Code Samples

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

• Collision avoidance - Collision avoidance system using depth and RGB

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 - 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