org.bytedeco.depthai

Class Pipeline

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.depthai.Pipeline

All Implemented Interfaces:

AutoCloseable

@Namespace(value="dai")
 @NoOffset
 @Properties(inherit=depthai.class)
public class Pipeline
extends Pointer

\brief Represents the pipeline, set of nodes and connections between them

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
Pipeline() Constructs a new pipeline
Pipeline(long size) Native array allocator.
Pipeline(PipelineImpl pimpl)
Pipeline(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
Pipeline	clone() Clone the pipeline (Creates a copy)
AprilTagNode	createAprilTag()
ColorCamera	createColorCamera()
DetectionParser	createDetectionParser()
ImageManip	createImageManip()
IMU	createIMU() Adds a node to pipeline.
MobileNetDetectionNetwork	createMobileNetDetectionNetwork()
MobileNetSpatialDetectionNetwork	createMobileNetSpatialDetectionNetwork()
MonoCamera	createMonoCamera()
NeuralNetwork	createNeuralNetwork()
ObjectTracker	createObjectTracker()
SpatialLocationCalculator	createSpatialLocationCalculator()
SPIOut	createSPIOut()
StereoDepth	createStereoDepth()
SystemLogger	createSystemLogger()
VideoEncoder	createVideoEncoder()
Warp	createWarp()
XLinkIn	createXLinkIn()
XLinkOut	createXLinkOut()
YoloDetectionNetwork	createYoloDetectionNetwork()
YoloSpatialDetectionNetwork	createYoloSpatialDetectionNetwork()
NodeVector	getAllNodes() Get a vector of all nodes
AssetManager	getAssetManager() Get pipelines AssetManager as reference
BoardConfig	getBoardConfig() Gets board configuration
CalibrationHandler	getCalibrationData() gets the calibration data which is set through pipeline
NodeIdConnectionSetMap	getConnectionMap() Get a reference to internal connection representation
Node.Connection	getConnections() Get all connections
DeviceBase.Config	getDeviceConfig() Get device configuration needed for this pipeline
GlobalProperties	getGlobalProperties()
Node	getNode(long id) Get node with id if it exists, nullptr otherwise
NodeIdNodeMap	getNodeMap() Get a reference to internal node map
int	getOpenVINOVersion() Get possible OpenVINO version to run this pipeline
PipelineSchema	getPipelineSchema()
PipelineSchema	getPipelineSchema(depthai.SerializationType type)
PipelineSchema	getPipelineSchema(int type)
Pipeline	getPointer(long i)
IntOptional	getRequiredOpenVINOVersion() Get required OpenVINO version to run this pipeline.
boolean	isOpenVINOVersionCompatible(int version) Checks whether a given OpenVINO version is compatible with the pipeline
void	link(Node.Output out, Node.Input in) Link output to an input.
Pipeline	position(long position)
void	remove(Node node) Removes a node from pipeline
void	serialize(PipelineSchema schema, Assets assets, byte[] assetStorage)
void	serialize(PipelineSchema schema, Assets assets, ByteBuffer assetStorage)
void	serialize(PipelineSchema schema, Assets assets, BytePointer assetStorage)
Pointer	serializeToJson() Returns whole pipeline represented as JSON
void	setBoardConfig(BoardConfig board) Sets board configuration
void	setCalibrationData(CalibrationHandler calibrationDataHandler) Sets the calibration in pipeline which overrides the calibration data in eeprom
void	setCameraTuningBlobPath(Path path) Set a camera IQ (Image Quality) tuning blob, used for all cameras
void	setOpenVINOVersion(int version) Set a specific OpenVINO version to use with this pipeline
void	setSippBufferSize(int sizeBytes) SIPP (Signal Image Processing Pipeline) internal memory pool.
void	setSippDmaBufferSize(int sizeBytes) SIPP (Signal Image Processing Pipeline) internal DMA memory pool.
void	setXLinkChunkSize(int sizeBytes) Set chunk size for splitting device-sent XLink packets, in bytes.
void	unlink(Node.Output out, Node.Input in) Unlink output from an input.

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

Pipeline

public Pipeline(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

Pipeline

public Pipeline(long size)

Native array allocator. Access with Pointer.position(long).

Pipeline

public Pipeline()

Constructs a new pipeline

Pipeline

public Pipeline(@SharedPtr
                PipelineImpl pimpl)

Method Detail

position

public Pipeline position(long position)

Overrides:

position in class Pointer

getPointer

public Pipeline getPointer(long i)

Overrides:

getPointer in class Pointer

clone

@ByVal
public Pipeline clone()

Clone the pipeline (Creates a copy)

Overrides:

clone in class Object

getGlobalProperties

@ByVal
public GlobalProperties getGlobalProperties()

Returns:

Global properties of current pipeline

getPipelineSchema

@ByVal
public PipelineSchema getPipelineSchema(depthai.SerializationType type)

Returns:

Pipeline schema

getPipelineSchema

@ByVal
public PipelineSchema getPipelineSchema()

getPipelineSchema

@ByVal
public PipelineSchema getPipelineSchema(@Cast(value="dai::SerializationType")
                                               int type)

serialize

public void serialize(@ByRef
                      PipelineSchema schema,
                      @ByRef
                      Assets assets,
                      @Cast(value="std::uint8_t*") @StdVector
                      BytePointer assetStorage)

serialize

public void serialize(@ByRef
                      PipelineSchema schema,
                      @ByRef
                      Assets assets,
                      @Cast(value="std::uint8_t*") @StdVector
                      ByteBuffer assetStorage)

serialize

public void serialize(@ByRef
                      PipelineSchema schema,
                      @ByRef
                      Assets assets,
                      @Cast(value="std::uint8_t*") @StdVector
                      byte[] assetStorage)

serializeToJson

@ByVal
 @Cast(value="nlohmann::json*")
public Pointer serializeToJson()

Returns whole pipeline represented as JSON

createIMU

@Name(value="create<dai::node::IMU>")
 @SharedPtr
public IMU createIMU()

Adds a node to pipeline. Node is specified by template argument N

createAprilTag

@Name(value="create<dai::node::AprilTag>")
 @SharedPtr
public AprilTagNode createAprilTag()

createColorCamera

@Name(value="create<dai::node::ColorCamera>")
 @SharedPtr
public ColorCamera createColorCamera()

createImageManip

@Name(value="create<dai::node::ImageManip>")
 @SharedPtr
public ImageManip createImageManip()

createMonoCamera

@Name(value="create<dai::node::MonoCamera>")
 @SharedPtr
public MonoCamera createMonoCamera()

createNeuralNetwork

@Name(value="create<dai::node::NeuralNetwork>")
 @SharedPtr
public NeuralNetwork createNeuralNetwork()

createDetectionParser

@Name(value="create<dai::node::DetectionParser>")
 @SharedPtr
public DetectionParser createDetectionParser()

createMobileNetDetectionNetwork

@Name(value="create<dai::node::MobileNetDetectionNetwork>")
 @SharedPtr
public MobileNetDetectionNetwork createMobileNetDetectionNetwork()

createYoloDetectionNetwork

@Name(value="create<dai::node::YoloDetectionNetwork>")
 @SharedPtr
public YoloDetectionNetwork createYoloDetectionNetwork()

createObjectTracker

@Name(value="create<dai::node::ObjectTracker>")
 @SharedPtr
public ObjectTracker createObjectTracker()

createSPIOut

@Name(value="create<dai::node::SPIOut>")
 @SharedPtr
public SPIOut createSPIOut()

createMobileNetSpatialDetectionNetwork

@Name(value="create<dai::node::MobileNetSpatialDetectionNetwork>")
 @SharedPtr
public MobileNetSpatialDetectionNetwork createMobileNetSpatialDetectionNetwork()

createYoloSpatialDetectionNetwork

@Name(value="create<dai::node::YoloSpatialDetectionNetwork>")
 @SharedPtr
public YoloSpatialDetectionNetwork createYoloSpatialDetectionNetwork()

createSpatialLocationCalculator

@Name(value="create<dai::node::SpatialLocationCalculator>")
 @SharedPtr
public SpatialLocationCalculator createSpatialLocationCalculator()

createStereoDepth

@Name(value="create<dai::node::StereoDepth>")
 @SharedPtr
public StereoDepth createStereoDepth()

createSystemLogger

@Name(value="create<dai::node::SystemLogger>")
 @SharedPtr
public SystemLogger createSystemLogger()

createVideoEncoder

@Name(value="create<dai::node::VideoEncoder>")
 @SharedPtr
public VideoEncoder createVideoEncoder()

createWarp

@Name(value="create<dai::node::Warp>")
 @SharedPtr
public Warp createWarp()

createXLinkIn

@Name(value="create<dai::node::XLinkIn>")
 @SharedPtr
public XLinkIn createXLinkIn()

createXLinkOut

@Name(value="create<dai::node::XLinkOut>")
 @SharedPtr
public XLinkOut createXLinkOut()

remove

public void remove(@SharedPtr @ByVal
                   Node node)

Removes a node from pipeline

getAllNodes

@ByVal
public NodeVector getAllNodes()

Get a vector of all nodes

getNode

@SharedPtr
 @ByVal
public Node getNode(@Cast(value="dai::Node::Id")
                                       long id)

Get node with id if it exists, nullptr otherwise

getConnections

@StdVector
public Node.Connection getConnections()

Get all connections

getConnectionMap

@Cast(value="const dai::Pipeline::NodeConnectionMap*")
 @ByRef
public NodeIdConnectionSetMap getConnectionMap()

Get a reference to internal connection representation

getNodeMap

@Cast(value="const dai::Pipeline::NodeMap*")
 @ByRef
public NodeIdNodeMap getNodeMap()

Get a reference to internal node map

link

public void link(@Const @ByRef
                 Node.Output out,
                 @Const @ByRef
                 Node.Input in)

Link output to an input. Both nodes must be on the same pipeline Throws an error if they aren't or cannot be connected

Parameters:

out - Nodes output to connect from

in - Nodes input to connect to

unlink

public void unlink(@Const @ByRef
                   Node.Output out,
                   @Const @ByRef
                   Node.Input in)

Unlink output from an input. Throws an error if link doesn't exists

Parameters:

out - Nodes output to unlink from

in - Nodes input to unlink to

getAssetManager

@ByRef
public AssetManager getAssetManager()

Get pipelines AssetManager as reference

setOpenVINOVersion

public void setOpenVINOVersion(@Cast(value="dai::OpenVINO::Version")
                               int version)

Set a specific OpenVINO version to use with this pipeline

setCalibrationData

public void setCalibrationData(@ByVal
                               CalibrationHandler calibrationDataHandler)

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

Parameters:

calibrationDataHandler - CalibrationHandler object which is loaded with calibration information.

getCalibrationData

@ByVal
public CalibrationHandler getCalibrationData()

gets the calibration data which is set through pipeline

Returns:

the calibrationHandler with calib data in the pipeline

getOpenVINOVersion

@Cast(value="dai::OpenVINO::Version")
public int getOpenVINOVersion()

Get possible OpenVINO version to run this pipeline

getRequiredOpenVINOVersion

@ByVal
 @Cast(value="tl::optional<dai::OpenVINO::Version>*")
public IntOptional getRequiredOpenVINOVersion()

Get required OpenVINO version to run this pipeline. Can be none

setCameraTuningBlobPath

public void setCameraTuningBlobPath(@Const @ByRef
                                    Path path)

Set a camera IQ (Image Quality) tuning blob, used for all cameras

setXLinkChunkSize

public void setXLinkChunkSize(int sizeBytes)

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.

setSippBufferSize

public void setSippBufferSize(int sizeBytes)

SIPP (Signal Image Processing Pipeline) internal memory pool. SIPP is a framework used to schedule HW filters, e.g. ISP, Warp, Median filter etc. Changing the size of this pool is meant for advanced use cases, pushing the limits of the HW. By default memory is allocated in high speed CMX memory. Setting to 0 will allocate in DDR 256 kilobytes. Units are bytes.

setSippDmaBufferSize

public void setSippDmaBufferSize(int sizeBytes)

SIPP (Signal Image Processing Pipeline) internal DMA memory pool. SIPP is a framework used to schedule HW filters, e.g. ISP, Warp, Median filter etc. Changing the size of this pool is meant for advanced use cases, pushing the limits of the HW. Memory is allocated in high speed CMX memory Units are bytes.

isOpenVINOVersionCompatible

@Cast(value="bool")
public boolean isOpenVINOVersionCompatible(@Cast(value="dai::OpenVINO::Version")
                                                               int version)

Checks whether a given OpenVINO version is compatible with the pipeline

setBoardConfig

public void setBoardConfig(@ByVal
                           BoardConfig board)

Sets board configuration

getBoardConfig

@ByVal
public BoardConfig getBoardConfig()

Gets board configuration

getDeviceConfig

@ByVal
public DeviceBase.Config getDeviceConfig()

Get device configuration needed for this pipeline