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Code Samples

../samples/bootloader/* ../samples/calibration/* ../samples/Camera/* ../samples/ColorCamera/* ../samples/crash_report/* ../samples/EdgeDetector/* ../samples/FeatureTracker/* ../samples/host_side/* ../samples/ImageManip/* ../samples/IMU/* ../samples/mixed/* ../samples/MobileNet/* ../samples/MonoCamera/* ../samples/NeuralNetwork/* ../samples/ObjectTracker/* ../samples/Script/* ../samples/SpatialDetection/* ../samples/StereoDepth/* ../samples/PointCloud/* ../samples/Sync/* ../samples/SystemLogger/* ../samples/ToF/* ../samples/VideoEncoder/* ../samples/Warp/* ../samples/UVC/* ../samples/Yolo/*

Code samples are used for automated testing. They are also a great starting point for the DepthAI API, as different node functionalities are presented with code.

Bootloader

  • Bootloader Config - Read/Flash/Clear bootloader on the device
  • Bootloader Version - Retrieves Version of Bootloader on the device
  • Flash Bootloader - Flash factory bootloader to the device
  • Flash User Bootloader - Flash user bootloader to the device
  • POE set IP - Sets IP of the POE device

Calibration

  • Calibration Flash v5 - Flashes calibration data of version 5 (gen1 calibration data) to the device
  • Calibration Flash - Flashes calibration data of version 6 (gen2 calibration data) to the device
  • Calibration Reader - Reads calibration data stored on device over XLink
  • Calibration Load - Loads and uses calibration data of version 6 (gen2 calibration data) in a pipeline

Camera

  • Undistort camera stream - Showcases how Camera node undistorts camera streams

ColorCamera

  • Auto Exposure on ROI - Demonstrates how to use auto exposure based on the selected ROI
  • RGB Camera Control - Demonstrates how to control the RGB camera (crop, focus, exposure, sensitivity) from the host
  • RGB Preview - Displays a small preview of the RGB camera
  • RGB scene - Shows how to select ColorCamera's scene and effect
  • RGB video - Displays high resolution frames of the RGB camera

Crash report

  • Crash report - In case of a firmware crash, example reads it from the device and saves it to a json file

EdgeDetector

  • Edge Detector - Performs edge detection on all camera streams

FeatureTracker

  • Feature Detector - Feature detection on input frame
  • Feature Tracker - Feature detection and tracking on input frame
  • Feature Tracker with Motion Estimation - Camera movement estimation based on feature tracking

Host side

  • Latency measurement - Measure frame latency from capturing to the host
  • OpenCV support - Demonstrates how to retrieve an image frame as an OpenCV frame
  • Device Queue Event - Demonstrates how to use device queue events
  • Queue add callback - Demonstrates how to use queue callbacks

ImageManip

  • RGB Rotate Warp - Demonstrates how to rotate, mirror, flip or perform perspective transform on a frame
  • ImageManip tiling - Using ImageManip for frame tiling
  • ImageManip rotate - Using ImageManip to rotate color/mono frames

IMU

  • IMU Accelerometer & Gyroscope - Accelerometer and gyroscope at 500hz rate
  • IMU Rotation Vector - Rotation vector at 400 hz rate

Mixed

  • Mono & MobilenetSSD & Depth - Runs MobileNetSSD on mono frames and displays detections on mono/disparity frames
  • Multiple Devices - Run multiple OAK cameras from the same host computer
  • RGB Encoding & MobilenetSSD - Runs MobileNetSSD on RGB frames and encodes FUll-HD RGB into .h265 and saves it on the host
  • RGB Encoding & Mono & MobilenetSSD - Runs MobileNetSSD on mono frames and displays detections on the frame + encodes RGB to .h265
  • RGB Encoding & Mono with MobilenetSSD & Depth - A combination of RGB Encoding and Mono & MobilenetSSD & Depth code samples
  • Spatial detections on rotated OAK - Spatail detections on upside down OAK camera

MobileNet

  • Mono & MobilenetSSD - Runs MobileNetSSD on mono frames and displays detections on the frame
  • Video & MobilenetSSD - Runs MobileNetSSD on the video from the host
  • RGB & MobilenetSSD - Runs MobileNetSSD on RGB frames and displays detections on the frame
  • RGB & MobileNetSSD @ 4K - Runs MobileNetSSD on RGB frames and displays detections on both preview and 4k frames

MonoCamera

  • Mono Preview - Displays right/left mono cameras
  • Mono Camera Control - Demonstrates how to control the mono camera (crop, exposure, sensitivity) from the host
  • Mono preview - Alternate between dot projector and illumination LED on OAK Pro devices
  • Mono Full Resolution Saver - Saves mono (720P) images to the host (.png)

NeuralNetwork

  • Multi-Input Frame Concat <Multi-Input Frame Concationation> - Concat mono/rgb streams on the device with a custom model
  • Frame Normalization - Normalize the frame on the device with a custom model

ObjectTracker

  • Object tracker on video - Performs object tracking from the video
  • Object tracker on RGB - Performs object tracking from the RGB camera
  • Spatial object tracker on RGB - Performs object tracking and also provides spatial coordinates

Script

  • Script camera control - Controlling the camera with the Script node
  • Script change pipeline flow - Change the flow of data inside your pipeline in runtime with Script node
  • Script forward frames - Forward incoming image stream to two different output streams (demuxing)
  • Script get local IP - Get local IP of the device (only OAK-POE devices)
  • Script HTTP client - Send HTTP request to a server (only OAK-POE devices)
  • Script JSON communication - 2-way JSON communication between Script <-> Host
  • Script HTTP server - Serve still image over HTTP response (only OAK-POE devices)
  • Script MJPEG server - Serve MJPEG video stream over HTTP response (only OAK-POE devices)
  • Script NNData example - Constructs NNData in Script node and sends it to the host
  • Script UART communication - UART communication with Script node
  • Script EMMC access - Access EMMC memory from the Script node

SpatialDetection

  • Spatial Calculator Multi-ROI - Selects multiple ROIs and calculates spatial coordinates for each of them
  • Spatial location calculator - Demonstrates how to use the spatial location calculator
  • RGB & MobilenetSSD with spatial data - Displays RGB frames with MobileNet detections and spatial coordinates on them
  • Mono & MobilenetSSD with spatial data - Displays mono frames with MobileNet detections and spatial coordinates on them
  • RGB & TinyYolo with spatial data- Displays RGB frames with Yolo detections and spatial coordinates on them

StereoDepth

  • Depth Crop Control - Demonstrates how to control cropping of depth frames from the host
  • Depth Post-Processing - Depth post-processing filters
  • Depth Preview - Displays colorized stereo disparity
  • Stereo Depth custom Mesh - Calculate and load custom mesh for stereo depth calculation
  • Stereo Depth from host - Generates stereo depth frame from a set of mono images from the host
  • Stereo Depth Video - An extended version of Depth Preview
  • RGB Depth alignment - Displays RGB depth aligned frames

PointCloud

  • PointCloud Visualization - Creates point cloud from depth frames and displays it using Open3D
  • PointCloud Control - Demonstrates how to control point cloud from the host

Sync Node

  • Depth and Video Sync - Synchronizes depth and video streams for real-time processing and display.
  • IMU and Video Sync - Aligns IMU data with video frames, showcasing real-time rotation vector display alongside video.
  • Multiple Scripts Sync - Demonstrates synchronization of data from two script nodes emitting data at different intervals.
  • Demuxing Synchronized Script Outputs - Features synchronization of script outputs followed by demultiplexing for distinct processing streams.

SystemLogger

  • System information - Displays device system information (memory/cpu usage, temperature)

ToF

  • ToF depth - Displays colorized ToF depth frames

VideoEncoder

  • Disparity encoding - Encodes stereo disparity into .mjpeg
  • RGB Encoding - Encodes RGB (1080P, 30FPS) into .h265 and saves it on the host
  • RGB & Mono Encoding- Encodes RGB (1080P, 30FPS) and both mono streams (720P, 30FPS) into .h265/.h264 and saves them on the host
  • Encoding Max Limit - Encodes RGB (4k 25FPS) and both mono streams (720P, 25FPS) into .h265/.h264 and saves them on the host
  • RGB Full Resolution Saver - Saves full resolution RGB images (4k) on the host (.jpeg)
  • Video Encoded Frame Type - Demonstrates how to view frame type when using video encoding

Warp

  • Warp Mesh - Displays an image warped with 2 different meshes
  • Interactive Warp Mesh - Interactively change the warp mesh

UVC

  • UVC & Color Camera - Displays RGB frames from a UVC camera
  • UVC & Mono Camera - Displays mono frames from a UVC camera
  • UVC & Disparity - Displays disparity frames from a UVC camera

Yolo

  • RGB & Tiny YOLO - Runs Tiny YOLO on RGB frames and displays detections on the frame