oak-d-actuator

Thin depth+RGB wrapper for the robot-md ecosystem. RPN-000000000003.

A Python package mirroring so-arm101-actuator's API shape for OAK-D cameras (Luxonis). Lazy-imports depthai so the package installs on machines without the SDK; throws clearly when you actually try to open a device without it.

Install

pip install oak-d-actuator

Or via robot-md init auto-detect, which pip-installs this package when an OAK device is detected on the host.

Usage

from oak_d_actuator import Camera

cam = Camera()
rgb = cam.read_rgb()            # (H, W, 3) uint8 BGR
depth = cam.read_depth()        # (H, W) uint16 millimeters
intr = cam.get_intrinsics(stream="rgb")
# {'fx': ..., 'fy': ..., 'cx': ..., 'cy': ...,
#  'distortion_model': 'plumb_bob',
#  'distortion_coeffs': [...],
#  'width': 1280, 'height': 720,
#  'provenance': 'depthai factory cal'}
cam.release()

Discovery

from oak_d_actuator import discover

for dev in discover():
    print(dev.mxid, dev.product_family)

Provenance

• RPN-000000000003 in the RRF transparency log.
• Apache-2.0.
• Source: https://github.com/RobotRegistryFoundation/oak-d-actuator
• Ecosystem: https://robotmd.dev