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  • RGBD
  • How to place it
  • Inputs and Outputs
  • Configuration
  • Usage
  • Examples of functionality
  • Reference

RGBD

The RGBD node combines synchronized depth and color frames into a single point cloud and RGB-D data stream. It internally uses a Sync subnode to align depth (from a StereoDepth node) and color images for processing on the host.

How to place it

Python
C++

Python

Python
1import depthai as dai
2
3with dai.Pipeline() as pipeline:
4  rgbd = pipeline.create(dai.node.RGBD)
5  # Link color and depth outputs to RGBD inputs
6  color.out.link(rgbd.inColor)
7  depth.out.link(rgbd.inDepth)
8
9  # Or use autocreate
10  rgbd = pipeline.create(dai.node.RGBD).build(
11      autocreate=True,
12      presetMode=dai.StereoDepth.PresetMode.DEFAULT,
13      size=(640, 400)
14  )
15  pipeline.start()

Inputs and Outputs

React Flow
The Sync subnode aligns color and depth frames into a MessageGroup before processing.

Configuration

  • build() / build(autocreate, presetMode, size) - Create the node, optionally autocreating color/depth nodes, selecting a StereoDepth::PresetMode, and specifying frame size as (width, height).
  • setDepthUnit(depthUnit) - Choose the depth unit for conversion (e.g., millimeters or meters) via StereoDepthConfig::AlgorithmControl::DepthUnit.
  • useCPU() - Force single-threaded CPU processing (default).
  • useCPUMT(numThreads) - Enable multi-threaded CPU processing, specifying numThreads (default: 2).
  • useGPU(device) - Offload processing to GPU (requires Kompute support), optionally specifying a GPU device index.
  • printDevices() - Print available GPU devices and capabilities.

Usage

Once placed and linked, start the pipeline and fetch outputs:
Python
1with dai.Pipeline() as p:
2    qPcl = rgbd.pcl.createOutputQueue()
3    qRgbd = rgbd.rgbd.createOutputQueue()
4    pipeline.start()
5    pipeline.start()
6        pclData = qPcl.get()   # type: dai.PointCloudData
7        rgbdData = qRgbd.get() # type: dai.RGBDData

Examples of functionality

Reference

class

dai::node::RGBD

#include RGBD.hpp
variable
variable
InputMap & inputs
variable
std::string colorInputName
variable
std::string depthInputName
variable
Input & inColor
variable
Input & inDepth
variable
Output pcl
Output point cloud.
variable
Output rgbd
Output RGBD frames.
function
RGBD()
function
~RGBD()
function
std::shared_ptr< RGBD > build()
function
std::shared_ptr< RGBD > build(bool autocreate, StereoDepth::PresetMode mode, std::pair< int, int > size, std::optional< float > fps)
function
function
void useCPU()
function
void useCPUMT(uint32_t numThreads)
function
void useGPU(uint32_t device)
function
void printDevices()
function
void buildInternal()

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