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API Reference

API Reference

GitHub

Public Python API for stera-sdk — readers, models, visualizer, mesh refinement, and core types.

The reference for everything you can import from stera-sdk. Each page documents a class or module: constructor signature, methods, parameters, and return types.

Readers

MCAPReader

Open an MCAP recording, iterate streams, access intrinsics, and run session.export().

SyncedFrame & CameraIntrinsics

The frame container yielded by MCAPReader.frames() and the camera-calibration dataclass.

Models

HandTracker

Unified hand tracking wrapper over WiLoR, MediaPipe, and HaMeR backends.

FaceBlurrer

Unified face blurrer wrapping EgoBlur, MediaPipe BlazeFace, and RetinaFace.

UpperBodyEstimator

Per-frame skeleton estimation from camera pose plus tracked wrists, with tunable limb lengths.

Processing & Visualization

MeshRefiner

Clean, densify, colorize, and optionally de-clutter a SLAM mesh from an MCAP session.

Visualizer

Rerun-based per-frame visualizer for Stera sessions. Drives the blueprint, static map geometry, IMU traces, frustum, and overlays.

Types & Utilities

HandPose & Keypoint

The hand-detection result type returned by all HandTracker backends.

Core types & transforms

Pose6D, Keypoint, BBox, and the coordinate-transform helpers in stera.core.

Utilities

Standalone helpers, apply_elliptical_blur and the package logger.

Mesh refinement

Clean a noisy SLAM mesh, densify it via Loop subdivision, and texture-map vertices from RGB frames with view-angle, depth, and occlusion awareness.

MCAPReader

Open an MCAP recording, iterate streams, access intrinsics, and run session.export().

On this page

ReadersModelsProcessing & VisualizationTypes & Utilities