raw data)

class ArducamDepthCamera.TofErrorCode(value: int)

Bases: object

Members:

ArducamSuccess

ArducamInvalidParameter

ArducamNoCache

ArducamUnkownDevice

ArducamNotImplemented

ArducamSkipFrame

ArducamSystemError

ArducamUnkownError

ArducamInvalidParameter: ClassVar[TofErrorCode]

ArducamNoCache: ClassVar[TofErrorCode]

ArducamNotImplemented: ClassVar[TofErrorCode]

ArducamSkipFrame: ClassVar[TofErrorCode]

ArducamSuccess: ClassVar[TofErrorCode]

ArducamSystemError: ClassVar[TofErrorCode]

ArducamUnkownDevice: ClassVar[TofErrorCode]

ArducamUnkownError: ClassVar[TofErrorCode]

property name: str

str() → str

property value: int

class ArducamDepthCamera.TofFrameWorkMode(value: int)

Bases: object

Members:

SINGLE_FREQ_2PHASE

SINGLE_FREQ_4PHASE

SINGLE_FREQ_4PHASE_GRAY

SINGLE_FREQ_4PHASE_BG

SINGLE_FREQ_4PHASE_4BG

SINGLE_FREQ_4PHASE_GRAY_5BG

SINGLE_FREQ_GRAY_BG_4PHASE_GRAY_BG

SINGLE_FREQ_GRAY_BG_4PHASE_BG

SINGLE_FREQ_BG_GRAY_BG_4PHASE

SINGLE_FREQ_BG_4PHASE_BG_GRAY

DOUBLE_FREQ_4PHASE

DOUBLE_FREQ_4PHASE_GRAY_4PHASE_BG

DOUBLE_FREQ_4PHASE_4BG

DOUBLE_FREQ_4PHASE_GRAY_5BG

TRIPLE_FREQ_4PHASE

TRIPLE_FREQ_4PHASE_GRAY_4PHASE_GRAY_4PHASE_BG

QUAD_FREQ_4PHASE

QUAD_FREQ_4PHASE_GRAY_4PHASE_BG_4PHASE_GRAY_4PHASE_BG

BG_OUTDOOR

GRAY_ONLY

CUSTOM

BG_OUTDOOR: ClassVar[TofFrameWorkMode]

CUSTOM: ClassVar[TofFrameWorkMode]

DOUBLE_FREQ_4PHASE: ClassVar[TofFrameWorkMode]

DOUBLE_FREQ_4PHASE_4BG: ClassVar[TofFrameWorkMode]

DOUBLE_FREQ_4PHASE_GRAY_4PHASE_BG: ClassVar[TofFrameWorkMode]

DOUBLE_FREQ_4PHASE_GRAY_5BG: ClassVar[TofFrameWorkMode]

GRAY_ONLY: ClassVar[TofFrameWorkMode]

QUAD_FREQ_4PHASE: ClassVar[TofFrameWorkMode]

QUAD_FREQ_4PHASE_GRAY_4PHASE_BG_4PHASE_GRAY_4PHASE_BG: ClassVar[TofFrameWorkMode]

SINGLE_FREQ_2PHASE: ClassVar[TofFrameWorkMode]

SINGLE_FREQ_4PHASE: ClassVar[TofFrameWorkMode]

SINGLE_FREQ_4PHASE_4BG: ClassVar[TofFrameWorkMode]

SINGLE_FREQ_4PHASE_BG: ClassVar[TofFrameWorkMode]

SINGLE_FREQ_4PHASE_GRAY: ClassVar[TofFrameWorkMode]

SINGLE_FREQ_4PHASE_GRAY_5BG: ClassVar[TofFrameWorkMode]

SINGLE_FREQ_BG_4PHASE_BG_GRAY: ClassVar[TofFrameWorkMode]

SINGLE_FREQ_BG_GRAY_BG_4PHASE: ClassVar[TofFrameWorkMode]

SINGLE_FREQ_GRAY_BG_4PHASE_BG: ClassVar[TofFrameWorkMode]

SINGLE_FREQ_GRAY_BG_4PHASE_GRAY_BG: ClassVar[TofFrameWorkMode]

TRIPLE_FREQ_4PHASE: ClassVar[TofFrameWorkMode]

TRIPLE_FREQ_4PHASE_GRAY_4PHASE_GRAY_4PHASE_BG: ClassVar[TofFrameWorkMode]

property name: str

property value: int

class ArducamDepthCamera.TofWorkMode(value: int)

Bases: object

Members:

SINGLE_FREQ

DOUBLE_FREQ

TRIPLE_FREQ

QUAD_FREQ

DISTANCE

HDR

AE

BG_OUTDOOR

GRAY_ONLY

CUSTOM1

CUSTOM2

CUSTOM3

AE: ClassVar[TofWorkMode]

BG_OUTDOOR: ClassVar[TofWorkMode]

CUSTOM1: ClassVar[TofWorkMode]

CUSTOM2: ClassVar[TofWorkMode]

CUSTOM3: ClassVar[TofWorkMode]

DISTANCE: ClassVar[TofWorkMode]

DOUBLE_FREQ: ClassVar[TofWorkMode]

GRAY_ONLY: ClassVar[TofWorkMode]

HDR: ClassVar[TofWorkMode]

QUAD_FREQ: ClassVar[TofWorkMode]

SINGLE_FREQ: ClassVar[TofWorkMode]

TRIPLE_FREQ: ClassVar[TofWorkMode]

property name: str

property value: int