Pipeline¶

Pipeline is a collection of nodes and links between them. This flow provides an extensive flexibility that users get for their OAK device. When pipeline object is passed to the Device object, pipeline gets serialized to JSON and sent to the OAK device via XLink.

Pipeline first steps¶

To get DepthAI up and running, you have to create a pipeline, populate it with nodes, configure the nodes and link them together. After that, the pipeline can be loaded onto the Device and be started.

pipeline = depthai.Pipeline()

# If required, specify OpenVINO version
pipeline.setOpenVINOVersion(depthai.OpenVINO.Version.VERSION_2021_4)

# Create nodes, configure them and link them together

# Upload the pipeline to the device
with depthai.Device(pipeline) as device:
  # Set input/output queues to configure device/host communication through the XLink...

Specifying OpenVINO version¶

When using a NN blob that was not compiled with the latest OpenVINO (that DepthAI supports), you have to specify the OpenVINO version of the pipeline. The reason behind this is that OpenVINO doesn’t provide version inside the blob.

pipeline = depthai.Pipeline()
# Set the correct version:
pipeline.setOpenVINOVersion(depthai.OpenVINO.Version.VERSION_2021_4)

Using multiple devices¶

If user has multiple DepthAI devices, each device can run a different pipeline or the same pipeline (demo here). To use different pipeline for each device, you can create multiple pipelines and pass the desired pipeline to the desired device on initialization.

How to place it¶

pipeline = dai.Pipeline()

dai::Pipeline pipeline;

Reference¶

class depthai.Pipeline

create(self: depthai.Pipeline, arg0: object) → depthai.Node

createAprilTag(self: depthai.Pipeline) → depthai.node.AprilTag

createCamera(self: depthai.Pipeline) → depthai.node.Camera

createColorCamera(self: depthai.Pipeline) → depthai.node.ColorCamera

createDetectionParser(self: depthai.Pipeline) → depthai.node.DetectionParser

createEdgeDetector(self: depthai.Pipeline) → depthai.node.EdgeDetector

createFeatureTracker(self: depthai.Pipeline) → depthai.node.FeatureTracker

createIMU(self: depthai.Pipeline) → depthai.node.IMU

createImageManip(self: depthai.Pipeline) → depthai.node.ImageManip

createMobileNetDetectionNetwork(self: depthai.Pipeline) → depthai.node.MobileNetDetectionNetwork

createMobileNetSpatialDetectionNetwork(self: depthai.Pipeline) → depthai.node.MobileNetSpatialDetectionNetwork

createMonoCamera(self: depthai.Pipeline) → depthai.node.MonoCamera

createNeuralNetwork(self: depthai.Pipeline) → depthai.node.NeuralNetwork

createObjectTracker(self: depthai.Pipeline) → depthai.node.ObjectTracker

createSPIIn(self: depthai.Pipeline) → depthai.node.SPIIn

createSPIOut(self: depthai.Pipeline) → depthai.node.SPIOut

createScript(self: depthai.Pipeline) → depthai.node.Script

createSpatialLocationCalculator(self: depthai.Pipeline) → depthai.node.SpatialLocationCalculator

createStereoDepth(self: depthai.Pipeline) → depthai.node.StereoDepth

createSystemLogger(self: depthai.Pipeline) → depthai.node.SystemLogger

createUVC(self: depthai.Pipeline) → depthai.node.UVC

createVideoEncoder(self: depthai.Pipeline) → depthai.node.VideoEncoder

createWarp(self: depthai.Pipeline) → depthai.node.Warp

createXLinkIn(self: depthai.Pipeline) → depthai.node.XLinkIn

createXLinkOut(self: depthai.Pipeline) → depthai.node.XLinkOut

createYoloDetectionNetwork(self: depthai.Pipeline) → depthai.node.YoloDetectionNetwork

createYoloSpatialDetectionNetwork(self: depthai.Pipeline) → depthai.node.YoloSpatialDetectionNetwork

getAllNodes(*args, **kwargs)

Overloaded function.

getAllNodes(self: depthai.Pipeline) -> list[depthai.Node]
getAllNodes(self: depthai.Pipeline) -> list[depthai.Node]

getAssetManager(*args, **kwargs)

Overloaded function.

getAssetManager(self: depthai.Pipeline) -> depthai.AssetManager
getAssetManager(self: depthai.Pipeline) -> depthai.AssetManager

getBoardConfig(self: depthai.Pipeline) → depthai.BoardConfig

getCalibrationData(self: depthai.Pipeline) → depthai.CalibrationHandler

getConnectionMap(self: depthai.Pipeline) → dict[int, set[depthai.Node.Connection]]

getConnections(self: depthai.Pipeline) → list[depthai.Node.Connection]

getDeviceConfig(self: depthai.Pipeline) → depthai.Device.Config

getGlobalProperties(self: depthai.Pipeline) → depthai.GlobalProperties

getNode(*args, **kwargs)

Overloaded function.

getNode(self: depthai.Pipeline, arg0: int) -> depthai.Node
getNode(self: depthai.Pipeline, arg0: int) -> depthai.Node

getNodeMap(self: depthai.Pipeline) → dict[int, depthai.Node]

getOpenVINOVersion(self: depthai.Pipeline) → depthai.OpenVINO.Version

getRequiredOpenVINOVersion(self: depthai.Pipeline) → Optional[depthai.OpenVINO.Version]

link(self: depthai.Pipeline, arg0: depthai.Node.Output, arg1: depthai.Node.Input) → None

remove(self: depthai.Pipeline, node: depthai.Node) → None

serializeToJson(self: depthai.Pipeline) → json

setBoardConfig(self: depthai.Pipeline, arg0: depthai.BoardConfig) → None

setCalibrationData(self: depthai.Pipeline, calibrationDataHandler: depthai.CalibrationHandler) → None

setCameraTuningBlobPath(self: depthai.Pipeline, path: Path) → None

setOpenVINOVersion(self: depthai.Pipeline, version: depthai.OpenVINO.Version) → None

setSippBufferSize(self: depthai.Pipeline, sizeBytes: int) → None

setSippDmaBufferSize(self: depthai.Pipeline, sizeBytes: int) → None

setXLinkChunkSize(self: depthai.Pipeline, sizeBytes: int) → None

unlink(self: depthai.Pipeline, arg0: depthai.Node.Output, arg1: depthai.Node.Input) → None

class dai::Pipeline¶

Represents the pipeline, set of nodes and connections between them.

Public Types

using NodeConnectionMap = PipelineImpl::NodeConnectionMap¶

using NodeMap = PipelineImpl::NodeMap¶

Public Functions

Pipeline()¶: Constructs a new pipeline

Pipeline(const std::shared_ptr<PipelineImpl> &pimpl)¶

Pipeline clone() const¶: Clone the pipeline (Creates a copy)

GlobalProperties getGlobalProperties() const¶

Return: Global properties of current pipeline

PipelineSchema getPipelineSchema(SerializationType type = DEFAULT_SERIALIZATION_TYPE) const¶

Return: Pipeline schema

void serialize(PipelineSchema &schema, Assets &assets, std::vector<std::uint8_t> &assetStorage) const¶

nlohmann::json serializeToJson() const¶: Returns whole pipeline represented as JSON.

template<class N> std::shared_ptr<N> create()¶

Adds a node to pipeline.

Node is specified by template argument N

void remove(std::shared_ptr<Node> node)¶: Removes a node from pipeline.

std::vector<std::shared_ptr<const Node>> getAllNodes() const¶: Get a vector of all nodes.

std::vector<std::shared_ptr<Node>> getAllNodes()¶: Get a vector of all nodes.

std::shared_ptr<const Node> getNode(Node::Id id) const¶: Get node with id if it exists, nullptr otherwise.

std::shared_ptr<Node> getNode(Node::Id id)¶: Get node with id if it exists, nullptr otherwise.

std::vector<Node::Connection> getConnections() const¶: Get all connections.

const NodeConnectionMap &getConnectionMap() const¶: Get a reference to internal connection representation.

const NodeMap &getNodeMap() const¶: Get a reference to internal node map.

void link(const Node::Output &out, const Node::Input &in)¶

Link output to an input. Both nodes must be on the same pipeline

Throws an error if they aren’t or cannot be connected

Parameters

out: Nodes output to connect from
in: Nodes input to connect to

void unlink(const Node::Output &out, const Node::Input &in)¶

Unlink output from an input.

Throws an error if link doesn’t exists

Parameters

out: Nodes output to unlink from
in: Nodes input to unlink to

const AssetManager &getAssetManager() const¶: Get pipelines AssetManager as reference.

AssetManager &getAssetManager()¶: Get pipelines AssetManager as reference.

void setOpenVINOVersion(OpenVINO::Version version)¶: Set a specific OpenVINO version to use with this pipeline.

void setCalibrationData(CalibrationHandler calibrationDataHandler)¶

Sets the calibration in pipeline which overrides the calibration data in eeprom

Parameters

calibrationDataHandler: CalibrationHandler object which is loaded with calibration information.

CalibrationHandler getCalibrationData() const¶

gets the calibration data which is set through pipeline

Return: the calibrationHandler with calib data in the pipeline

OpenVINO::Version getOpenVINOVersion() const¶: Get possible OpenVINO version to run this pipeline.

tl::optional<OpenVINO::Version> getRequiredOpenVINOVersion() const¶: Get required OpenVINO version to run this pipeline. Can be none.

void setCameraTuningBlobPath(const dai::Path &path)¶: Set a camera IQ (Image Quality) tuning blob, used for all cameras.

void setXLinkChunkSize(int sizeBytes)¶: Set chunk size for splitting device-sent XLink packets, in bytes. A larger value could increase performance, with 0 disabling chunking. A negative value won’t modify the device defaults - configured per protocol, currently 64*1024 for both USB and Ethernet.

void setSippBufferSize(int sizeBytes)¶: SIPP (Signal Image Processing Pipeline) internal memory pool. SIPP is a framework used to schedule HW filters, e.g. ISP, Warp, Median filter etc. Changing the size of this pool is meant for advanced use cases, pushing the limits of the HW. By default memory is allocated in high speed CMX memory. Setting to 0 will allocate in DDR 256 kilobytes. Units are bytes.

void setSippDmaBufferSize(int sizeBytes)¶: SIPP (Signal Image Processing Pipeline) internal DMA memory pool. SIPP is a framework used to schedule HW filters, e.g. ISP, Warp, Median filter etc. Changing the size of this pool is meant for advanced use cases, pushing the limits of the HW. Memory is allocated in high speed CMX memory Units are bytes.

bool isOpenVINOVersionCompatible(OpenVINO::Version version) const¶: Checks whether a given OpenVINO version is compatible with the pipeline.

void setBoardConfig(BoardConfig board)¶: Sets board configuration.

BoardConfig getBoardConfig() const¶: Gets board configuration.

Device::Config getDeviceConfig() const¶: Get device configuration needed for this pipeline.

Private Functions

PipelineImpl *impl()¶

const PipelineImpl *impl() const¶

Private Members

std::shared_ptr<PipelineImpl> pimpl¶

Got questions?

Head over to Discussion Forum for technical support or any other questions you might have.