コマンドの使用例

カーラーモードの深度ストリームを表示する場合

python depthai_demo.py -s disparity_color,12

• オプションで、フレームレートを12fpsに指定しています。

推論結果と深度ストリームを表示する場合

python depthai_demo.py -s metaout previewout depth -bb -ff

• オプションで、深度ストリーム側にも境界ボックスをオーバーレイ表示させ、RGBカメラの映像は全視野が表示されるモードを指定しています。

オプション一覧

• [-h]
• [-co CONFIG_OVERWRITE]
• [-brd BOARD]
• [-sh [1-14]]
• [-cmx [1-14]]
• [-nce [1-2]]
• [-mct {auto,local,cloud}]
• [-rgbr {1080,2160,3040}]
• [-rgbf RGB_FPS]
• [-cs COLOR_SCALE]
• [-monor {400,720,800}]
• [-monof MONO_FPS]
• [-dct [0-255]]
• [-med {0,3,5,7}]
• [-lrc]
• [-fv FIELD_OF_VIEW]
• [-rfv RGB_FIELD_OF_VIEW]
• [-b BASELINE]
• [-r RGB_BASELINE]
• [-w]
• [-e]
• [--clear-eeprom]
• [-o]
• [-dev DEVICE_ID]
• [-debug [DEV_DEBUG]]
• [-fusb2]
• [-cnn {age-gender-recognition-retail-0013,deeplabv3p_person,emotions-recognition-retail-0003,face-detection-adas-0001,face-detection-retail-0004,facial-landmarks-35-adas-0002,human-pose-estimation-0001,landmarks-regression-retail-0009,mobilenet-ssd,mobileNetV2-PoseEstimation,pedestrian-detection-adas-0002,person-detection-retail-0013,person-vehicle-bike-detection-crossroad-1016,tiny-yolo-v3,vehicle-detection-adas-0002,vehicle-license-plate-detection-barrier-0106,yolo-v3}]
• [-cnn2 {landmarks-regression-retail-0009,facial-landmarks-35-adas-0002,emotions-recognition-retail-0003}]
• [-cam {rgb,left,right,left_right,rectified_left,rectified_right,rectified_left_right}]
• [-dd]
• [-bb]
• [-ff]
• [-sync]
• [-seq]
• [-u USB_CHUNK_KIB]
• [-fw FIRMWARE]
• [-vv]
• [-s STREAMS [STREAMS ...]]
• [-v VIDEO]
• [-pcl]
• [-mesh]
• [-mirror_rectified {true,false}]

オプションの使い方

-h
--help

show this help message and exit

-co CONFIG_OVERWRITE
--config_overwrite CONFIG_OVERWRITE

JSON-formatted pipeline config object.
This will be override defaults used in this script.

-brd BOARD
--board BOARD

BW1097, BW1098OBC - Board type from resources/boards/ (not case-sensitive).
Or path to a custom .json board config.
Mutually exclusive with [-fv -rfv -b -r -w]

-sh [1-14]
--shaves [1-14]

Number of shaves used by NN.

-cmx [1-14]
--cmx_slices [1-14]

Number of cmx slices used by NN.

-nce [1-2]
--NN_engines [1-2]

Number of NN_engines used by NN.

-mct {auto,local,cloud}
--model-compilation-target {auto,local,cloud}

Compile model lcoally or in cloud?

-rgbr {1080,2160,3040}
--rgb_resolution {1080,2160,3040}

RGB cam res height: (1920x)1080, (3840x)2160 or (4056x)3040.
Default: 1080

-rgbf RGB_FPS
--rgb_fps RGB_FPS

RGB cam fps: max 118.0 for H:1080, max 42.0 for H:2160.
Default: 30.0

-cs COLOR_SCALE
--color_scale COLOR_SCALE

Scale factor for 'color' stream preview window.
Default: 1.0

-monor {400,720,800}
--mono_resolution {400,720,800}

Mono cam res height: (1280x)720, (1280x)800 or (640x)400 - binning.
Default: 720

-monof MONO_FPS
--mono_fps MONO_FPS

Mono cam fps: max 60.0 for H:720 or H:800, max 120.0 for H:400.
Default: 30.0

-dct [0-255]
--disparity_confidence_threshold [0-255]

Disparity_confidence_threshold.

-med {0,3,5,7}
--stereo_median_size {0,3,5,7}

Disparity / depth median filter kernel size (N x N) .0 = filtering disabled.
Default: 7

-lrc
--stereo_lr_check

Enable stereo 'Left-Right check' feature.

-fv FIELD_OF_VIEW
--field-of-view FIELD_OF_VIEW

Horizontal field of view (HFOV) for the stereo cameras in [deg].
Default: 71.86deg.

-rfv RGB_FIELD_OF_VIEW
--rgb-field-of-view RGB_FIELD_OF_VIEW

Horizontal field of view (HFOV) for the RGB camera in [deg].
Default: 68.7938deg.

-b BASELINE
--baseline BASELINE

Left/Right camera baseline in [cm].
Default: 9.0cm.

-r RGB_BASELINE
--rgb-baseline RGB_BASELINE

Distance the RGB camera is from the Left camera.
Default: 2.0cm.

-w
--no-swap-lr

Do not swap the Left and Right cameras.

-e
--store-eeprom

Store the calibration and board_config (fov, baselines, swap-lr) in the EEPROM onboard

--clear-eeprom

Invalidate the calib and board_config from EEPROM

-o
--override-eeprom

Use the calib and board_config from host, ignoring the EEPROM data if programmed

-dev DEVICE_ID
--device-id DEVICE_ID

USB port number for the device to connect to.
Use the word 'list' to show all devices and exit.

-debug [DEV_DEBUG]
--dev_debug [DEV_DEBUG]

Used by board developers for debugging.
Can take parameter to device binary

-fusb2
--force_usb2

Force usb2 connection

-cnn {age-gender-recognition-retail-0013,deeplabv3p_person,emotions-recognition-retail-0003,face-detection-adas-0001,face-detection-retail-0004,facial-landmarks-35-adas-0002,human-pose-estimation-0001,landmarks-regression-retail-0009,mobilenet-ssd,mobileNetV2-PoseEstimation,pedestrian-detection-adas-0002,person-detection-retail-0013,person-vehicle-bike-detection-crossroad-1016,tiny-yolo-v3,vehicle-detection-adas-0002,vehicle-license-plate-detection-barrier-0106,yolo-v3}
--cnn_model {age-gender-recognition-retail-0013,deeplabv3p_person,emotions-recognition-retail-0003,face-detection-adas-0001,face-detection-retail-0004,facial-landmarks-35-adas-0002,human-pose-estimation-0001,landmarks-regression-retail-0009,mobilenet-ssd,mobileNetV2-PoseEstimation,pedestrian-detection-adas-0002,person-detection-retail-0013,person-vehicle-bike-detection-crossroad-1016,tiny-yolo-v3,vehicle-detection-adas-0002,vehicle-license-plate-detection-barrier-0106,yolo-v3}

Cnn model to run on DepthAI

-cnn2 {landmarks-regression-retail-0009,facial-landmarks-35-adas-0002,emotions-recognition-retail-0003}
--cnn_model2 {landmarks-regression-retail-0009,facial-landmarks-35-adas-0002,emotions-recognition-retail-0003}

Cnn model to run on DepthAI for second-stage inference

-cam {rgb,left,right,left_right,rectified_left,rectified_right,rectified_left_right}
--cnn_camera {rgb,left,right,left_right,rectified_left,rectified_right,rectified_left_right}

Choose camera input for CNN (default: rgb)

-dd
--disable_depth

Disable depth calculation on CNN models with bounding box output

-bb
--draw-bb-depth

Draw the bounding boxes over the left/right/depth*streams

-ff
--full-fov-nn

Full RGB FOV for NN, not keeping the aspect ratio

-sync
--sync-video-meta

Synchronize 'previewout' and 'metaout' streams

-seq
--sync-sequence-numbers

Synchronize sequence numbers for all packets.
Experimental

-u USB_CHUNK_KIB
--usb-chunk-KiB USB_CHUNK_KIB

USB transfer chunk on device.
Higher (up to megabytes) may improve throughput, or 0 to disable chunking
Default: 64

-fw FIRMWARE
--firmware FIRMWARE

Commit hash for custom FW, downloaded from Artifactory

-vv
--verbose

Verbose, print info about received packets.

-s STREAMS [STREAMS ...]
--streams STREAMS [STREAMS ...]

Define which streams to enable Format: stream_name or stream_name,max_fps
Example: -s metaout previewout
Example: -s metaout previewout,10 depth_sipp,10
※デモ用プログラムで使用可能なストリーム名は限定されており、上記例の「depth_sipp」は使用できませんでした。

-v VIDEO
--video VIDEO

Path where to save video stream (existing file will be overwritten)

-pcl
--pointcloud

Convert Depth map image to point clouds

-mesh
--use_mesh

use mesh for rectification of the stereo images

-mirror_rectified {true,false}
--mirror_rectified {true,false}

Normally, rectified_left/_right are mirrored for Stereo engine constraints. If false, disparity/depth will be mirrored instead. Default: true