Module

pyPhase is a python wrapper package over I3DR’s Phase library.

phase.pyphase.bgr2bgra(bgr: numpy.ndarray) → numpy.ndarray

Convert BGR image to BGRA.

Parameters

bgrnumpy.ndarray: BGR image to convert

Returns

numpy.ndarray: BGRA image

phase.pyphase.bgr2rgba(bgr: numpy.ndarray) → numpy.ndarray

Convert BGR image to RGBA.

Parameters

bgrnumpy.ndarray: BGR image to convert

Returns

numpy.ndarray: RGBA image

phase.pyphase.bgra2rgba(bgra: numpy.ndarray) → numpy.ndarray

Convert BGRA image to RGBA.

Parameters

bgranumpy.ndarray: BGRA image to convert

Returns

numpy.ndarray: RGBA image

phase.pyphase.cvMatIsEqual(mat1: numpy.ndarray, mat2: numpy.ndarray) → bool

Check if two numpy.ndarray objects are equal.

Parameters

mat1numpy.ndarray: First numpy.ndarray object
mat2numpy.ndarray: Second numpy.ndarray object

Returns

bool: True if equal

phase.pyphase.depth2xyz(xyz: numpy.ndarray, hfov: float) → numpy.ndarray

Calculate Point cloud (xyz) from depth image.

Parameters

xyznumpy.ndarray: Point cloud (xyz)
hfovfloat: Horizontal field of view (degrees)

Returns

numpy.ndarray: Point cloud (xyz)

phase.pyphase.disparity2depth(disparity: numpy.ndarray, Q: numpy.ndarray) → numpy.ndarray

Calculate depth image from disparity image.

Parameters

disparitynumpy.ndarray: Disparity image
Q: numpy.ndarray: Q Matrix from calibration (e.g. ‘calibration.getQ()’)

Returns

numpy.ndarray: Depth image

phase.pyphase.disparity2xyz(disparity: numpy.ndarray, Q: numpy.ndarray) → numpy.ndarray

Calculate point cloud (xyz) from disparity image.

Parameters

disparitynumpy.ndarray: Disparity image
Q: numpy.ndarray: Q Matrix from calibration (e.g. ‘calibration.getQ()’)

Returns

numpy.ndarray: Point clouds (xyz)

phase.pyphase.flip(image: numpy.ndarray, flip_code: int) → numpy.ndarray

Flip image horizontally or vertically based on flip code.

Parameters

imagenumpy.ndarray: Image to flip
flip_codeint: Flip code (0 = horizontal, 1 = vertical)

Returns

numpy.ndarray: Flipped image

phase.pyphase.getAPIVersionMajor() → int

Get major of Phase

Returns

valueint

phase.pyphase.getAPIVersionMinor() → int

Get minor of Phase

Returns

valueint

phase.pyphase.getAPIVersionPatch() → int

Get version patch of Phase

Returns

valueint

phase.pyphase.getAPIVersionString() → str

Get version of Phase

Returns

stringstr

phase.pyphase.normaliseDisparity(disparity: numpy.ndarray) → numpy.ndarray

Normalise disparity image.

Parameters

disparitynumpy.ndarray: Dispairty image to normalise

Returns

numpy.ndarray: Normalised disparity image

phase.pyphase.readImage(image_filepath: str) → numpy.ndarray

Read image from file.

Parameters

image_filepathstr: Filepath of image

Returns

numpy.ndarray: Image

phase.pyphase.savePLY(ply_filepath: str, xyz: numpy.ndarray, rgb: numpy.ndarray) → bool

Save point cloud to PLY file.

Parameters

ply_filepathstr: Filepath of PLY file
xyznumpy.ndarray: Point cloud (xyz)
rgbnumpy.ndarray: RGB image for point cloud colours

Returns

bool: True if successful

phase.pyphase.scaleImage(image: numpy.ndarray, scale_factor: float) → numpy.ndarray

Scale image to a new size.

Parameters

imagenumpy.ndarray: Image to scale
scale_factorfloat: Scale factor to apply to image

Returns

numpy.ndarray: Scaled image

phase.pyphase.showImage(window_name: str, image: numpy.ndarray) → int

Display image in GUI window.

Parameters

window_namestr: Name of window
imagenumpy.ndarray: Point cloud (xyz)

phase.pyphase.toMono(image_in: numpy.ndarray, image_out: numpy.ndarray) → bool

Convert image to monochrome

Parameters

image_innumpy.ndarray: Input image
image_outnumpy.ndarray: Mono output image

phase.pyphase.xyz2depth(xyz: numpy.ndarray) → numpy.ndarray

Calculate depth image from point cloud (xyz).

Parameters

xyznumpy.ndarray: Point cloud (xyz)

Returns

numpy.ndarray: Depth image

custom Phase types

class phase.pyphase.types.MatrixFloat

Bases: pybind11_object

Matrix data (float) storage. Targeted towards storing image data.

Methods

`getAt`(self, row, column, layer)	Get the value of an element in the Matrix
`getColumns`(self)	Get number of columns in Matrix
`getLayers`(self)	Get number of layers in Matrix
`getLength`(self)	Get length of Matrix (rows * columns * layers)
`getRows`(self)	Get number of rows in Matrix
`getSize`(self)	Get size of Matrix in bytes (element_byte_size * matrix_length)
`isEmpty`(self)	Check if the matrix is empty
`setAt`(self, row, column, layer, value)	Set the value of an element in the Matrix

getAt(self: phase.pyphase.types.MatrixFloat, row: int, column: int, layer: int) → float

Get the value of an element in the Matrix

Parameters

rowint
columnint
layerint

Returns

datafloat: The value of data in float

getColumns(self: phase.pyphase.types.MatrixFloat) → int

Get number of columns in Matrix

Returns

columnsint: Column of the matrix

getLayers(self: phase.pyphase.types.MatrixFloat) → int

Get number of layers in Matrix

Returns

layersint: Layer of the matrix

getLength(self: phase.pyphase.types.MatrixFloat) → int

Get length of Matrix (rows * columns * layers)

Returns

valueint: Length of the matrix

getRows(self: phase.pyphase.types.MatrixFloat) → int

Get number of rows in Matrix

Returns

rowsint: Row of the matrix

getSize(self: phase.pyphase.types.MatrixFloat) → int

Get size of Matrix in bytes (element_byte_size * matrix_length)

Returns

valueint: Size of the matrix

isEmpty(self: phase.pyphase.types.MatrixFloat) → bool

Check if the matrix is empty

Returns

bool: True if empty

setAt(self: phase.pyphase.types.MatrixFloat, row: int, column: int, layer: int, value: float) → None

Set the value of an element in the Matrix

Parameters

rowint
columnint
layerint
valuefloat

class phase.pyphase.types.MatrixUInt8

Bases: pybind11_object

Matrix data (uint8) storage. Targeted towards storing image data.

Methods

`getAt`(self, arg0, arg1, arg2)	Get the value of an element in the Matrix
`getColumns`(self)	Get number of columns in Matrix
`getLayers`(self)	Get number of layers in Matrix
`getLength`(self)	Get length of Matrix (rows * columns * layers)
`getRows`(self)	Get number of rows in Matrix
`getSize`(self)	Get size of Matrix in bytes (element_byte_size * matrix_length)
`isEmpty`(self)	Check if the matrix is empty
`setAt`(self, row, column, layer, value)	Set the value of an element in the Matrix

getAt(self: phase.pyphase.types.MatrixUInt8, arg0: int, arg1: int, arg2: int) → int

Get the value of an element in the Matrix

Parameters

rowint
columnint
layerint

Returns

dataint: The value of data in float

getColumns(self: phase.pyphase.types.MatrixUInt8) → int

Get number of columns in Matrix

Returns

columnsint: Column of the matrix

getLayers(self: phase.pyphase.types.MatrixUInt8) → int

Get number of layers in Matrix

Returns

layersint: Layer of the matrix

getLength(self: phase.pyphase.types.MatrixUInt8) → int

Get length of Matrix (rows * columns * layers)

Returns

valueint: Length of the matrix

getRows(self: phase.pyphase.types.MatrixUInt8) → int

Get number of rows in Matrix

Returns

rowsint: Row of the matrix

getSize(self: phase.pyphase.types.MatrixUInt8) → int

Get size of Matrix in bytes (element_byte_size * matrix_length)

Returns

valueint: Size of the matrix

isEmpty(self: phase.pyphase.types.MatrixUInt8) → bool

Check if the matrix is empty

Returns

bool: True if empty

setAt(self: phase.pyphase.types.MatrixUInt8, row: int, column: int, layer: int, value: int) → None

Set the value of an element in the Matrix

Parameters

rowint
columnint
layerint
valueint

class phase.pyphase.types.StereoImagePair

Bases: pybind11_object

Struture to store stereo image pair (left, right)

Attributes

left
right

property left

property right

camera calibration

class phase.pyphase.calib.CalibrationBoardType

Bases: pybind11_object

Enum to indicate calibration board type.

Members:

CHECKERBOARD
Checkerboard calibration board type

INVALID_BOARD
Invalid calibration board type

Attributes

name: name(self: handle) -> str
value

CHECKERBOARD = <CalibrationBoardType.CHECKERBOARD: 0>

INVALID_BOARD = <CalibrationBoardType.INVALID_BOARD: 1>

property name

property value

class phase.pyphase.calib.CalibrationFileType

Bases: pybind11_object

Enum to indicate calibration file type. OpenCV uses different YAML standard from ROS.

Members:

ROS_YAML
ROS YAML calibration file type (YAML v1.2 used by ROS)

OPENCV_YAML
OpenCV YAML calibration file type (YAML v1.0 used by OpenCV)

INVALID_YAML
Invalid calibration file type

Attributes

name: name(self: handle) -> str
value

INVALID_YAML = <CalibrationFileType.INVALID_YAML: 2>

OPENCV_YAML = <CalibrationFileType.OPENCV_YAML: 1>

ROS_YAML = <CalibrationFileType.ROS_YAML: 0>

property name

property value

class phase.pyphase.calib.CalibrationSelection

Bases: pybind11_object

Enum to indicate calibration from left or right camera/image

Members:

LEFT

RIGHT

Attributes

name: name(self: handle) -> str
value

LEFT = <CalibrationSelection.LEFT: 0>

RIGHT = <CalibrationSelection.RIGHT: 1>

property name

property value

class phase.pyphase.calib.CameraCalibration

Bases: pybind11_object

Store and manipulate mono camera calibration data.

Methods

`calibrationFromIdeal`(width, height, ...)	Create ideal calibration from camera information
`getCameraCX`(self)	Get camera principle point in X in calibration (in pixels)
`getCameraCY`(self)	Get camera principle point in Y in calibration (in pixels)
`getCameraFX`(self)	Get camera focal length in X in calibration (in pixels)
`getCameraFY`(self)	Get camera focal length in Y in calibration (in pixels)
`getCameraMatrix`(self)	Get the camera matrix of calibration file
`getDistortionCoefficients`(self)	Get the distortion coefficients of calibration
`getDownsampleFactor`(self)	Get the downsample factor
`getImageHeight`(self)	Get the image height from calibration
`getImageWidth`(self)	Get the image width from calibration
`getProjectionCX`(self)	Get camera principle point in X in calibration projection (in pixels)
`getProjectionCY`(self)	Get camera principle point in Y in calibration projection (in pixels)
`getProjectionFX`(self)	Get camera focal length in X in calibration projection (in pixels)
`getProjectionFY`(self)	Get camera focal length in Y in calibration projection (in pixels)
`getProjectionMatrix`(self)	Get the projection matrix of calibration
`getProjectionTX`(self)	Get camera baseline in calibration projection (in pixels)
`getRectificationMatrix`(self)	Get the rectification matrix of calibration file
`isValid`(self)	Check if loaded calibration is valid
`rectify`(self, left_image, right_image)	Rectify image based on calibration
`setDownsampleFactor`(self, value)	Set the downsample factor

static calibrationFromIdeal(width: int, height: int, pixel_pitch: float, focal_length: float, translation_x: float, translation_y: float) → phase.pyphase.calib.CameraCalibration

Create ideal calibration from camera information

Parameters

widthint: Image width of camera
heightint: Image height of camera
pixel_pitchfloat: Pixel pitch of camera
focal_lengthfloat: Focal length of camera
translation_xfloat: Translation of principle point in X
translation_yfloat: Translation of principle point in Y

getCameraCX(self: phase.pyphase.calib.CameraCalibration) → float

Get camera principle point in X in calibration (in pixels)

Returns

cameraCXfloat: Principle point in X

getCameraCY(self: phase.pyphase.calib.CameraCalibration) → float

Get camera principle point in Y in calibration (in pixels)

Returns

cameraCYfloat: Principle point in Y

getCameraFX(self: phase.pyphase.calib.CameraCalibration) → float

Get camera focal length in X in calibration (in pixels)

Returns

cameraFXfloat: Focal length in X

getCameraFY(self: phase.pyphase.calib.CameraCalibration) → float

Get camera focal length in Y in calibration (in pixels)

Returns

cameraFYfloat: Focal length in Y

getCameraMatrix(self: phase.pyphase.calib.CameraCalibration) → numpy.ndarray

Get the camera matrix of calibration file

Returns

camera_matrixnumpy.ndarray: Camera matrix of calibration

getDistortionCoefficients(self: phase.pyphase.calib.CameraCalibration) → numpy.ndarray

Get the distortion coefficients of calibration

Returns

distortion_coefficientsnumpy.ndarray: Distortion coefficients of calibration

getDownsampleFactor(self: phase.pyphase.calib.CameraCalibration) → float

Get the downsample factor

Returns

valuefloat: Value of downsample factor

getImageHeight(self: phase.pyphase.calib.CameraCalibration) → int

Get the image height from calibration

Returns

heightint: Value of image height from calibration

getImageWidth(self: phase.pyphase.calib.CameraCalibration) → int

Get the image width from calibration

Returns

widthint: Value of image width from calibration

getProjectionCX(self: phase.pyphase.calib.CameraCalibration) → float

Get camera principle point in X in calibration projection (in pixels)

Returns

projectionCXfloat: Principle point in X

getProjectionCY(self: phase.pyphase.calib.CameraCalibration) → float

Get camera principle point in Y in calibration projection (in pixels)

Returns

projectionCYfloat: Principle point in Y

getProjectionFX(self: phase.pyphase.calib.CameraCalibration) → float

Get camera focal length in X in calibration projection (in pixels)

Returns

projectionFXfloat: Focal length in X

getProjectionFY(self: phase.pyphase.calib.CameraCalibration) → float

Get camera focal length in Y in calibration projection (in pixels)

Returns

projectionFYfloat: Focal length in Y

getProjectionMatrix(self: phase.pyphase.calib.CameraCalibration) → numpy.ndarray

Get the projection matrix of calibration

Returns

projection_matrixnumpy.ndarray: Projection matrix of calibration

getProjectionTX(self: phase.pyphase.calib.CameraCalibration) → float

Get camera baseline in calibration projection (in pixels)

Returns

projectionTXfloat: Baseline

getRectificationMatrix(self: phase.pyphase.calib.CameraCalibration) → numpy.ndarray

Get the rectification matrix of calibration file

Returns

rectification_matrixnumpy.ndarray: Rectification matrix of calibration

isValid(self: phase.pyphase.calib.CameraCalibration) → bool

Check if loaded calibration is valid

Returns

bool: True if calibration is valid

rectify(self: phase.pyphase.calib.CameraCalibration, left_image: numpy.ndarray, right_image: numpy.ndarray) → None

Rectify image based on calibration

Parameters

left_imagenumpy.ndarray: Image to rectify
right_imagenumpy.ndarray: Image to store rectified image

setDownsampleFactor(self: phase.pyphase.calib.CameraCalibration, value: float) → None

Set the downsample factor

Parameters

valuefloat

class phase.pyphase.calib.StereoCameraCalibration

Bases: pybind11_object

Store and manipulate stereo camera calibration data.

Attributes

left_calibration: Stores left camera calibration
right_calibration: Stores right camera calibration

Methods

`calibrationFromIdeal`(width, height, ...)	Create ideal stereo calibration from camera information
`calibrationFromImages`(left_cal_folder, ...)	Create ideal stereo calibration from camera information
`calibrationFromYAML`(left_calibration, ...)	Load calibration from yaml files
`getBaseline`(self)	Get the baseline from calibration
`getDownsampleFactor`(self)	Get downsample factor
`getHFOV`(self)	Get horitonzal Field Of View of camera from calibration
`getQ`(self)	Get the Q matrix
`isValid`(self)	Check if loaded calibration is valid
`isValidSize`(self, width, height)	Check if loaded calibration image width and height match specified values
`rectify`(self, left_image, right_image)	Rectify stereo images based on calibration
`saveToYAML`(self, left_calibration_filepath, ...)	Save stereo camera calibration to YAML files
`setDownsampleFactor`(self, value)	Set downsample factor

static calibrationFromIdeal(width: int, height: int, pixel_pitch: float, focal_length: float, baseline: float) → phase.pyphase.calib.StereoCameraCalibration

Create ideal stereo calibration from camera information

Parameters

widthint: Image width of cameras
heightint: Image height of cameras
pixel_pitchfloat: Pixel pitch of cameras
focal_lengthfloat: Focal length of cameras
baselinefloat: Baseline of stereo camera

static calibrationFromImages(left_cal_folder: str, right_cal_folder: str, left_img_wildcard: str, right_img_wildcard: str, board_type: phase.pyphase.calib.CalibrationBoardType, pattern_size_x: int, pattern_size_y: int, square_size: float) → phase.pyphase.calib.StereoCameraCalibration

Create ideal stereo calibration from camera information

Parameters

left_cal_folderstr: Path to folder with left calibration images
right_cal_folderstr: Path to folder with right calibration images
left_img_wildcardstr: Wildcard to use for identifying left images
right_img_wildcardstr: Wildcard to use for identifying right images
board_typephase.pyphase.calib.CalibrationBoardType: Calibration board type used in calibration images
pattern_size_xint: Number of rows in calibration board pattern
pattern_size_yint: Number of columns in calibration board pattern
square_sizefloat: Width of single square in calibration board pattern (in meters)
Returns: Stereo camera calibration

static calibrationFromYAML(left_calibration: str, right_calibration: str) → phase.pyphase.calib.StereoCameraCalibration

Load calibration from yaml files

Parameters

left_calibration_filepathstr: Left side calibration file path directory
right_calibration_filepathstr: Right side calibration file path directory

getBaseline(self: phase.pyphase.calib.StereoCameraCalibration) → float

Get the baseline from calibration

Returns

valuefloat: Baseline value of calibration file

getDownsampleFactor(self: phase.pyphase.calib.StereoCameraCalibration) → float

Get downsample factor

Returns

valuefloat: Downsample value of calibration files

getHFOV(self: phase.pyphase.calib.StereoCameraCalibration) → float

Get horitonzal Field Of View of camera from calibration

Returns

fov_xfloat: Horitonzal Field Of View of camera

getQ(self: phase.pyphase.calib.StereoCameraCalibration) → numpy.ndarray

Get the Q matrix

Returns

Qnumpy.ndarray: Q matrix

isValid(self: phase.pyphase.calib.StereoCameraCalibration) → bool

Check if loaded calibration is valid

Returns

bool: True if calibration file is valid

isValidSize(self: phase.pyphase.calib.StereoCameraCalibration, width: int, height: int) → bool

Check if loaded calibration image width and height match specified values

Parameters

widthint: Image width to check against
heightint: Image height to check against

Returns

bool: True if calibration file is valid in size

property left_calibration: Stores left camera calibration

rectify(self: phase.pyphase.calib.StereoCameraCalibration, left_image: numpy.ndarray, right_image: numpy.ndarray) → phase.pyphase.types.StereoImagePair

Rectify stereo images based on calibration

Parameters

left_imagenumpy.ndarray: Left image to rectify
right_imagenumpy.ndarray: Right image to rectify

Returns

rect_pairphase.pyphase.types.StereoImagePair: Rectified stereo image pair

property right_calibration: Stores right camera calibration

saveToYAML(self: phase.pyphase.calib.StereoCameraCalibration, left_calibration_filepath: str, right_calibration_filepath: str, cal_file_type: phase.pyphase.calib.CalibrationFileType) → bool

Save stereo camera calibration to YAML files

Parameters

left_calibration_filepathstr: Desired path directory to save calibration file
right_calibration_filepathstr: Desired path directory to save calibration file
cal_file_typephase.pyphase.calib.CalibrationFileType: Type of calibration file, e.g. ROS_YAML/OPENCV_YAML

Returns

bool: True if calibration yaml files are saved

setDownsampleFactor(self: phase.pyphase.calib.StereoCameraCalibration, value: float) → None

Set downsample factor

Parameters

valuefloat: Desired value of downsample factor

stereo camera

class phase.pyphase.stereocamera.AbstractStereoCamera

Bases: pybind11_object

Abstract base class for building stereo camera classes. Includes functions/structures common across all stereo cameras.

Methods

`connect`(self)	Connect to camera
`disconnect`(self)	Disconnect camera
`enableDataCapture`(self, enable)	Enable/disable saving captured images to file Use with setDataCapturePath() to set path to save images
`enableHardwareTrigger`(self, enable)	Enable camera hardware trigger
`getCaptureCount`(self)	Get number of frames captured since initalisation of the camera or last count reset Use with resetFrameCount() to reset frame count
`getDownsampleFactor`(self)	Get the value of Downsample Factor
`getFrameRate`(self)	Get the value of frame rate
`getHeight`(self)	Get camera image height
`getReadThreadResult`(self)	Get results from threaded read process Should be used with startReadThread()
`getWidth`(self)	Get camera image width
`isCapturing`(self)	Check if camera is capturing
`isConnected`(self)	Check if camera is connected
`isContinousReadThreadRunning`(self)	Check if continous read thread is running Should be used with startContinousReadThread()
`isReadThreadRunning`(self)	Check if camera read thread is running
`read`(self[, timeout])	Read image frame from camera
`resetCaptureCount`(self)	Reset captured frame count to zero Use with getCaptureCount() to get number of frames captured
`setDataCapturePath`(self, path)	Set data capture path to save images Use with enableDataCapture() to toggle saving images to file
`setDownsampleFactor`(self, value)	Set downsample factor
`setExposure`(self, value)	Set exposure value of camera
`setFrameRate`(self, value)	Set frame rate of camera
`setLeftAOI`(self, x_min, y_min, x_max, y_max)	To set area of interest for left camera
`setLeftFlipX`(self, enable)	Flip left image in x axis
`setLeftFlipY`(self, enable)	Flip left image in y axis
`setReadThreadCallback`(self, callback)	Set callback function to run when read thread completes Should be used with startReadThread() Useful as an external trigger that read is complete and results can be retrieved.
`setRightAOI`(self, x_min, y_min, x_max, y_max)	To set area of interest for right camera
`setRightFlipX`(self, enable)	Flip right image in x axis
`setRightFlipY`(self, enable)	Flip right image in y axis
`setTestImagePaths`(self, ...)	Set the path for test images, input both left and right image path
`startCapture`(self)	Start stereo camera capture Must be started before read() is called
`startContinousReadThread`(self[, timeout])	Start threaded process to read stereo images from cameras Thread will run continously until stopped This is useful for continuous image acquisition
`startReadThread`(self[, timeout])	Read camera thread
`stopCapture`(self)	Stop stereo camera capture Will no longer be able to read() after this is called
`stopContinousReadThread`(self)	Stop continous read thread

connect(self: phase.pyphase.stereocamera.AbstractStereoCamera) → bool: Connect to camera

disconnect(self: phase.pyphase.stereocamera.AbstractStereoCamera) → None: Disconnect camera

enableDataCapture(self: phase.pyphase.stereocamera.AbstractStereoCamera, enable: bool) → None

Enable/disable saving captured images to file Use with setDataCapturePath() to set path to save images

Parameters

enablebool: Enable/disable saving images to file

enableHardwareTrigger(self: phase.pyphase.stereocamera.AbstractStereoCamera, enable: bool) → None

Enable camera hardware trigger

Parameters

enablebool: Set “True” to enable hardware trigger

getCaptureCount(self: phase.pyphase.stereocamera.AbstractStereoCamera) → int

Get number of frames captured since initalisation of the camera or last count reset Use with resetFrameCount() to reset frame count

Returns

valueint: Number of frames captured

getDownsampleFactor(self: phase.pyphase.stereocamera.AbstractStereoCamera) → float

Get the value of Downsample Factor: Get current downsample factor

Returns

valuefloat: Downsample factor

getFrameRate(self: phase.pyphase.stereocamera.AbstractStereoCamera) → float: Get the value of frame rate

getHeight(self: phase.pyphase.stereocamera.AbstractStereoCamera) → int

Get camera image height

Returns

valueint: Camera image height

getReadThreadResult(self: phase.pyphase.stereocamera.AbstractStereoCamera) → phase.pyphase.stereocamera.CameraReadResult

Get results from threaded read process Should be used with startReadThread()

Returns

CameraReadResult: Result from read

getWidth(self: phase.pyphase.stereocamera.AbstractStereoCamera) → int

Get camera image width

Returns

valueint: Camera image width

isCapturing(self: phase.pyphase.stereocamera.AbstractStereoCamera) → bool: Check if camera is capturing

isConnected(self: phase.pyphase.stereocamera.AbstractStereoCamera) → bool: Check if camera is connected

isContinousReadThreadRunning(self: phase.pyphase.stereocamera.AbstractStereoCamera) → bool

Check if continous read thread is running Should be used with startContinousReadThread()

Returns

bool: Continous read thread running status

isReadThreadRunning(self: phase.pyphase.stereocamera.AbstractStereoCamera) → bool

Check if camera read thread is running

Returns

bool: True if read thread is running

read(self: phase.pyphase.stereocamera.AbstractStereoCamera, timeout: int = 1000) → phase.pyphase.stereocamera.CameraReadResult

Read image frame from camera

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)

Returns

leftnumpy.ndarray, rightnumpy.ndarray: Return stereo images left, right

resetCaptureCount(self: phase.pyphase.stereocamera.AbstractStereoCamera) → None: Reset captured frame count to zero Use with getCaptureCount() to get number of frames captured

setDataCapturePath(self: phase.pyphase.stereocamera.AbstractStereoCamera, path: str) → None

Set data capture path to save images Use with enableDataCapture() to toggle saving images to file

pathstr: Directory of desired storage of captured data

setDownsampleFactor(self: phase.pyphase.stereocamera.AbstractStereoCamera, value: float) → None

Set downsample factor

Parameters

valuefloat: Downsample factor value

setExposure(self: phase.pyphase.stereocamera.AbstractStereoCamera, value: int) → None

Set exposure value of camera

Parameters

valueint: Value of exposure (us)

setFrameRate(self: phase.pyphase.stereocamera.AbstractStereoCamera, value: float) → None

Set frame rate of camera

Parameters

valuefloat: Value of frame rate

setLeftAOI(self: phase.pyphase.stereocamera.AbstractStereoCamera, x_min: int, y_min: int, x_max: int, y_max: int) → None

To set area of interest for left camera

Parameters

x_minint: x value of top left corner of targeted AOI
y_minint: y value of top left corner of targeted AOI
x_maxint: x value of bottom right corner of targeted AOI
y_maxint: y value of bottom right corner of targeted AOI

setLeftFlipX(self: phase.pyphase.stereocamera.AbstractStereoCamera, enable: bool) → None

Flip left image in x axis

Parameters

enablebool: Set “True” to flip image

setLeftFlipY(self: phase.pyphase.stereocamera.AbstractStereoCamera, enable: bool) → None

Flip left image in y axis

Parameters

enablebool: Set “True” to flip image

setReadThreadCallback(self: phase.pyphase.stereocamera.AbstractStereoCamera, callback: Callable[[phase.pyphase.stereocamera.CameraReadResult], None]) → None

Set callback function to run when read thread completes Should be used with startReadThread() Useful as an external trigger that read is complete and results can be retrieved.

Parameters

fcallback

setRightAOI(self: phase.pyphase.stereocamera.AbstractStereoCamera, x_min: int, y_min: int, x_max: int, y_max: int) → None

To set area of interest for right camera

Parameters

x_minint: x value of top left corner of targeted AOI
y_minint: y value of top left corner of targeted AOI
x_maxint: x value of bottom right corner of targeted AOI
y_maxint: y value of bottom right corner of targeted AOI

setRightFlipX(self: phase.pyphase.stereocamera.AbstractStereoCamera, enable: bool) → None

Flip right image in x axis

Parameters

enablebool: Set “True” to flip image

setRightFlipY(self: phase.pyphase.stereocamera.AbstractStereoCamera, enable: bool) → None

Flip right image in y axis

Parameters

enablebool: Set “True” to flip image

setTestImagePaths(self: phase.pyphase.stereocamera.AbstractStereoCamera, left_test_image_path: str, right_test_image_path: str) → None

Set the path for test images, input both left and right image path

Parameters

left_test_image_pathstr
right_test_image_pathstr

startCapture(self: phase.pyphase.stereocamera.AbstractStereoCamera) → bool: Start stereo camera capture Must be started before read() is called

startContinousReadThread(self: phase.pyphase.stereocamera.AbstractStereoCamera, timeout: int = 1000) → bool

Start threaded process to read stereo images from cameras Thread will run continously until stopped This is useful for continuous image acquisition

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)

Returns

bool: Success of starting continous read thread

startReadThread(self: phase.pyphase.stereocamera.AbstractStereoCamera, timeout: int = 1000) → bool

Read camera thread

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)

Returns

bool: True if thread was started successfully

stopCapture(self: phase.pyphase.stereocamera.AbstractStereoCamera) → None: Stop stereo camera capture Will no longer be able to read() after this is called

stopContinousReadThread(self: phase.pyphase.stereocamera.AbstractStereoCamera) → None: Stop continous read thread

class phase.pyphase.stereocamera.CameraDeviceInfo

Bases: pybind11_object

Camera info class contains camera serials, camera type and connection type

Attributes

device_type: Device type in enum
interface_type: Interface type in enum

Methods

`getLeftCameraSerial`(self)	Get the left camera serial
`getRightCameraSerial`(self)	Get the right camera serial
`getUniqueSerial`(self)	Get the camera unique serial
`setLeftCameraSerial`(self, left_camera_serial)	Set the left camera serial
`setRightCameraSerial`(self, right_camera_serial)	Set the right camera serial
`setUniqueSerial`(self, unique_serial)	Set the camera unique serial

property device_type: Device type in enum

getLeftCameraSerial(self: phase.pyphase.stereocamera.CameraDeviceInfo) → str

Get the left camera serial

Returns

left_camera_serialstr

getRightCameraSerial(self: phase.pyphase.stereocamera.CameraDeviceInfo) → str

Get the right camera serial

Returns

right_camera_serialstr

getUniqueSerial(self: phase.pyphase.stereocamera.CameraDeviceInfo) → str

Get the camera unique serial

Returns

unique_serialstr

property interface_type: Interface type in enum

setLeftCameraSerial(self: phase.pyphase.stereocamera.CameraDeviceInfo, left_camera_serial: str) → None

Set the left camera serial

Parameters

left_camera_serialstr

setRightCameraSerial(self: phase.pyphase.stereocamera.CameraDeviceInfo, right_camera_serial: str) → None

Set the right camera serial

Parameters

right_camera_serialstr

setUniqueSerial(self: phase.pyphase.stereocamera.CameraDeviceInfo, unique_serial: str) → None

Set the camera unique serial

Parameters

unique_serialstr

class phase.pyphase.stereocamera.CameraDeviceType

Bases: pybind11_object

Structure of CameraDeviceType

Members:

DEVICE_TYPE_GENERIC_PYLON

DEVICE_TYPE_GENERIC_UVC

DEVICE_TYPE_DEIMOS

DEVICE_TYPE_PHOBOS

DEVICE_TYPE_TITANIA

DEVICE_TYPE_INVALID

Attributes

name: name(self: handle) -> str
value

DEVICE_TYPE_DEIMOS = <CameraDeviceType.DEVICE_TYPE_DEIMOS: 2>

DEVICE_TYPE_GENERIC_PYLON = <CameraDeviceType.DEVICE_TYPE_GENERIC_PYLON: 0>

DEVICE_TYPE_GENERIC_UVC = <CameraDeviceType.DEVICE_TYPE_GENERIC_UVC: 1>

DEVICE_TYPE_INVALID = <CameraDeviceType.DEVICE_TYPE_INVALID: 5>

DEVICE_TYPE_PHOBOS = <CameraDeviceType.DEVICE_TYPE_PHOBOS: 3>

DEVICE_TYPE_TITANIA = <CameraDeviceType.DEVICE_TYPE_TITANIA: 4>

property name

property value

class phase.pyphase.stereocamera.CameraInterfaceType

Bases: pybind11_object

Structure of CameraInterfaceType

Members:

INTERFACE_TYPE_USB

INTERFACE_TYPE_GIGE

INTERFACE_TYPE_VIRTUAL

Attributes

name: name(self: handle) -> str
value

INTERFACE_TYPE_GIGE = <CameraInterfaceType.INTERFACE_TYPE_GIGE: 1>

INTERFACE_TYPE_USB = <CameraInterfaceType.INTERFACE_TYPE_USB: 0>

INTERFACE_TYPE_VIRTUAL = <CameraInterfaceType.INTERFACE_TYPE_VIRTUAL: 2>

property name

property value

class phase.pyphase.stereocamera.CameraReadResult

Bases: pybind11_object

Struture to store the result from reading a camera frame. Used in the stereo camera classes.

Attributes

left
right
valid

property left

property right

property valid

class phase.pyphase.stereocamera.DeimosStereoCamera

Bases: pybind11_object

Capture data from I3DR’s Deimos stereo camera.

Methods

`connect`(self)	Connect to camera
`disconnect`(self)	Disconnect camera
`enableDataCapture`(self, enable)	Enable/disable saving captured images to file Use with setDataCapturePath() to set path to save images
`enableHardwareTrigger`(self, enable)	Enable camera hardware trigger
`getCaptureCount`(self)	Get number of frames captured since initalisation of the camera or last count reset Use with resetFrameCount() to reset frame count
`getDownsampleFactor`(self)	Get current downsample factor
`getFrameRate`(self)	Get the value of frame rate
`getHeight`(self)	Get camera image height
`getReadThreadResult`(self)	Get results from threaded read process Should be used with startReadThread()
`getWidth`(self)	Get camera image width
`isCapturing`(self)	Check if camera is capturing
`isConnected`(self)	Check if camera is connected
`isContinousReadThreadRunning`(self)	Check if continous read thread is running Should be used with startContinousReadThread()
`isReadThreadRunning`(self)	Check if camera read thread is running
`read`(self[, timeout])	Read image frame from camera
`resetCaptureCount`(self)	Reset captured frame count to zero Use with getCaptureCount() to get number of frames captured
`setDataCapturePath`(self, path)	Set path of saved directory for capture data
`setDownsampleFactor`(self, value)	Set downsample factor
`setExposure`(self, value)	Set exposure value of camera
`setFrameRate`(self, value)	Set frame rate of camera
`setLeftAOI`(self, x_min, y_min, x_max, y_max)	To set area of interest for left camera
`setLeftFlipX`(self, enable)	Flip left image in x axis
`setLeftFlipY`(self, enable)	Flip left image in y axis
`setReadThreadCallback`(self, callback)	Set callback function to run when read thread completes Should be used with startReadThread() Useful as an external trigger that read is complete and results can be retrieved.
`setRightAOI`(self, x_min, y_min, x_max, y_max)	To set area of interest for right camera
`setRightFlipX`(self, enable)	Flip right image in x axis
`setRightFlipY`(self, enable)	Flip right image in y axis
`setTestImagePaths`(self, ...)	Set the path for test images, input both left and right image path
`startCapture`(self)	Start stereo camera capture Must be started before read() is called
`startContinousReadThread`(self[, timeout])	Start threaded process to read stereo images from cameras Thread will run continously until stopped This is useful for continuous image acquisition
`startReadThread`(self[, timeout])	Read camera thread
`stopCapture`(self)	Stop stereo camera capture Will no longer be able to read() after this is called
`stopContinousReadThread`(self)	Stop continous read thread

connect(self: phase.pyphase.stereocamera.DeimosStereoCamera) → bool: Connect to camera

disconnect(self: phase.pyphase.stereocamera.DeimosStereoCamera) → None: Disconnect camera

enableDataCapture(self: phase.pyphase.stereocamera.DeimosStereoCamera, enable: bool) → None

Enable/disable saving captured images to file Use with setDataCapturePath() to set path to save images

Parameters

enablebool: Enable/disable saving images to file

enableHardwareTrigger(self: phase.pyphase.stereocamera.DeimosStereoCamera, enable: bool) → None

Enable camera hardware trigger

Parameters

enablebool: Set “True” to enable hardware trigger

getCaptureCount(self: phase.pyphase.stereocamera.DeimosStereoCamera) → int

Get number of frames captured since initalisation of the camera or last count reset Use with resetFrameCount() to reset frame count

Returns

valueint: Number of frames captured

getDownsampleFactor(self: phase.pyphase.stereocamera.DeimosStereoCamera) → float

Get current downsample factor

Returns

valuefloat: Downsample factor

getFrameRate(self: phase.pyphase.stereocamera.DeimosStereoCamera) → float: Get the value of frame rate

getHeight(self: phase.pyphase.stereocamera.DeimosStereoCamera) → int

Get camera image height

Returns

valueint: Camera image height

getReadThreadResult(self: phase.pyphase.stereocamera.DeimosStereoCamera) → phase.pyphase.stereocamera.CameraReadResult

Get results from threaded read process Should be used with startReadThread()

Returns

CameraReadResult: Result from read

getWidth(self: phase.pyphase.stereocamera.DeimosStereoCamera) → int

Get camera image width

Returns

valueint: Camera image width

isCapturing(self: phase.pyphase.stereocamera.DeimosStereoCamera) → bool: Check if camera is capturing

isConnected(self: phase.pyphase.stereocamera.DeimosStereoCamera) → bool: Check if camera is connected

isContinousReadThreadRunning(self: phase.pyphase.stereocamera.DeimosStereoCamera) → bool

Check if continous read thread is running Should be used with startContinousReadThread()

Returns

bool: Continous read thread running status

isReadThreadRunning(self: phase.pyphase.stereocamera.DeimosStereoCamera) → bool

Check if camera read thread is running

Returns

bool: True if read thread is running

read(self: phase.pyphase.stereocamera.DeimosStereoCamera, timeout: int = 1000) → phase.pyphase.stereocamera.CameraReadResult

Read image frame from camera

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)
Returns
——-
CameraReadResult: result from camera read

resetCaptureCount(self: phase.pyphase.stereocamera.DeimosStereoCamera) → None: Reset captured frame count to zero Use with getCaptureCount() to get number of frames captured

setDataCapturePath(self: phase.pyphase.stereocamera.DeimosStereoCamera, path: str) → None

Set path of saved directory for capture data

pathstr: Directory of desired capture data storage

setDownsampleFactor(self: phase.pyphase.stereocamera.DeimosStereoCamera, value: float) → None

Set downsample factor

Parameters

valuefloat: Downsample factor value

setExposure(self: phase.pyphase.stereocamera.DeimosStereoCamera, value: int) → None

Set exposure value of camera

Parameters

valueint: Value of exposure (us)

setFrameRate(self: phase.pyphase.stereocamera.DeimosStereoCamera, value: float) → None

Set frame rate of camera

Parameters

valuefloat: Value of frame rate

setLeftAOI(self: phase.pyphase.stereocamera.DeimosStereoCamera, x_min: int, y_min: int, x_max: int, y_max: int) → None

To set area of interest for left camera

Parameters

x_minint: x value of top left corner of targeted AOI
y_minint: y value of top left corner of targeted AOI
x_maxint: x value of bottom right corner of targeted AOI
y_maxint: y value of bottom right corner of targeted AOI

setLeftFlipX(self: phase.pyphase.stereocamera.DeimosStereoCamera, enable: bool) → None

Flip left image in x axis

Parameters

enablebool: Set “True” to flip image

setLeftFlipY(self: phase.pyphase.stereocamera.DeimosStereoCamera, enable: bool) → None

Flip left image in y axis

Parameters

enablebool: Set “True” to flip image

setReadThreadCallback(self: phase.pyphase.stereocamera.DeimosStereoCamera, callback: Callable[[phase.pyphase.stereocamera.CameraReadResult], None]) → None

Set callback function to run when read thread completes Should be used with startReadThread() Useful as an external trigger that read is complete and results can be retrieved.

Parameters

fcallback

setRightAOI(self: phase.pyphase.stereocamera.DeimosStereoCamera, x_min: int, y_min: int, x_max: int, y_max: int) → None

To set area of interest for right camera

Parameters

x_minint: x value of top left corner of targeted AOI
y_minint: y value of top left corner of targeted AOI
x_maxint: x value of bottom right corner of targeted AOI
y_maxint: y value of bottom right corner of targeted AOI

setRightFlipX(self: phase.pyphase.stereocamera.DeimosStereoCamera, enable: bool) → None

Flip right image in x axis

Parameters

enablebool: Set “True” to flip image

setRightFlipY(self: phase.pyphase.stereocamera.DeimosStereoCamera, enable: bool) → None

Flip right image in y axis

Parameters

enablebool: Set “True” to flip image

DeimosStereoCamera.setTestImagePaths(self: phase.pyphase.stereocamera.DeimosStereoCamera, left_test_image_path: str, left_test_image_path: str) -> None

Set the path for test images, input both left and right image path

Parameters

left_test_image_pathstr
right_test_image_pathstr

startCapture(self: phase.pyphase.stereocamera.DeimosStereoCamera) → bool: Start stereo camera capture Must be started before read() is called

startContinousReadThread(self: phase.pyphase.stereocamera.DeimosStereoCamera, timeout: int = 1000) → bool

Start threaded process to read stereo images from cameras Thread will run continously until stopped This is useful for continuous image acquisition

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)

Returns

bool: Success of starting continous read thread

startReadThread(self: phase.pyphase.stereocamera.DeimosStereoCamera, timeout: int = 1000) → bool

Read camera thread

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)

Returns

bool: True if thread was started successfully

stopCapture(self: phase.pyphase.stereocamera.DeimosStereoCamera) → None: Stop stereo camera capture Will no longer be able to read() after this is called

stopContinousReadThread(self: phase.pyphase.stereocamera.DeimosStereoCamera) → None: Stop continous read thread

class phase.pyphase.stereocamera.PhobosStereoCamera

Bases: pybind11_object

Capture data from I3DR’s Phobos stereo camera.

Methods

`availableDevices`(self)	Get the list of connected Phobos cameras
`connect`(self)	Connect to camera
`disconnect`(self)	Disconnect camera
`enableDataCapture`(self, enable)	Enable/disable saving captured images to file Use with setDataCapturePath() to set path to save images
`enableHardwareTrigger`(self, enable)	Enable camera hardware trigger
`getCaptureCount`(self)	Get number of frames captured since initalisation of the camera or last count reset Use with resetFrameCount() to reset frame count
`getDownsampleFactor`(self)	Get current downsample factor
`getFrameRate`(self)	Get the value of frame rate
`getHeight`(self)	Get camera image height
`getReadThreadResult`(self)	Get results from threaded read process Should be used with startReadThread()
`getWidth`(self)	Get camera image width
`isCapturing`(self)	Check if camera is capturing
`isConnected`(self)	Check if camera is connected
`isContinousReadThreadRunning`(self)	Check if continous read thread is running Should be used with startContinousReadThread()
`isReadThreadRunning`(self)	Check if camera read thread is running
`read`(self[, timeout])	Read image frame from camera
`resetCaptureCount`(self)	Reset captured frame count to zero Use with getCaptureCount() to get number of frames captured
`setDataCapturePath`(self, path)	Set path of saved directory for capture data
`setDownsampleFactor`(self, value)	Set downsample factor
`setExposure`(self, value)	Set exposure value of camera
`setFrameRate`(self, value)	Set frame rate of camera
`setLeftAOI`(self, x_min, y_min, x_max, y_max)	To set area of interest for left camera
`setLeftFlipX`(self, enable)	Flip left image in x axis
`setLeftFlipY`(self, enable)	Flip left image in y axis
`setReadThreadCallback`(self, callback)	Set callback function to run when read thread completes Should be used with startReadThread() Useful as an external trigger that read is complete and results can be retrieved.
`setRightAOI`(self, x_min, y_min, x_max, y_max)	To set area of interest for right camera
`setRightFlipX`(self, enable)	Flip right image in x axis
`setRightFlipY`(self, enable)	Flip right image in y axis
`setTestImagePaths`(self, ...)	Set the path for test images, input both left and right image path
`startCapture`(self)	Start stereo camera capture Must be started before read() is called
`startContinousReadThread`(self[, timeout])	Start threaded process to read stereo images from cameras Thread will run continously until stopped This is useful for continuous image acquisition
`startReadThread`(self[, timeout])	Read camera thread
`stopCapture`(self)	Stop stereo camera capture Will no longer be able to read() after this is called
`stopContinousReadThread`(self)	Stop continous read thread

availableDevices(self: Pylon::CTlFactory) → List[phase.pyphase.stereocamera.CameraDeviceInfo]

Get the list of connected Phobos cameras

Returns

numpy.array: List of connected camera in CameraDeviceInfo type

connect(self: phase.pyphase.stereocamera.PhobosStereoCamera) → bool: Connect to camera

disconnect(self: phase.pyphase.stereocamera.PhobosStereoCamera) → None: Disconnect camera

enableDataCapture(self: phase.pyphase.stereocamera.PhobosStereoCamera, enable: bool) → None

Enable/disable saving captured images to file Use with setDataCapturePath() to set path to save images

Parameters

enablebool: Enable/disable saving images to file

enableHardwareTrigger(self: phase.pyphase.stereocamera.PhobosStereoCamera, enable: bool) → None

Enable camera hardware trigger

Parameters

enablebool: Set “True” to enable hardware trigger

getCaptureCount(self: phase.pyphase.stereocamera.PhobosStereoCamera) → int

Get number of frames captured since initalisation of the camera or last count reset Use with resetFrameCount() to reset frame count

Returns

valueint: Number of frames captured

getDownsampleFactor(self: phase.pyphase.stereocamera.PhobosStereoCamera) → float

Get current downsample factor

Returns

valuefloat: Downsample factor

getFrameRate(self: phase.pyphase.stereocamera.PhobosStereoCamera) → float: Get the value of frame rate

getHeight(self: phase.pyphase.stereocamera.PhobosStereoCamera) → int

Get camera image height

Returns

valueint: Camera image height

getReadThreadResult(self: phase.pyphase.stereocamera.PhobosStereoCamera) → phase.pyphase.stereocamera.CameraReadResult

Get results from threaded read process Should be used with startReadThread()

Returns

CameraReadResult: Result from read

getWidth(self: phase.pyphase.stereocamera.PhobosStereoCamera) → int

Get camera image width

Returns

valueint: Camera image width

isCapturing(self: phase.pyphase.stereocamera.PhobosStereoCamera) → bool: Check if camera is capturing

isConnected(self: phase.pyphase.stereocamera.PhobosStereoCamera) → bool: Check if camera is connected

isContinousReadThreadRunning(self: phase.pyphase.stereocamera.PhobosStereoCamera) → bool

Check if continous read thread is running Should be used with startContinousReadThread()

Returns

bool: Continous read thread running status

isReadThreadRunning(self: phase.pyphase.stereocamera.PhobosStereoCamera) → bool

Check if camera read thread is running

Returns

bool: True if read thread is running

read(self: phase.pyphase.stereocamera.PhobosStereoCamera, timeout: int = 1000) → phase.pyphase.stereocamera.CameraReadResult

Read image frame from camera

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)
Returns
——-
CameraReadResult: result from camera read

resetCaptureCount(self: phase.pyphase.stereocamera.PhobosStereoCamera) → None: Reset captured frame count to zero Use with getCaptureCount() to get number of frames captured

setDataCapturePath(self: phase.pyphase.stereocamera.PhobosStereoCamera, path: str) → None

Set path of saved directory for capture data

pathstr: Directory of desired capture data storage

setDownsampleFactor(self: phase.pyphase.stereocamera.PhobosStereoCamera, value: float) → None

Set downsample factor

Parameters

valuefloat: Downsample factor value

setExposure(self: phase.pyphase.stereocamera.PhobosStereoCamera, value: int) → None

Set exposure value of camera

Parameters

valueint: Value of exposure (us)

setFrameRate(self: phase.pyphase.stereocamera.PhobosStereoCamera, value: float) → None

Set frame rate of camera

Parameters

valuefloat: Value of frame rate

setLeftAOI(self: phase.pyphase.stereocamera.PhobosStereoCamera, x_min: int, y_min: int, x_max: int, y_max: int) → None

To set area of interest for left camera

Parameters

x_minint: x value of top left corner of targeted AOI
y_minint: y value of top left corner of targeted AOI
x_maxint: x value of bottom right corner of targeted AOI
y_maxint: y value of bottom right corner of targeted AOI

setLeftFlipX(self: phase.pyphase.stereocamera.PhobosStereoCamera, enable: bool) → None

Flip left image in x axis

Parameters

enablebool: Set “True” to flip image

setLeftFlipY(self: phase.pyphase.stereocamera.PhobosStereoCamera, enable: bool) → None

Flip left image in y axis

Parameters

enablebool: Set “True” to flip image

setReadThreadCallback(self: phase.pyphase.stereocamera.PhobosStereoCamera, callback: Callable[[phase.pyphase.stereocamera.CameraReadResult], None]) → None

Set callback function to run when read thread completes Should be used with startReadThread() Useful as an external trigger that read is complete and results can be retrieved.

Parameters

fcallback

setRightAOI(self: phase.pyphase.stereocamera.PhobosStereoCamera, x_min: int, y_min: int, x_max: int, y_max: int) → None

To set area of interest for right camera

Parameters

x_minint: x value of top left corner of targeted AOI
y_minint: y value of top left corner of targeted AOI
x_maxint: x value of bottom right corner of targeted AOI
y_maxint: y value of bottom right corner of targeted AOI

setRightFlipX(self: phase.pyphase.stereocamera.PhobosStereoCamera, enable: bool) → None

Flip right image in x axis

Parameters

enablebool: Set “True” to flip image

setRightFlipY(self: phase.pyphase.stereocamera.PhobosStereoCamera, enable: bool) → None

Flip right image in y axis

Parameters

enablebool: Set “True” to flip image

setTestImagePaths(self: phase.pyphase.stereocamera.PhobosStereoCamera, left_test_image_path: str, right_test_image_path: str) → None

Set the path for test images, input both left and right image path

Parameters

left_test_image_pathstr
right_test_image_pathstr

startCapture(self: phase.pyphase.stereocamera.PhobosStereoCamera) → bool: Start stereo camera capture Must be started before read() is called

startContinousReadThread(self: phase.pyphase.stereocamera.PhobosStereoCamera, timeout: int = 1000) → bool

Start threaded process to read stereo images from cameras Thread will run continously until stopped This is useful for continuous image acquisition

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)

Returns

bool: Success of starting continous read thread

startReadThread(self: phase.pyphase.stereocamera.PhobosStereoCamera, timeout: int = 1000) → bool

Read camera thread

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)

Returns

bool: True if thread was started successfully

stopCapture(self: phase.pyphase.stereocamera.PhobosStereoCamera) → None: Stop stereo camera capture Will no longer be able to read() after this is called

stopContinousReadThread(self: phase.pyphase.stereocamera.PhobosStereoCamera) → None: Stop continous read thread

class phase.pyphase.stereocamera.PylonStereoCamera

Bases: pybind11_object

Capture data from a stereo camera using Basler cameras via the Pylon API

Methods

`availableDevices`(self)	Get the list of connected Pylon cameras
`connect`(self)	Connect to camera
`disconnect`(self)	Disconnect camera
`enableDataCapture`(self, enable)	Enable/disable saving captured images to file Use with setDataCapturePath() to set path to save images
`enableHardwareTrigger`(self, enable)	Enable camera hardware trigger
`getCaptureCount`(self)	Get number of frames captured since initalisation of the camera or last count reset Use with resetFrameCount() to reset frame count
`getDownsampleFactor`(self)	Get current downsample factor
`getFrameRate`(self)	Get the value of frame rate
`getHeight`(self)	Get camera image height
`getReadThreadResult`(self)	Get results from threaded read process Should be used with startReadThread()
`getWidth`(self)	Get camera image width
`isCapturing`(self)	Check if camera is capturing
`isConnected`(self)	Check if camera is connected
`isContinousReadThreadRunning`(self)	Check if continous read thread is running Should be used with startContinousReadThread()
`isReadThreadRunning`(self)	Check if camera read thread is running
`read`(self[, timeout])	Read image frame from camera
`resetCaptureCount`(self)	Reset captured frame count to zero Use with getCaptureCount() to get number of frames captured
`setDataCapturePath`(self, path)	Set path of saved directory for capture data
`setDownsampleFactor`(self, value)	Set downsample factor
`setExposure`(self, value)	Set exposure value of camera
`setFrameRate`(self, value)	Set frame rate of camera
`setLeftAOI`(self, x_min, y_min, x_max, y_max)	To set area of interest for left camera
`setLeftFlipX`(self, enable)	Flip left image in x axis
`setLeftFlipY`(self, enable)	Flip left image in y axis
`setReadThreadCallback`(self, callback)	Set callback function to run when read thread completes Should be used with startReadThread() Useful as an external trigger that read is complete and results can be retrieved.
`setRightAOI`(self, x_min, y_min, x_max, y_max)	To set area of interest for right camera
`setRightFlipX`(self, enable)	Flip right image in x axis
`setRightFlipY`(self, enable)	Flip right image in y axis
`setTestImagePaths`(self, ...)	Set the path for test images, input both left and right image path
`startCapture`(self)	Start stereo camera capture Must be started before read() is called
`startContinousReadThread`(self[, timeout])	Start threaded process to read stereo images from cameras Thread will run continously until stopped This is useful for continuous image acquisition
`startReadThread`(self[, timeout])	Read camera thread
`stopCapture`(self)	Stop stereo camera capture Will no longer be able to read() after this is called
`stopContinousReadThread`(self)	Stop continous read thread

availableDevices(self: Pylon::CTlFactory) → List[phase.pyphase.stereocamera.CameraDeviceInfo]

Get the list of connected Pylon cameras

Returns

numpy.array: List of connected camera in CameraDeviceInfo type

connect(self: phase.pyphase.stereocamera.PylonStereoCamera) → bool: Connect to camera

disconnect(self: phase.pyphase.stereocamera.PylonStereoCamera) → None: Disconnect camera

enableDataCapture(self: phase.pyphase.stereocamera.PylonStereoCamera, enable: bool) → None

Enable/disable saving captured images to file Use with setDataCapturePath() to set path to save images

Parameters

enablebool: Enable/disable saving images to file

enableHardwareTrigger(self: phase.pyphase.stereocamera.PylonStereoCamera, enable: bool) → None

Enable camera hardware trigger

Parameters

enablebool: Set “True” to enable hardware trigger

getCaptureCount(self: phase.pyphase.stereocamera.PylonStereoCamera) → int

Get number of frames captured since initalisation of the camera or last count reset Use with resetFrameCount() to reset frame count

Returns

valueint: Number of frames captured

getDownsampleFactor(self: phase.pyphase.stereocamera.PylonStereoCamera) → float

Get current downsample factor

Returns

valuefloat: Downsample factor

getFrameRate(self: phase.pyphase.stereocamera.PylonStereoCamera) → float: Get the value of frame rate

getHeight(self: phase.pyphase.stereocamera.PylonStereoCamera) → int

Get camera image height

Returns

valueint: Camera image height

getReadThreadResult(self: phase.pyphase.stereocamera.PylonStereoCamera) → phase.pyphase.stereocamera.CameraReadResult

Get results from threaded read process Should be used with startReadThread()

Returns

CameraReadResult: Result from read

getWidth(self: phase.pyphase.stereocamera.PylonStereoCamera) → int

Get camera image width

Returns

valueint: Camera image width

isCapturing(self: phase.pyphase.stereocamera.PylonStereoCamera) → bool: Check if camera is capturing

isConnected(self: phase.pyphase.stereocamera.PylonStereoCamera) → bool: Check if camera is connected

isContinousReadThreadRunning(self: phase.pyphase.stereocamera.PylonStereoCamera) → bool

Check if continous read thread is running Should be used with startContinousReadThread()

Returns

bool: Continous read thread running status

isReadThreadRunning(self: phase.pyphase.stereocamera.PylonStereoCamera) → bool

Check if camera read thread is running

Returns

bool: True if read thread is running

read(self: phase.pyphase.stereocamera.PylonStereoCamera, timeout: int = 1000) → phase.pyphase.stereocamera.CameraReadResult

Read image frame from camera

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)
Returns
——-
CameraReadResult: Result from camera read

resetCaptureCount(self: phase.pyphase.stereocamera.PylonStereoCamera) → None: Reset captured frame count to zero Use with getCaptureCount() to get number of frames captured

setDataCapturePath(self: phase.pyphase.stereocamera.PylonStereoCamera, path: str) → None

Set path of saved directory for capture data

pathstr: Directory of desired capture data storage

setDownsampleFactor(self: phase.pyphase.stereocamera.PylonStereoCamera, value: float) → None

Set downsample factor

Parameters

valuefloat: Downsample factor value

setExposure(self: phase.pyphase.stereocamera.PylonStereoCamera, value: int) → None

Set exposure value of camera

Parameters

valueint: Value of exposure (us)

setFrameRate(self: phase.pyphase.stereocamera.PylonStereoCamera, value: float) → None

Set frame rate of camera

Parameters

valuefloat: Value of frame rate

setLeftAOI(self: phase.pyphase.stereocamera.PylonStereoCamera, x_min: int, y_min: int, x_max: int, y_max: int) → None

To set area of interest for left camera

Parameters

x_minint: x value of top left corner of targeted AOI
y_minint: y value of top left corner of targeted AOI
x_maxint: x value of bottom right corner of targeted AOI
y_maxint: y value of bottom right corner of targeted AOI

setLeftFlipX(self: phase.pyphase.stereocamera.PylonStereoCamera, enable: bool) → None

Flip left image in x axis

Parameters

enablebool: Set “True” to flip image

setLeftFlipY(self: phase.pyphase.stereocamera.PylonStereoCamera, enable: bool) → None

Flip left image in y axis

Parameters

enablebool: Set “True” to flip image

setReadThreadCallback(self: phase.pyphase.stereocamera.PylonStereoCamera, callback: Callable[[phase.pyphase.stereocamera.CameraReadResult], None]) → None

Set callback function to run when read thread completes Should be used with startReadThread() Useful as an external trigger that read is complete and results can be retrieved.

Parameters

fcallback

setRightAOI(self: phase.pyphase.stereocamera.PylonStereoCamera, x_min: int, y_min: int, x_max: int, y_max: int) → None

To set area of interest for right camera

Parameters

x_minint: x value of top left corner of targeted AOI
y_minint: y value of top left corner of targeted AOI
x_maxint: x value of bottom right corner of targeted AOI
y_maxint: y value of bottom right corner of targeted AOI

setRightFlipX(self: phase.pyphase.stereocamera.PylonStereoCamera, enable: bool) → None

Flip right image in x axis

Parameters

enablebool: Set “True” to flip image

setRightFlipY(self: phase.pyphase.stereocamera.PylonStereoCamera, enable: bool) → None

Flip right image in y axis

Parameters

enablebool: Set “True” to flip image

setTestImagePaths(self: phase.pyphase.stereocamera.PylonStereoCamera, left_test_image_path: str, right_test_image_path: str) → None

Set the path for test images, input both left and right image path

Parameters

left_test_image_pathstr
right_test_image_pathstr

startCapture(self: phase.pyphase.stereocamera.PylonStereoCamera) → bool: Start stereo camera capture Must be started before read() is called

startContinousReadThread(self: phase.pyphase.stereocamera.PylonStereoCamera, timeout: int = 1000) → bool

Start threaded process to read stereo images from cameras Thread will run continously until stopped This is useful for continuous image acquisition

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)

Returns

bool: Success of starting continous read thread

startReadThread(self: phase.pyphase.stereocamera.PylonStereoCamera, timeout: int = 1000) → bool

Read camera thread

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)

Returns

bool: True if thread was started successfully

stopCapture(self: phase.pyphase.stereocamera.PylonStereoCamera) → None: Stop stereo camera capture Will no longer be able to read() after this is called

stopContinousReadThread(self: phase.pyphase.stereocamera.PylonStereoCamera) → None: Stop continous read thread

class phase.pyphase.stereocamera.TitaniaStereoCamera

Bases: pybind11_object

Capture data from I3DR’s Titania stereo camera.

Methods

`availableDevices`(self)	Get the list of connected Titania cameras
`connect`(self)	Connect to camera
`disconnect`(self)	Disconnect camera
`enableDataCapture`(self, enable)	Enable/disable saving captured images to file Use with setDataCapturePath() to set path to save images
`enableHardwareTrigger`(self, enable)	Enable camera hardware trigger
`getCaptureCount`(self)	Get number of frames captured since initalisation of the camera or last count reset Use with resetFrameCount() to reset frame count
`getDownsampleFactor`(self)	Get current downsample factor
`getFrameRate`(self)	Get the value of frame rate
`getHeight`(self)	Get camera image height
`getReadThreadResult`(self)	Get results from threaded read process Should be used with startReadThread()
`getWidth`(self)	Get camera image width
`isCapturing`(self)	Check if camera is capturing
`isConnected`(self)	Check if camera is connected
`isContinousReadThreadRunning`(self)	Check if continous read thread is running Should be used with startContinousReadThread()
`isReadThreadRunning`(self)	Check if camera read thread is running
`read`(self[, timeout])	Read image frame from camera
`resetCaptureCount`(self)	Reset captured frame count to zero Use with getCaptureCount() to get number of frames captured
`setDataCapturePath`(self, path)	Set data capture path to save images Use with enableDataCapture() to toggle saving images to file
`setDownsampleFactor`(self, value)	Set downsample factor
`setExposure`(self, value)	Set exposure value of camera
`setFrameRate`(self, value)	Set frame rate of camera
`setLeftAOI`(self, x_min, y_min, x_max, y_max)	To set area of interest for left camera
`setLeftFlipX`(self, enable)	Flip left image in x axis
`setLeftFlipY`(self, enable)	Flip left image in y axis
`setReadThreadCallback`(self, callback)	Set callback function to run when read thread completes Should be used with startReadThread() Useful as an external trigger that read is complete and results can be retrieved.
`setRightAOI`(self, x_min, y_min, x_max, y_max)	To set area of interest for right camera
`setRightFlipX`(self, enable)	Flip right image in x axis
`setRightFlipY`(self, enable)	Flip right image in y axis
`setTestImagePaths`(self, ...)	Set the path for test images, input both left and right image path
`startCapture`(self)	Start stereo camera capture Must be started before read() is called
`startContinousReadThread`(self[, timeout])	Start threaded process to read stereo images from cameras Thread will run continously until stopped This is useful for continuous image acquisition
`startReadThread`(self[, timeout])	Read camera thread
`stopCapture`(self)	Stop stereo camera capture Will no longer be able to read() after this is called
`stopContinousReadThread`(self)	Stop continous read thread

availableDevices(self: Pylon::CTlFactory) → List[phase.pyphase.stereocamera.CameraDeviceInfo]

Get the list of connected Titania cameras

Returns

numpy.array: List of connected camera in CameraDeviceInfo type

connect(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → bool: Connect to camera

disconnect(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → None: Disconnect camera

enableDataCapture(self: phase.pyphase.stereocamera.TitaniaStereoCamera, enable: bool) → None

Enable/disable saving captured images to file Use with setDataCapturePath() to set path to save images

Parameters

enablebool: Enable/disable saving images to file

enableHardwareTrigger(self: phase.pyphase.stereocamera.TitaniaStereoCamera, enable: bool) → None

Enable camera hardware trigger

Parameters

enablebool: Set “True” to enable hardware trigger

getCaptureCount(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → int

Get number of frames captured since initalisation of the camera or last count reset Use with resetFrameCount() to reset frame count

Returns

valueint: Number of frames captured

getDownsampleFactor(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → float

Get current downsample factor

Returns

valuefloat: Downsample factor

getFrameRate(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → float: Get the value of frame rate

getHeight(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → int

Get camera image height

Returns

valueint: Camera image height

getReadThreadResult(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → phase.pyphase.stereocamera.CameraReadResult

Get results from threaded read process Should be used with startReadThread()

Returns

CameraReadResult: Result from read

getWidth(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → int

Get camera image width

Returns

valueint: Camera image width

isCapturing(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → bool: Check if camera is capturing

isConnected(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → bool: Check if camera is connected

isContinousReadThreadRunning(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → bool

Check if continous read thread is running Should be used with startContinousReadThread()

Returns

bool: Continous read thread running status

isReadThreadRunning(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → bool

Check if camera read thread is running

Returns

bool: True if read thread is running

read(self: phase.pyphase.stereocamera.TitaniaStereoCamera, timeout: int = 1000) → phase.pyphase.stereocamera.CameraReadResult

Read image frame from camera

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)
Returns
——-
CameraReadResult: Result from camera read

resetCaptureCount(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → None: Reset captured frame count to zero Use with getCaptureCount() to get number of frames captured

setDataCapturePath(self: phase.pyphase.stereocamera.TitaniaStereoCamera, path: str) → None

Set data capture path to save images Use with enableDataCapture() to toggle saving images to file

pathstr: Directory of desired capture data storage

setDownsampleFactor(self: phase.pyphase.stereocamera.TitaniaStereoCamera, value: float) → None

Set downsample factor

Parameters

valuefloat: Downsample factor value

setExposure(self: phase.pyphase.stereocamera.TitaniaStereoCamera, value: int) → None

Set exposure value of camera

Parameters

valueint: Value of exposure (us)

setFrameRate(self: phase.pyphase.stereocamera.TitaniaStereoCamera, value: float) → None

Set frame rate of camera

Parameters

valuefloat: Value of frame rate

setLeftAOI(self: phase.pyphase.stereocamera.TitaniaStereoCamera, x_min: int, y_min: int, x_max: int, y_max: int) → None

To set area of interest for left camera

Parameters

x_minint: x value of top left corner of targeted AOI
y_minint: y value of top left corner of targeted AOI
x_maxint: x value of bottom right corner of targeted AOI
y_maxint: y value of bottom right corner of targeted AOI

setLeftFlipX(self: phase.pyphase.stereocamera.TitaniaStereoCamera, enable: bool) → None

Flip left image in x axis

Parameters

enablebool: Set “True” to flip image

setLeftFlipY(self: phase.pyphase.stereocamera.TitaniaStereoCamera, enable: bool) → None

Flip left image in y axis

Parameters

enablebool: Set “True” to flip image

setReadThreadCallback(self: phase.pyphase.stereocamera.TitaniaStereoCamera, callback: Callable[[phase.pyphase.stereocamera.CameraReadResult], None]) → None

Set callback function to run when read thread completes Should be used with startReadThread() Useful as an external trigger that read is complete and results can be retrieved.

Parameters

fcallback

setRightAOI(self: phase.pyphase.stereocamera.TitaniaStereoCamera, x_min: int, y_min: int, x_max: int, y_max: int) → None

To set area of interest for right camera

Parameters

x_minint: x value of top left corner of targeted AOI
y_minint: y value of top left corner of targeted AOI
x_maxint: x value of bottom right corner of targeted AOI
y_maxint: y value of bottom right corner of targeted AOI

setRightFlipX(self: phase.pyphase.stereocamera.TitaniaStereoCamera, enable: bool) → None

Flip right image in x axis

Parameters

enablebool: Set “True” to flip image

setRightFlipY(self: phase.pyphase.stereocamera.TitaniaStereoCamera, enable: bool) → None

Flip right image in y axis

Parameters

enablebool: Set “True” to flip image

setTestImagePaths(self: phase.pyphase.stereocamera.TitaniaStereoCamera, left_test_image_path: str, right_test_image_path: str) → None

Set the path for test images, input both left and right image path

Parameters

left_test_image_pathstr
right_test_image_pathstr

startCapture(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → bool: Start stereo camera capture Must be started before read() is called

startContinousReadThread(self: phase.pyphase.stereocamera.TitaniaStereoCamera, timeout: int = 1000) → bool

Start threaded process to read stereo images from cameras Thread will run continously until stopped This is useful for continuous image acquisition

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)

Returns

bool: success of starting continous read thread

startReadThread(self: phase.pyphase.stereocamera.TitaniaStereoCamera, timeout: int = 1000) → bool

Read camera thread

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)

Returns

bool: True if thread was started successfully

stopCapture(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → None: Stop stereo camera capture Will no longer be able to read() after this is called

stopContinousReadThread(self: phase.pyphase.stereocamera.TitaniaStereoCamera) → None: Stop continous read thread

class phase.pyphase.stereocamera.UVCStereoCamera

Bases: pybind11_object

UVC Stereo Camera class Capture data from a stereo camera using UVC cameras where left and right is transported via green and red channels.

Methods

`connect`(self)	Connect to camera
`disconnect`(self)	Disconnect camera
`enableDataCapture`(self, enable)	Enable/disable saving captured images to file Use with setDataCapturePath() to set path to save images
`enableHardwareTrigger`(self, enable)	Enable camera hardware trigger
`getCaptureCount`(self)	Get number of frames captured since initalisation of the camera or last count reset Use with resetFrameCount() to reset frame count
`getDownsampleFactor`(self)	Get current downsample factor
`getFrameRate`(self)	Get the value of frame rate
`getHeight`(self)	Get camera image height
`getReadThreadResult`(self)	Get results from threaded read process Should be used with startReadThread()
`getWidth`(self)	Get camera image width
`isCapturing`(self)	Check if camera is capturing
`isConnected`(self)	Check if camera is connected
`isContinousReadThreadRunning`(self)	Check if continous read thread is running Should be used with startContinousReadThread()
`isReadThreadRunning`(self)	Check if camera read thread is running
`read`(self[, timeout])	Read image frame from camera
`resetCaptureCount`(self)	Reset captured frame count to zero Use with getCaptureCount() to get number of frames captured
`setDataCapturePath`(self, path)	Set data capture path to save images Use with enableDataCapture() to toggle saving images to file
`setDownsampleFactor`(self, value)	Set downsample factor
`setExposure`(self, value)	Set exposure value of camera
`setFrameRate`(self, value)	Set frame rate of camera
`setLeftAOI`(self, x_min, y_min, x_max, y_max)	To set area of interest for left camera
`setLeftFlipX`(self, enable)	Flip left image in x axis
`setLeftFlipY`(self, enable)	Flip left image in y axis
`setReadThreadCallback`(self, callback)	Set callback function to run when read thread completes Should be used with startReadThread() Useful as an external trigger that read is complete and results can be retrieved.
`setRightAOI`(self, x_min, y_min, x_max, y_max)	To set area of interest for right camera
`setRightFlipX`(self, enable)	Flip right image in x axis
`setRightFlipY`(self, enable)	Flip right image in y axis
`setTestImagePaths`(self, ...)	Set the path for test images, input both left and right image path
`startCapture`(self)	Start stereo camera capture Must be started before read() is called
`startContinousReadThread`(self[, timeout])	Start threaded process to read stereo images from cameras Thread will run continously until stopped This is useful for continuous image acquisition
`startReadThread`(self[, timeout])	Read camera thread
`stopCapture`(self)	Stop stereo camera capture Will no longer be able to read() after this is called
`stopContinousReadThread`(self)	Stop continous read thread

connect(self: phase.pyphase.stereocamera.UVCStereoCamera) → bool: Connect to camera

disconnect(self: phase.pyphase.stereocamera.UVCStereoCamera) → None: Disconnect camera

enableDataCapture(self: phase.pyphase.stereocamera.UVCStereoCamera, enable: bool) → None

Enable/disable saving captured images to file Use with setDataCapturePath() to set path to save images

Parameters

enablebool: Enable/disable saving images to file

enableHardwareTrigger(self: phase.pyphase.stereocamera.UVCStereoCamera, enable: bool) → None

Enable camera hardware trigger

Parameters

enablebool: Set “True” to enable hardware trigger

getCaptureCount(self: phase.pyphase.stereocamera.UVCStereoCamera) → int

Get number of frames captured since initalisation of the camera or last count reset Use with resetFrameCount() to reset frame count

Returns

valueint: Number of frames captured

getDownsampleFactor(self: phase.pyphase.stereocamera.UVCStereoCamera) → float

Get current downsample factor

Returns

valuefloat: Downsample factor

getFrameRate(self: phase.pyphase.stereocamera.UVCStereoCamera) → float: Get the value of frame rate

getHeight(self: phase.pyphase.stereocamera.UVCStereoCamera) → int

Get camera image height

Returns

valueint: Camera image height

getReadThreadResult(self: phase.pyphase.stereocamera.UVCStereoCamera) → phase.pyphase.stereocamera.CameraReadResult

Get results from threaded read process Should be used with startReadThread()

Returns

CameraReadResult: Result from read

getWidth(self: phase.pyphase.stereocamera.UVCStereoCamera) → int

Get camera image width

Returns

valueint: Camera image width

isCapturing(self: phase.pyphase.stereocamera.UVCStereoCamera) → bool: Check if camera is capturing

isConnected(self: phase.pyphase.stereocamera.UVCStereoCamera) → bool: Check if camera is connected

isContinousReadThreadRunning(self: phase.pyphase.stereocamera.UVCStereoCamera) → bool

Check if continous read thread is running Should be used with startContinousReadThread()

Returns

bool: Continous read thread running status

isReadThreadRunning(self: phase.pyphase.stereocamera.UVCStereoCamera) → bool

Check if camera read thread is running

Returns

bool: True if read thread is running

read(self: phase.pyphase.stereocamera.UVCStereoCamera, timeout: int = 1000) → phase.pyphase.stereocamera.CameraReadResult

Read image frame from camera

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)
Returns
——-
CameraReadResult: Result from camera read

resetCaptureCount(self: phase.pyphase.stereocamera.UVCStereoCamera) → None: Reset captured frame count to zero Use with getCaptureCount() to get number of frames captured

setDataCapturePath(self: phase.pyphase.stereocamera.UVCStereoCamera, path: str) → None

Set data capture path to save images Use with enableDataCapture() to toggle saving images to file

pathstr: Directory of desired capture data storage

setDownsampleFactor(self: phase.pyphase.stereocamera.UVCStereoCamera, value: float) → None

Set downsample factor

Parameters

valuefloat: Downsample factor value

setExposure(self: phase.pyphase.stereocamera.UVCStereoCamera, value: int) → None

Set exposure value of camera

Parameters

valueint: Value of exposure (us)

setFrameRate(self: phase.pyphase.stereocamera.UVCStereoCamera, value: float) → None

Set frame rate of camera

Parameters

valuefloat: Value of frame rate

setLeftAOI(self: phase.pyphase.stereocamera.UVCStereoCamera, x_min: int, y_min: int, x_max: int, y_max: int) → None

To set area of interest for left camera

Parameters

x_minint: x value of top left corner of targeted AOI
y_minint: y value of top left corner of targeted AOI
x_maxint: x value of bottom right corner of targeted AOI
y_maxint: y value of bottom right corner of targeted AOI

setLeftFlipX(self: phase.pyphase.stereocamera.UVCStereoCamera, enable: bool) → None

Flip left image in x axis

Parameters

enablebool: Set “True” to flip image

setLeftFlipY(self: phase.pyphase.stereocamera.UVCStereoCamera, enable: bool) → None

Flip left image in y axis

Parameters

enablebool: Set “True” to flip image

setReadThreadCallback(self: phase.pyphase.stereocamera.UVCStereoCamera, callback: Callable[[phase.pyphase.stereocamera.CameraReadResult], None]) → None

Set callback function to run when read thread completes Should be used with startReadThread() Useful as an external trigger that read is complete and results can be retrieved.

Parameters

fcallback

setRightAOI(self: phase.pyphase.stereocamera.UVCStereoCamera, x_min: int, y_min: int, x_max: int, y_max: int) → None

To set area of interest for right camera

Parameters

x_minint: x value of top left corner of targeted AOI
y_minint: y value of top left corner of targeted AOI
x_maxint: x value of bottom right corner of targeted AOI
y_maxint: y value of bottom right corner of targeted AOI

setRightFlipX(self: phase.pyphase.stereocamera.UVCStereoCamera, enable: bool) → None

Flip right image in x axis

Parameters

enablebool: Set “True” to flip image

setRightFlipY(self: phase.pyphase.stereocamera.UVCStereoCamera, enable: bool) → None

Flip right image in y axis

Parameters

enablebool: Set “True” to flip image

setTestImagePaths(self: phase.pyphase.stereocamera.UVCStereoCamera, left_test_image_path: str, right_test_image_path: str) → None

Set the path for test images, input both left and right image path

Parameters

left_test_image_pathstr
right_test_image_pathstr

startCapture(self: phase.pyphase.stereocamera.UVCStereoCamera) → bool: Start stereo camera capture Must be started before read() is called

startContinousReadThread(self: phase.pyphase.stereocamera.UVCStereoCamera, timeout: int = 1000) → bool

Start threaded process to read stereo images from cameras Thread will run continously until stopped This is useful for continuous image acquisition

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)

Returns

bool: Success of starting continous read thread

startReadThread(self: phase.pyphase.stereocamera.UVCStereoCamera, timeout: int = 1000) → bool

Read camera thread

Parameters

timeoutint: Timeout in millisecond, default timeout is 1000(1s)

Returns

bool: True if thread was started successfully

stopCapture(self: phase.pyphase.stereocamera.UVCStereoCamera) → None: Stop stereo camera capture Will no longer be able to read() after this is called

stopContinousReadThread(self: phase.pyphase.stereocamera.UVCStereoCamera) → None: Stop continous read thread

phase.pyphase.stereocamera.availableDevices() → List[phase.pyphase.stereocamera.CameraDeviceInfo]

Get the list of connected cameras

Returns

numpy.array: List of connected camera in CameraDeviceInfo type

phase.pyphase.stereocamera.createStereoCamera(arg0: phase.pyphase.stereocamera.CameraDeviceInfo) → phase.pyphase.stereocamera.AbstractStereoCamera: Read device type and return in related camera variable

stereo matcher

class phase.pyphase.stereomatcher.AbstractStereoMatcher

Bases: pybind11_object

Abstract base class for building stereo matcher classes. Includes functions/structures common across all stereo matchers. A stereo matcher takes a two images (left and right) and calculates to pixel disparity of features. The produces a disparity value for each pixel which can be used to generate depth.

Methods

`compute`(self, left_image, right_image)	Compute stereo matching Generates disparity from left and right images
`getComputeThreadResult`(self)	Get results from threaded compute process Should be used with startComputeThread()
`isComputeThreadRunning`(self)	Check if compute thread is running
`setComputeThreadCallback`(self, callback)	Set callback function to run when compute thread completes Should be used with startComputeThread() Useful as an external trigger that compute is complete and results can be retrieved.
`startComputeThread`(self, left_image, left_image)	Start compute thread Generates disparity from left and right images Use getComputeThreadResult() to get results of compute

compute(self: phase.pyphase.stereomatcher.AbstractStereoMatcher, left_image: numpy.ndarray, right_image: numpy.ndarray) → phase.pyphase.stereomatcher.StereoMatcherComputeResult

Compute stereo matching Generates disparity from left and right images

Parameters

left_imagenumpy.ndarray: Left image of stereo pair
right_imagenumpy.ndarray: Right image of stereo pair

getComputeThreadResult(self: phase.pyphase.stereomatcher.AbstractStereoMatcher) → phase.pyphase.stereomatcher.StereoMatcherComputeResult

Get results from threaded compute process Should be used with startComputeThread()

Returns

StereoMatcherComputeResult: Result from compute

isComputeThreadRunning(self: phase.pyphase.stereomatcher.AbstractStereoMatcher) → bool

Check if compute thread is running

Returns

bool: True is compute thread is running

setComputeThreadCallback(self: phase.pyphase.stereomatcher.AbstractStereoMatcher, callback: std::function<void ()>) → None

Set callback function to run when compute thread completes Should be used with startComputeThread() Useful as an external trigger that compute is complete and results can be retrieved.

Parameters

fcallback

AbstractStereoMatcher.startComputeThread(self: phase.pyphase.stereomatcher.AbstractStereoMatcher, left_image: numpy.ndarray, left_image: numpy.ndarray) -> None

Start compute thread Generates disparity from left and right images Use getComputeThreadResult() to get results of compute

Parameters

left_imagenumpy.ndarray: Left image of stereo pair
right_imagenumpy.ndarray: Right image of stereo pair

class phase.pyphase.stereomatcher.StereoBM

Bases: pybind11_object

OpenCV’s block matcher for generting disparity from stereo images.

Methods

`compute`(self, left_image, right_image)	Compute stereo matching Generates disparity from left and right images
`getComputeThreadResult`(self)	Get results from threaded compute process Should be used with startComputeThread()
`getMinDisparity`(self)	Get minimum disparity value
`getNumDisparities`(self)	Get number of disparities
`getWindowSize`(self)	Get window size value
`isComputeThreadRunning`(self)	Check if compute thread is running
`setComputeThreadCallback`(self, callback)	Set callback function to run when compute thread completes Should be used with startComputeThread() Useful as an external trigger that compute is complete and results can be retrieved.
`setMinDisparity`(self, value)	Set minimum disparity value
`setNumDisparities`(self, value)	Set number of disparities
`setWindowSize`(self, value)	Set window size value
`startComputeThread`(self, left_image, right_image)	Start compute thread Generates disparity from left and right images Use getComputeThreadResult() to get results of compute

compute(self: phase.pyphase.stereomatcher.StereoBM, left_image: numpy.ndarray, right_image: numpy.ndarray) → phase.pyphase.stereomatcher.StereoMatcherComputeResult

Compute stereo matching Generates disparity from left and right images

Parameters

left_imagenumpy.ndarray: Left image of stereo pair
right_imagenumpy.ndarray: Right image of stereo pair

getComputeThreadResult(self: phase.pyphase.stereomatcher.StereoBM) → phase.pyphase.stereomatcher.StereoMatcherComputeResult

Get results from threaded compute process Should be used with startComputeThread()

Returns

StereoMatcherComputeResult: Result from compute

getMinDisparity(self: phase.pyphase.stereomatcher.StereoBM) → int

Get minimum disparity value

Returns

valueint: Value of minimum disparity

getNumDisparities(self: phase.pyphase.stereomatcher.StereoBM) → int

Get number of disparities

Returns

valueint: Value of number of disparities

getWindowSize(self: phase.pyphase.stereomatcher.StereoBM) → int

Get window size value

Returns

valueint: Value of window size

isComputeThreadRunning(self: phase.pyphase.stereomatcher.StereoBM) → bool

Check if compute thread is running

Returns

bool: True is compute thread is running

setComputeThreadCallback(self: phase.pyphase.stereomatcher.StereoBM, callback: std::function<void ()>) → None

Set callback function to run when compute thread completes Should be used with startComputeThread() Useful as an external trigger that compute is complete and results can be retrieved.

Parameters

fcallback

setMinDisparity(self: phase.pyphase.stereomatcher.StereoBM, value: int) → None

Set minimum disparity value

Parameters

valueint: Desired value of minimum disparity value

setNumDisparities(self: phase.pyphase.stereomatcher.StereoBM, value: int) → None

Set number of disparities

Parameters

valueint: Desired value of number of disparities

setWindowSize(self: phase.pyphase.stereomatcher.StereoBM, value: int) → None

Set window size value

Parameters

valueint: Desired value of window size value

startComputeThread(self: phase.pyphase.stereomatcher.StereoBM, left_image: numpy.ndarray, right_image: numpy.ndarray) → None

Start compute thread Generates disparity from left and right images Use getComputeThreadResult() to get results of compute

Parameters

left_imagenumpy.ndarray: Left image of stereo pair
right_imagenumpy.ndarray: Right image of stereo pair

class phase.pyphase.stereomatcher.StereoI3DRSGM

Bases: pybind11_object

I3DRS’s stereo semi-global matcher for generting disparity from stereo images.

Methods

`compute`(self, left_image, right_image)	Compute stereo matching Generates disparity from left and right images
`enableInterpolation`(self, enable)	To enable interpolation
`enableOcclusionDetection`(self, enable)	To enable occlusion detection
`enableOcclusionInterpolation`(self, enable)	To enable occlusion interpolation
`enableSubpixel`(self, enable)	To enable subpixel
`getComputeThreadResult`(self)	Get results from threaded compute process Should be used with startComputeThread()
`getMinDisparity`(self)	Get minimum disparity value
`getNumDisparities`(self)	Get number of disparities
`getSpeckleMaxDiff`(self)	Get speckle maximum difference
`getSpeckleMaxSize`(self)	Get speckle maximum size
`getWindowSize`(self)	Get window size value
`isComputeThreadRunning`(self)	Check if compute thread is running
`isInterpolationEnabled`(self)	Get enable/disable status of interpolation
`isLicenseValid`()	Check if the I3DRSGM license is valid
`isOcclusionDetectionEnabled`(self)	Get enable/disable status of occlusion detection
`isOcclusionInterpolationEnabled`(self)	Get enable/disable status of occlusion interpolation
`isSubpixelEnabled`(self)	Get enable/disable status of subpixel refinement
`setComputeThreadCallback`(self, callback)	Set callback function to run when compute thread completes Should be used with startComputeThread() Useful as an external trigger that compute is complete and results can be retrieved.
`setMinDisparity`(self, value)	Set minimum disparity value
`setNumDisparities`(self, value)	Set number of disparities
`setSpeckleMaxDiff`(self, value)	Set speckle maximum difference
`setSpeckleMaxSize`(self, value)	Set speckle maximum size
`setWindowSize`(self, value)	Set window size value
`startComputeThread`(self, left_image, right_image)	Start compute thread Generates disparity from left and right images Use getComputeThreadResult() to get results of compute

compute(self: phase.pyphase.stereomatcher.StereoI3DRSGM, left_image: numpy.ndarray, right_image: numpy.ndarray) → phase.pyphase.stereomatcher.StereoMatcherComputeResult

Compute stereo matching Generates disparity from left and right images

Parameters

left_imagenumpy.ndarray: Left image of stereo pair
right_imagenumpy.ndarray: Right image of stereo pair

enableInterpolation(self: phase.pyphase.stereomatcher.StereoI3DRSGM, enable: bool) → None

To enable interpolation

Parameters

enablebool: Set True to enable interpolation

enableOcclusionDetection(self: phase.pyphase.stereomatcher.StereoI3DRSGM, enable: bool) → None

To enable occlusion detection

Parameters

enablebool: Set True to enable occlusion detection

enableOcclusionInterpolation(self: phase.pyphase.stereomatcher.StereoI3DRSGM, enable: bool) → None

To enable occlusion interpolation

Parameters

enablebool: Set True to enable occlusion interpolation

enableSubpixel(self: phase.pyphase.stereomatcher.StereoI3DRSGM, enable: bool) → None

To enable subpixel

Parameters

enablebool: Set True to enable subpixel

getComputeThreadResult(self: phase.pyphase.stereomatcher.StereoI3DRSGM) → phase.pyphase.stereomatcher.StereoMatcherComputeResult

Get results from threaded compute process Should be used with startComputeThread()

Returns

StereoMatcherComputeResult: Result from compute

getMinDisparity(self: phase.pyphase.stereomatcher.StereoI3DRSGM) → int

Get minimum disparity value

Returns

valueint: Value of minimum disparity

getNumDisparities(self: phase.pyphase.stereomatcher.StereoI3DRSGM) → int

Get number of disparities

Returns

valueint: Value of number of disparities

getSpeckleMaxDiff(self: phase.pyphase.stereomatcher.StereoI3DRSGM) → float

Get speckle maximum difference

Returns

valueint: Value of speckle maximum difference

getSpeckleMaxSize(self: phase.pyphase.stereomatcher.StereoI3DRSGM) → int

Get speckle maximum size

Returns

valueint: Value of speckle maximum size

getWindowSize(self: phase.pyphase.stereomatcher.StereoI3DRSGM) → int

Get window size value

Returns

valueint: Value of window size

isComputeThreadRunning(self: phase.pyphase.stereomatcher.StereoI3DRSGM) → bool

Check if compute thread is running

Returns

bool: True is compute thread is running

isInterpolationEnabled(self: phase.pyphase.stereomatcher.StereoI3DRSGM) → bool

Get enable/disable status of interpolation

Returns

bool: true if enabled

static isLicenseValid() → bool

Check if the I3DRSGM license is valid

Returns

bool: True if license is valid

isOcclusionDetectionEnabled(self: phase.pyphase.stereomatcher.StereoI3DRSGM) → bool

Get enable/disable status of occlusion detection

Returns

bool: true if enabled

isOcclusionInterpolationEnabled(self: phase.pyphase.stereomatcher.StereoI3DRSGM) → bool

Get enable/disable status of occlusion interpolation

Returns

bool: true if enabled

isSubpixelEnabled(self: phase.pyphase.stereomatcher.StereoI3DRSGM) → bool

Get enable/disable status of subpixel refinement

Returns

bool: true if enabled

setComputeThreadCallback(self: phase.pyphase.stereomatcher.StereoI3DRSGM, callback: std::function<void ()>) → None

Set callback function to run when compute thread completes Should be used with startComputeThread() Useful as an external trigger that compute is complete and results can be retrieved.

Parameters

fcallback

setMinDisparity(self: phase.pyphase.stereomatcher.StereoI3DRSGM, value: int) → None

Set minimum disparity value

Parameters

valueint: Desired value of minimum disparity value

setNumDisparities(self: phase.pyphase.stereomatcher.StereoI3DRSGM, value: int) → None

Set number of disparities

Parameters

valueint: Desired value of number of disparities

setSpeckleMaxDiff(self: phase.pyphase.stereomatcher.StereoI3DRSGM, value: float) → None

Set speckle maximum difference

Parameters

valuefloat: Value of speckle maximum difference

setSpeckleMaxSize(self: phase.pyphase.stereomatcher.StereoI3DRSGM, value: int) → None

Set speckle maximum size

Parameters

valueint: Value of speckle maximum size

setWindowSize(self: phase.pyphase.stereomatcher.StereoI3DRSGM, value: int) → None

Set window size value

Parameters

valueint: Desired value of window size value

startComputeThread(self: phase.pyphase.stereomatcher.StereoI3DRSGM, left_image: numpy.ndarray, right_image: numpy.ndarray) → None

Start compute thread Generates disparity from left and right images Use getComputeThreadResult() to get results of compute

Parameters

left_imagenumpy.ndarray: Left image of stereo pair
right_imagenumpy.ndarray: Right image of stereo pair

class phase.pyphase.stereomatcher.StereoMatcherComputeResult

Bases: pybind11_object

Struture to store the result from a stereo match. Used in the stereo matcher classes.

Attributes

disparity
valid

property disparity

property valid

class phase.pyphase.stereomatcher.StereoMatcherType

Bases: pybind11_object

Enum to indicate stereo matcher type. Used in stereo matcher class to select which matcher to use.

Members:

STEREO_MATCHER_BM

STEREO_MATCHER_SGBM

STEREO_MATCHER_I3DRSGM

Attributes

name: name(self: handle) -> str
value

STEREO_MATCHER_BM = <StereoMatcherType.STEREO_MATCHER_BM: 0>

STEREO_MATCHER_I3DRSGM = <StereoMatcherType.STEREO_MATCHER_I3DRSGM: 2>

STEREO_MATCHER_SGBM = <StereoMatcherType.STEREO_MATCHER_SGBM: 1>

property name

property value

class phase.pyphase.stereomatcher.StereoParams

Bases: pybind11_object

Struture to store stereo parameters

Attributes

interpolation
matcherType
minDisparity
numDisparities
windowSize

property interpolation

property matcherType

property minDisparity

property numDisparities

property windowSize

class phase.pyphase.stereomatcher.StereoSGBM

Bases: pybind11_object

OpenCV’s semi-global block matcher for generting disparity from stereo images

Methods

`compute`(self, left_image, right_image)	Compute stereo matching Generates disparity from left and right images
`getComputeThreadResult`(self)	Get results from threaded compute process Should be used with startComputeThread()
`getMinDisparity`(self)	Get minimum disparity value
`getNumDisparities`(self)	Get number of disparities
`getWindowSize`(self)	Get window size value
`isComputeThreadRunning`(self)	Check if compute thread is running
`setComputeThreadCallback`(self, callback)	Set callback function to run when compute thread completes Should be used with startComputeThread() Useful as an external trigger that compute is complete and results can be retrieved.
`setMinDisparity`(self, value)	Set minimum disparity value
`setNumDisparities`(self, value)	Set number of disparities
`setWindowSize`(self, value)	Set window size value
`startComputeThread`(self, left_image, right_image)	Start compute thread Generates disparity from left and right images Use getComputeThreadResult() to get results of compute

compute(self: phase.pyphase.stereomatcher.StereoSGBM, left_image: numpy.ndarray, right_image: numpy.ndarray) → phase.pyphase.stereomatcher.StereoMatcherComputeResult

Compute stereo matching Generates disparity from left and right images

Parameters

left_imagenumpy.ndarray: Left image of stereo pair
right_imagenumpy.ndarray: Right image of stereo pair

getComputeThreadResult(self: phase.pyphase.stereomatcher.StereoSGBM) → phase.pyphase.stereomatcher.StereoMatcherComputeResult

Get results from threaded compute process Should be used with startComputeThread()

Returns

StereoMatcherComputeResult: Result from compute

getMinDisparity(self: phase.pyphase.stereomatcher.StereoSGBM) → int

Get minimum disparity value

Returns

valueint: Value of minimum disparity

getNumDisparities(self: phase.pyphase.stereomatcher.StereoSGBM) → int

Get number of disparities

Returns

valueint: Value of number of disparities

getWindowSize(self: phase.pyphase.stereomatcher.StereoSGBM) → int

Get window size value

Returns

valueint: Value of window size

isComputeThreadRunning(self: phase.pyphase.stereomatcher.StereoSGBM) → bool

Check if compute thread is running

Returns

bool: True is compute thread is running

setComputeThreadCallback(self: phase.pyphase.stereomatcher.StereoSGBM, callback: std::function<void ()>) → None

Set callback function to run when compute thread completes Should be used with startComputeThread() Useful as an external trigger that compute is complete and results can be retrieved.

Parameters

fcallback

setMinDisparity(self: phase.pyphase.stereomatcher.StereoSGBM, value: int) → None

Set minimum disparity value

Parameters

valueint: Desired value of minimum disparity value

setNumDisparities(self: phase.pyphase.stereomatcher.StereoSGBM, value: int) → None

Set number of disparities

Parameters

valueint: Desired value of number of disparities

setWindowSize(self: phase.pyphase.stereomatcher.StereoSGBM, value: int) → None

Set window size value

Parameters

valueint: Desired value of window size value

startComputeThread(self: phase.pyphase.stereomatcher.StereoSGBM, left_image: numpy.ndarray, right_image: numpy.ndarray) → None

Start compute thread Generates disparity from left and right images Use getComputeThreadResult() to get results of compute

Parameters

left_imagenumpy.ndarray: Left image of stereo pair
right_imagenumpy.ndarray: Right image of stereo pair

phase.pyphase.stereomatcher.createStereoMatcher(*args, **kwargs)

Overloaded function.

createStereoMatcher(matcher_type: phase.pyphase.stereomatcher.StereoMatcherType) -> phase.pyphase.stereomatcher.AbstractStereoMatcher

Create stereo matching from stereo matcher type
createStereoMatcher(stereo_params: phase.pyphase.stereomatcher.StereoParams) -> phase.pyphase.stereomatcher.AbstractStereoMatcher

Create stereo matching from stereo matcher parameters