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luxonis · Apr 27, 2022 · 7ad4cdb · 7ad4cdb
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diff --git a/docs/ci.cmake b/docs/ci.cmake
@@ -16,4 +16,4 @@ execute_process(COMMAND ${CMAKE_COMMAND}
 )
 
 # Build
-execute_process(COMMAND ${CMAKE_COMMAND} --build build --parallel 3 WORKING_DIRECTORY ${project_root} COMMAND_ECHO STDOUT)
+execute_process(COMMAND ${CMAKE_COMMAND} --build build --parallel 2 WORKING_DIRECTORY ${project_root} COMMAND_ECHO STDOUT)
diff --git a/docs/source/components/nodes/color_camera.rst b/docs/source/components/nodes/color_camera.rst
@@ -86,6 +86,14 @@ Usage
       cam->setInterleaved(false);
       cam->setColorOrder(dai::ColorCameraProperties::ColorOrder::RGB);
 
+Limitations
+###########
+
+Here are known camera limitations for the Myriad X:
+
+- **ISP can process about 600 MP/s**, and about **500 MP/s** when the pipeline is also running NNs and video encoder in parallel
+- **3A algorithms** can process about **200..250 FPS overall** (for all camera streams). This is a current limitation of our implementation, and we have plans for a workaround to run 3A algorithms on every Xth frame, no ETA yet
+
 Examples of functionality
 #########################
 

diff --git a/docs/source/components/nodes/imu.rst b/docs/source/components/nodes/imu.rst
@@ -87,11 +87,14 @@ List of devices that have an IMU sensor on-board:
 * `OAK-D <https://docs.luxonis.com/projects/hardware/en/latest/pages/BW1098OAK.html>`__
 * `OAK-D-IoT-40 <https://docs.luxonis.com/projects/hardware/en/latest/pages/DM1092.html>`__
 * `OAK-D-IoT-75 <https://docs.luxonis.com/projects/hardware/en/latest/pages/DM1098OBC.html>`__
-* `OAK-D-CM4 <https://docs.luxonis.com/projects/hardware/en/latest/pages/DM1097.html>`__
 * `OAK-D-PoE <https://docs.luxonis.com/projects/hardware/en/latest/pages/SJ2088POE.html>`__
+* `OAK-D CM4 PoE <https://docs.luxonis.com/projects/hardware/en/latest/pages/SJ2088POE.html>`__
 * `OAK-FFC-3P <https://docs.luxonis.com/projects/hardware/en/latest/pages/DM1090.html>`__
-* OAK-D-Pro
-* OAK-WD-Pro
+* `OAK-FFC-4P <https://docs.luxonis.com/projects/hardware/en/latest/pages/DD2090.html>`__
+* `OAK-D Pro <https://docs.luxonis.com/projects/hardware/en/latest/pages/DM9098pro.html>`__ (All varients)
+* `OAK-D S2 <https://docs.luxonis.com/projects/hardware/en/latest/pages/DM9098s2.html>`__ (All varients)
+* `OAK-D S2 PoE <https://docs.luxonis.com/projects/hardware/en/latest/pages/NG9097s2.html>`__ (All varients)
+* `OAK-D Pro PoE <https://docs.luxonis.com/projects/hardware/en/latest/pages/NG9097pro.html>`__ (All varients)
 
 
 IMU sensors

diff --git a/docs/source/components/nodes/yolo_detection_network.rst b/docs/source/components/nodes/yolo_detection_network.rst
@@ -57,8 +57,8 @@ Usage
     yoloDet.setConfidenceThreshold(0.5)
     yoloDet.setNumClasses(80)
     yoloDet.setCoordinateSize(4)
-    yoloDet.setAnchors(np.array([10,14, 23,27, 37,58, 81,82, 135,169, 344,319]))
-    yoloDet.setAnchorMasks({"side26": np.array([1, 2, 3]), "side13": np.array([3, 4, 5])})
+    yoloDet.setAnchors([10,14, 23,27, 37,58, 81,82, 135,169, 344,319])
+    yoloDet.setAnchorMasks({"side26": [1, 2, 3], "side13": [3, 4, 5]})
     yoloDet.setIouThreshold(0.5)
 
   .. code-tab:: c++

diff --git a/docs/source/components/nodes/yolo_spatial_detection_network.rst b/docs/source/components/nodes/yolo_spatial_detection_network.rst
@@ -65,8 +65,8 @@ Usage
     # Yolo specific parameters
     yoloSpatial.setNumClasses(80)
     yoloSpatial.setCoordinateSize(4)
-    yoloSpatial.setAnchors(np.array([10,14, 23,27, 37,58, 81,82, 135,169, 344,319]))
-    yoloSpatial.setAnchorMasks({ "side26": np.array([1,2,3]), "side13": np.array([3,4,5]) })
+    yoloSpatial.setAnchors([10,14, 23,27, 37,58, 81,82, 135,169, 344,319])
+    yoloSpatial.setAnchorMasks({ "side26": [1,2,3], "side13": [3,4,5] })
     yoloSpatial.setIouThreshold(0.5)
 
   .. code-tab:: c++

diff --git a/docs/source/index.rst b/docs/source/index.rst
@@ -72,6 +72,7 @@ node functionalities are presented with code.
    tutorials/ram_usage.rst
    tutorials/dispaying_detections.rst
    tutorials/camera_tuning.rst
+   tutorials/low-latency.rst
 
 .. toctree::
    :maxdepth: 1

diff --git a/docs/source/tutorials/low-latency.rst b/docs/source/tutorials/low-latency.rst
@@ -0,0 +1,114 @@
+Low Latency
+===========
+
+These tables show what performance you can expect from **USB 3.2** Gen 1 (5 Gbps) connection with an OAK camera. XLink chunking was
+disabled for these tests (:code:`pipeline.setXLinkChunkSize(0)`).
+
+.. list-table::
+   :header-rows: 1
+
+   * - What
+     - Resolution
+     - FPS
+     - FPS set
+     - Time-to-Host [ms]
+     - Bandwidth
+     - Histogram
+   * - Color (isp)
+     - 1080P
+     - 60
+     - 60
+     - 33
+     - 1.5 Gbps
+     - `link <https://user-images.githubusercontent.com/18037362/162675407-77882498-5bf1-4af8-b779-9b9e8321af57.png>`__
+   * - Color (isp)
+     - 4K
+     - 28.5
+     - 30
+     - 150
+     - 2.8 Gbps
+     - `link <https://user-images.githubusercontent.com/18037362/162675403-f3c5a4c3-1f7d-4acc-a5d5-f5aecff5a66a.png>`__
+   * - Mono
+     - 720P/800P
+     - 120
+     - 120
+     - 24.5
+     - 442/482 Mbps
+     - `link <https://user-images.githubusercontent.com/18037362/162675400-b19f1e2c-bee0-4482-a861-39481bf2e35e.png>`__
+   * - Mono
+     - 400P
+     - 120
+     - 120
+     - 7.5
+     - 246 Mbps
+     - `link <https://user-images.githubusercontent.com/18037362/162675393-e3fb08fb-0f17-49d0-85d0-31ae7b5af0f9.png>`__
+
+- **Time-to-Host** is measured time between frame timestamp (:code:`imgFrame.getTimestamp()`) and host timestamp when the frame is received (:code:`dai.Clock.now()`).
+- **Histogram** shows how much Time-to-Host varies frame to frame. Y axis represents number of frame that occured at that time while the X axis represents microseconds.
+- **Bandwidth** is calculated bandwidth required to stream specified frames at specified FPS.
+
+Encoded frames
+##############
+
+.. list-table::
+   :header-rows: 1
+
+   * - What
+     - Resolution
+     - FPS
+     - FPS set
+     - Time-to-Host [ms]
+     - Histogram
+   * - Color video H.265
+     - 4K
+     - 28.5
+     - 30
+     - 210
+     - `link <https://user-images.githubusercontent.com/18037362/162675386-a59a58d1-1d5c-4c82-89d8-12882926425b.png>`__
+   * - Color video MJPEG
+     - 4K
+     - 30
+     - 30
+     - 71
+     - `link <https://user-images.githubusercontent.com/18037362/162675384-64842bd6-f5e7-4b40-adf4-39b9c25d1c89.png>`__
+   * - Color video H.265
+     - 1080P
+     - 60
+     - 60
+     - 42
+     - `link <https://user-images.githubusercontent.com/18037362/162675356-c7c86730-63cd-4de8-bad6-4e1484b29ca5.png>`__
+   * - Color video MJPEG
+     - 1080P
+     - 60
+     - 60
+     - 31
+     - `link <https://user-images.githubusercontent.com/18037362/162675371-62aadb93-20f0-4838-9aab-727fb1bfe6f4.png>`__
+   * - Mono H.265
+     - 800P
+     - 60
+     - 60
+     - 23.5
+     - `link <https://user-images.githubusercontent.com/18037362/162675318-92a8541b-424c-49b1-8ec4-6d9e0170410a.png>`__
+   * - Mono MJPEG
+     - 800P
+     - 60
+     - 60
+     - 22.5
+     - `link <https://user-images.githubusercontent.com/18037362/162675328-20afbe8f-4587-4263-8981-919e5a8811c7.png>`__
+   * - Mono H.265
+     - 400P
+     - 120
+     - 120
+     - 7.5
+     - `link <https://user-images.githubusercontent.com/18037362/162675345-dfb4d04a-5d3a-4f84-81e9-dfc091bc00b5.png>`__
+   * - Mono MJPEG
+     - 400P
+     - 120
+     - 120
+     - 7.5
+     - `link <https://user-images.githubusercontent.com/18037362/162675335-2e5a9581-972a-448c-b650-6b6d076a04b8.png>`__
+
+You can also reduce frame latency by using `Zero-Copy <https://github.com/luxonis/depthai-python/tree/tmp_zero_copy>`__
+branch of the DepthAI.
+
+.. include::  /includes/footer-short.rst
diff --git a/examples/SpatialDetection/spatial_tiny_yolo.py b/examples/SpatialDetection/spatial_tiny_yolo.py
@@ -94,8 +94,8 @@
 # Yolo specific parameters
 spatialDetectionNetwork.setNumClasses(80)
 spatialDetectionNetwork.setCoordinateSize(4)
-spatialDetectionNetwork.setAnchors(np.array([10,14, 23,27, 37,58, 81,82, 135,169, 344,319]))
-spatialDetectionNetwork.setAnchorMasks({ "side26": np.array([1,2,3]), "side13": np.array([3,4,5]) })
+spatialDetectionNetwork.setAnchors([10,14, 23,27, 37,58, 81,82, 135,169, 344,319])
+spatialDetectionNetwork.setAnchorMasks({ "side26": [1,2,3], "side13": [3,4,5] })
 spatialDetectionNetwork.setIouThreshold(0.5)
 
 # Linking

diff --git a/examples/Yolo/tiny_yolo.py b/examples/Yolo/tiny_yolo.py
@@ -71,8 +71,8 @@
 detectionNetwork.setConfidenceThreshold(0.5)
 detectionNetwork.setNumClasses(80)
 detectionNetwork.setCoordinateSize(4)
-detectionNetwork.setAnchors(np.array([10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319]))
-detectionNetwork.setAnchorMasks({"side26": np.array([1, 2, 3]), "side13": np.array([3, 4, 5])})
+detectionNetwork.setAnchors([10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319])
+detectionNetwork.setAnchorMasks({"side26": [1, 2, 3], "side13": [3, 4, 5]})
 detectionNetwork.setIouThreshold(0.5)
 detectionNetwork.setBlobPath(nnPath)
 detectionNetwork.setNumInferenceThreads(2)