SDK Stream Python bindings API

class metavision_sdk_stream.Camera

Main class for the camera interface.

static from_file(file_path: os.PathLike, hints: metavision_sdk_stream.FileConfigHints = <metavision_sdk_stream.FileConfigHints object at 0x7f1d5d626030>) → metavision_sdk_stream.Camera

Initializes a camera instance from a file.

CameraException

in case of initialization failure. :file_path: Path to the file

hints

Hints expressing how the file should be read, for more details see FileConfigHints

return

Camera instance initialized from the input file

static from_first_available(*args, **kwargs)

Overloaded function.

from_first_available() -> metavision_sdk_stream.Camera

Initializes a camera instance from the first available camera plugged on the system.

Open the first available camera following at first EMBEDDED and then USB order.

Please note that remote cameras will not be opened with this function. To do that, please specify the OnlineSourceType and use the from_source function, or else specify the serial number and use the from_serial function.

Serial numbers and types of available sources can be found with list_online_sources function.

CameraException

in case of initialization failure.

from_first_available(config: metavision_hal.DeviceConfig) -> metavision_sdk_stream.Camera

Initializes a camera instance from the first available camera plugged on the system.

Open the first available camera following at first EMBEDDED and then USB order.

Please note that remote cameras will not be opened with this function. To do that, please specify the OnlineSourceType and use the from_source function, or else specify the serial number and use the from_serial function.

Serial numbers and types of available sources can be found with list_online_sources function.

CameraException

in case of initialization failure. :config: Configuration used to open the camera This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

static from_serial(*args, **kwargs)

Overloaded function.

from_serial(serial: str) -> metavision_sdk_stream.Camera

Initializes a camera instance from a ‘serial’ number.

Serial numbers of available sources can be found by with list_online_sources function.

If ‘serial’ is an empty string, the function works as the main constructor.

CameraException

if the camera with the input serial number has not been found. :serial: Serial number of the camera

return

Camera instance initialized from the serial number

from_serial(serial: str, config: metavision_hal.DeviceConfig) -> metavision_sdk_stream.Camera

Initializes a camera instance from a ‘serial’ number.

CameraException

if the camera with the input serial number has not been found. :serial: Serial number of the camera

config

Configuration used to open the camera

return

Camera instance initialized from the serial number This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

get_device(self: metavision_sdk_stream.Camera) → metavision_hal.Device

Gets corresponding Device in HAL library.

This Device retrieved can then be used to call the different facilities of the camera. for example: camera.get_device()->get_facility<Metavision::I_TriggerIn>()->enable(channel_id) or: camera.get_device()->get_facility<Metavision::I_Monitoring>()->get_temperature())

return

The Device used internally by the class Camera

height(self: metavision_sdk_stream.Camera) → int: Returns the height of the camera

load(self: metavision_sdk_stream.Camera, path: os.PathLike) → bool

Loads the camera settings from a given file.

path

The path of the file to load the camera settings from

return

true on success

move(self: metavision_sdk_stream.Camera) → metavision_sdk_stream.RValueCamera

save(self: metavision_sdk_stream.Camera, path: os.PathLike) → bool

Saves the camera settings to a given file.

path

The path of the file to save the camera settings to

return

true on success

width(self: metavision_sdk_stream.Camera) → int: Returns the width of the camera

class metavision_sdk_stream.FileConfigHints(self: metavision_sdk_stream.FileConfigHints) → None

Class represented by a map of string key/value pair, used to control how a file is read by the Camera class.

note

Some keys can be ignored when not applicable to the file format

Constructor.

By default, if applicable, the file will be read using a maximum memory footprint of 12Mo, with real time playback speed and time shifting enabled

get(self: metavision_sdk_stream.FileConfigHints, key: str, def: str = '') → str

Gets the (typed) value for a named key in the config dictionary if it exists and can be extracted from the corresponding value safely or the provided default value.

T

type of the value to return as :key: Name of the config key

def

Default value if the config key is not found

return

Value of the config

max_memory(*args, **kwargs)

Overloaded function.

max_memory(self: metavision_sdk_stream.FileConfigHints) -> int

Gets the maximum memory used (if applicable) setting.

return

Maximum memory used

max_memory(self: metavision_sdk_stream.FileConfigHints, max_memory: int) -> metavision_sdk_stream.FileConfigHints

Named constructor for the max memory setting.

max_memory

Maximum memory that should be used when reading the file (if applicable)

return

FileConfigHints& Reference to the modified config

max_memory(self: metavision_sdk_stream.FileConfigHints, max_read_per_op: int) -> metavision_sdk_stream.FileConfigHints

Named constructor for the max read size per read operation.

max_read_per_op

Maximum size of data read per read operation

return

FileConfigHints& Reference to the modified config

max_read_per_op(self: metavision_sdk_stream.FileConfigHints) → int

Gets the maximum read size (if applicable) setting.

return

Maximum read size in bytes

real_time_playback(*args, **kwargs)

Overloaded function.

real_time_playback(self: metavision_sdk_stream.FileConfigHints) -> bool

Gets the real-time playback status.

return

true if enabled, false otherwise

real_time_playback(self: metavision_sdk_stream.FileConfigHints, enabled: bool) -> metavision_sdk_stream.FileConfigHints

Named constructor for the real time playback status.

enabled

true if the setting should be enabled, false otherwise

return

FileConfigHints& Reference to the modified config

set(self: metavision_sdk_stream.FileConfigHints, key: str, value: str) → None: Sets a value for a named key in the config dictionary This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

time_shift(*args, **kwargs)

Overloaded function.

time_shift(self: metavision_sdk_stream.FileConfigHints) -> bool

Gets the timeshift status.

return

true if enabled, false otherwise

time_shift(self: metavision_sdk_stream.FileConfigHints, enabled: bool) -> metavision_sdk_stream.FileConfigHints

Named constructor for the time shift status.

enabled

true if the setting should be enabled, false otherwise

return

FileConfigHints& Reference to the modified config

class metavision_sdk_stream.HDF5EventFileWriter(self: metavision_sdk_stream.HDF5EventFileWriter, path: os.PathLike = '', metadata_map: dict[str, str] = {}) → None

add_cd_events(self: metavision_sdk_stream.HDF5EventFileWriter, events: numpy.ndarray[metavision_sdk_base._EventCD_decode]) → None

Adds an array of EventCD to write to the file

Parameters: events – numpy array of EventCD

add_ext_trigger_events(self: metavision_sdk_stream.HDF5EventFileWriter, events: numpy.ndarray[metavision_sdk_base._EventExtTrigger_decode]) → None

Adds an array of EventExtTrigger to write to the file

Parameters: events – numpy array of EventExtTrigger

add_metadata(self: metavision_sdk_stream.HDF5EventFileWriter, key: str, value: str) → None

Adds metadata to the file.

key

Metatadata key to be added

value

Metadata value to be added

warning

Calling this function after some data has been added may throw an exception in some implementation

add_metadata_map_from_camera(self: metavision_sdk_stream.HDF5EventFileWriter, camera: metavision_sdk_stream.Camera) → None

Adds metadata to the file from a Camera instance.

camera

Camera instance to build metadata from

warning

Calling this function after some data has been added may throw an exception in some implementation

close(self: metavision_sdk_stream.HDF5EventFileWriter) → None: Close the writer.

flush(self: metavision_sdk_stream.HDF5EventFileWriter) → None

Try to flush any data not yet written to disk.

The underlying implementation will do its best to flush any data not yet written but it’s not guaranteed that all data will be written after this call (a library or the OS might prevent completely flushing that data at this point). If no more data will be added, closing the writer is the only way to make sure the data is fully written to disk.

is_open(self: metavision_sdk_stream.HDF5EventFileWriter) → bool

Check that the writer is currently opened and ready to write data.

return

true if the writer is opened and ready, false otherwise

open(self: metavision_sdk_stream.HDF5EventFileWriter, path: os.PathLike) → None

Open the writer with specified path.

path

Path to the file to write

class metavision_sdk_stream.RAWEvt2EventFileWriter(self: metavision_sdk_stream.RAWEvt2EventFileWriter, stream_width: int, stream_height: int, path: os.PathLike = PosixPath('.'), enable_trigger_support: bool = False, metadata_map: dict[str, str] = {}, max_events_add_latency: int = 9223372036854775807) → None

EventFileWriter specialized class to write events to a RAW EVT2 file.

Note: This class only supports writing CD and Trigger events

add_cd_events(self: metavision_sdk_stream.RAWEvt2EventFileWriter, events: numpy.ndarray[metavision_sdk_base._EventCD_decode]) → None

Adds an array of EventCD to write to the file

Parameters: events – numpy array of EventCD

add_ext_trigger_events(self: metavision_sdk_stream.RAWEvt2EventFileWriter, events: numpy.ndarray[metavision_sdk_base._EventExtTrigger_decode]) → None

Adds an array of EventExtTrigger to write to the file

Parameters: events – numpy array of EventExtTrigger

add_metadata(self: metavision_sdk_stream.RAWEvt2EventFileWriter, key: str, value: str) → None

Adds metadata to the file.

key

Metatadata key to be added

value

Metadata value to be added

warning

Calling this function after some data has been added may throw an exception in some implementation

close(self: metavision_sdk_stream.RAWEvt2EventFileWriter) → None: Close the writer.

flush(self: metavision_sdk_stream.RAWEvt2EventFileWriter) → None

Try to flush any data not yet written to disk.

The underlying implementation will do its best to flush any data not yet written but it’s not guaranteed that all data will be written after this call (a library or the OS might prevent completely flushing that data at this point). If no more data will be added, closing the writer is the only way to make sure the data is fully written to disk.

is_open(self: metavision_sdk_stream.RAWEvt2EventFileWriter) → bool

Check that the writer is currently opened and ready to write data.

return

true if the writer is opened and ready, false otherwise

open(self: metavision_sdk_stream.RAWEvt2EventFileWriter, path: os.PathLike) → None

Open the writer with specified path.

path

Path to the file to write

class metavision_sdk_stream.Slice(self: metavision_sdk_stream.Slice) → None

Structure representing a slice of events and triggers.

Default constructor.

property events: Events in the slice.

property n_events: Number of CD events in the slice.

property status: Status indicating how the slice was completed.

property t: Timestamp of the slice.

property triggers: Triggers in the slice.

class metavision_sdk_stream.ReslicingConditionType(self: metavision_sdk_stream.ReslicingConditionType, value: int) → None

Members:

IDENTITY

N_EVENTS

N_US

MIXED

class metavision_sdk_stream.ReslicingConditionStatus(self: metavision_sdk_stream.ReslicingConditionStatus, value: int) → None

Members:

NOT_MET

MET_AUTOMATIC

MET_N_EVENTS

MET_N_US

class metavision_sdk_stream.SliceCondition(self: metavision_sdk_stream.SliceCondition) → None

is_tracking_duration(self: metavision_sdk_stream.SliceCondition) → bool

is_tracking_events_count(self: metavision_sdk_stream.SliceCondition) → bool

static make_identity() → metavision_sdk_stream.SliceCondition

static make_mixed(delta_ts: int, delta_n_events: int) → metavision_sdk_stream.SliceCondition

static make_n_events(delta_n_events: int) → metavision_sdk_stream.SliceCondition

static make_n_us(delta_ts: int) → metavision_sdk_stream.SliceCondition

class metavision_sdk_stream.CameraStreamSlicer(self: metavision_sdk_stream.CameraStreamSlicer, rvalue_camera: metavision_sdk_stream.RValueCamera, slice_condition: metavision_sdk_stream.SliceCondition = <metavision_sdk_stream.SliceCondition object at 0x7f1d5d63eaf0>, max_queue_size: int = 5) → None

Class that slices a stream of events and triggers according to a given condition.

Internally, a concurrent queue is used to store the slices produced by the background threads of the Camera class (i.e. in the callbacks). The size of this concurrent queue can be limited to prevent the background threads from producing too many slices (i.e. especially in offline mode) and consuming too much memory.

begin(self: metavision_sdk_stream.CameraStreamSlicer) → Metavision::SliceIteratorT<Metavision::Slice>: Starts the camera stream and returns an iterator to the first slice.

camera(self: metavision_sdk_stream.CameraStreamSlicer) → metavision_sdk_stream.Camera: Returns the underlying camera instance.

class metavision_sdk_stream.SyncedSlice(self: metavision_sdk_stream.SyncedSlice) → None

A slice of synchronized events from a master and slave cameras.

Default constructor.

property master_events: Events in the master slice.

property master_triggers: Triggers in the master slice.

property n_events: Number of events in the master slice.

property slave_events: Events in the slave slices.

property status: Status indicating how the slice was completed.

property t: Timestamp of the slice.

class metavision_sdk_stream.SyncedCameraStreamsSlicer(self: metavision_sdk_stream.SyncedCameraStreamsSlicer, camera: metavision_sdk_stream.RValueCamera, Cameras: list, slice_condition: metavision_sdk_stream.SliceCondition = <metavision_sdk_stream.SliceCondition object at 0x7f1d5d5103b0>, max_queue_size: int = 5) → None

Class for slicing event streams from master and slave cameras based on a condition.

The slicing condition is applied to the master stream and the end of the slave streams are determined accordingly. Internally, a concurrent queue is used to store the slices produced by the background threads of the master Camera class (i.e. in the callbacks). The size of this concurrent queue can be limited to prevent the background threads from producing too many slices (i.e. especially in offline mode) and consuming too much memory.

begin(self: metavision_sdk_stream.SyncedCameraStreamsSlicer) → Metavision::SliceIteratorT<Metavision::SyncedSlice>: Starts the camera streams and returns an iterator to the first slice.

master(self: metavision_sdk_stream.SyncedCameraStreamsSlicer) → metavision_sdk_stream.Camera: Returns the underlying master camera instance.

slave(self: metavision_sdk_stream.SyncedCameraStreamsSlicer, i: int) → metavision_sdk_stream.Camera: Returns the underlying slave camera instance.

slaves_count(self: metavision_sdk_stream.SyncedCameraStreamsSlicer) → int: Returns the number of slave cameras.

class metavision_sdk_stream.SyncedCameraSystemBuilder(self: metavision_sdk_stream.SyncedCameraSystemBuilder) → None

Builder class to create a synced camera system.

Depending on the provided parameters, the builder will create a synced camera system with live cameras or with files.

add_live_camera_parameters(self: metavision_sdk_stream.SyncedCameraSystemBuilder, serial_number: str, device_config: metavision_hal.DeviceConfig = <metavision_hal.DeviceConfig object at 0x7f1d4c37dff0>, settings_file_path: Optional[os.PathLike] = None) → None

Adds live camera parameters to the builder.

The first provided parameters will be used as the master camera parameters :parameters: Live camera parameters

return

Reference to the builder

add_record_path(self: metavision_sdk_stream.SyncedCameraSystemBuilder, record_path: os.PathLike) → metavision_sdk_stream.SyncedCameraSystemBuilder

Adds a path to a record file.

The first provided path will be used as the master camera file path :record_path: Path to a record file

return

Reference to the builder

build(self: metavision_sdk_stream.SyncedCameraSystemBuilder) → tuple[metavision_sdk_stream.Camera, list[metavision_sdk_stream.Camera]]

Builds the synced camera system.

return

Tuple containing the master camera and the slave cameras :std::runtime_error: in case: - No camera parameters provided - Mixing live and offline parameters - Less than two live cameras provided - Less than two records provided

set_file_config_hints(self: metavision_sdk_stream.SyncedCameraSystemBuilder, file_config_hints: metavision_sdk_stream.FileConfigHints) → metavision_sdk_stream.SyncedCameraSystemBuilder

Sets the file config hints.

The hints will be used for all the records :file_config_hints: File config hints

return

Reference to the builder

set_record(self: metavision_sdk_stream.SyncedCameraSystemBuilder, record: bool) → metavision_sdk_stream.SyncedCameraSystemBuilder

Sets whether the system should record the live events or not.

record

True to record the events, false otherwise

return

Reference to the builder

set_record_dir(self: metavision_sdk_stream.SyncedCameraSystemBuilder, record_dir: os.PathLike) → metavision_sdk_stream.SyncedCameraSystemBuilder

Sets the directory where the events will be recorded.

Setting this option will automatically enable recording :record_dir: Directory where the events will be recorded

return

Reference to the builder

class metavision_sdk_stream.SyncedCameraSystemFactory(self: metavision_sdk_stream.SyncedCameraSystemFactory) → None

class LiveCameraParameters(self: metavision_sdk_stream.SyncedCameraSystemFactory.LiveCameraParameters) → None

Parameters to create a live camera.

property device_config: Device configuration.

property serial_number: Serial number of the camera.

property settings_file_path: Optional path to a camera settings file.

class LiveParameters(self: metavision_sdk_stream.SyncedCameraSystemFactory.LiveParameters) → None

Parameters to create a synced live camera system.

property master_parameters: Parameters for the master camera.

property record: True to record the events, false otherwise.

property record_dir: Optional directory where the events will be recorded.

property slave_parameters: Parameters for the slave cameras.

class OfflineParameters(self: metavision_sdk_stream.SyncedCameraSystemFactory.OfflineParameters) → None

Parameters to create a synced offline camera system.

property file_config_hints: Hints to configure the file reading.

property master_file_path: Path to the master record.

property slave_file_paths: Paths to the slave records.

static build(*args, **kwargs)

Overloaded function.

build(parameters: Metavision::SyncedCameraSystemFactory::LiveParameters) -> tuple[metavision_sdk_stream.Camera, list[metavision_sdk_stream.Camera]]

Builds a synced camera system with live cameras.

parameters

Parameters to create the synced camera system

return

A tuple with the master camera and the slave cameras

build(parameters: Metavision::SyncedCameraSystemFactory::OfflineParameters) -> tuple[metavision_sdk_stream.Camera, list[metavision_sdk_stream.Camera]]

Builds a synced camera system with offline cameras.

parameters

Parameters to create the synced camera system

return

A tuple with the master camera and the slave cameras