Depthai Examples

AprilTags

• AprilTags - Run AprilTag marker detection on a 1080P camera stream.
• AprilTags 12MP - Run AprilTag marker detection on a 12MP camera stream.
• AprilTags on image replay - Run AprilTag marker detection on an image replay.

Benchmark

• Benchmark Simple - Measure the latency of a pipeline.
• Benchmark Camera - Measure the FPS and the latency of a camera stream.
• Benchmark NN - Measure the FPS and the latency of a neural network model.

Camera

• Display all cameras - Display the highest resolution streams of all available camera sensors.
• Camera output - Request an output stream from the default camera and display it.
• Camera multiple outputs - Request multiple output streams from a single camera using command line arguments.
• Camera raw output - Get raw image data from camera and display it.
• Camera ROI-based exposure and focus - Set auto-exposure and auto-focus based on a user-selected ROI.
• Camera still image at max resolution - Capture a still image at the maximum resolution.

DetectionNetwork

• Detection network - Run a YOLOv6n object detection model and display results (bounding boxes) on a video stream.
• Detection network remap - Run a YOLOv6 object detection model and map the bounding boxes onto a depth frame.
• Detection network replay - Run a YOLOv6 object detection model on a replayed video stream, visualize detections in our custom-built visualizer.

Events

• Events - Handle events and set callbacks in DepthAI.

Feature Tracker

• Feature tracker - Detect features and track them between consecutive frames using optical flow.

Host Nodes

• Display - Create a custom host node that displays frames using OpenCV.
• Host Camera - Create a custom threaded host node to capture frames from the host machine's camera and send them to the pipeline.
• Threaded Host Nodes - Create custom threaded host nodes and link them.

Image Align

• Depth Align - Align and blend RGB and depth frames.

Image Manip

• ImageManip all operations - Demonstrate various image manipulation operations including resizing (stretch/letterbox/crop), cropping, flipping, scaling, rotation, affine and perspective transforms, and frame type conversion.
• ImageManip multiple operations - Define a sequence of operations to be applied to an input frame, all in a single ImageManip node.
• ImageManip resize - Resize frame and display both original and resized images.
• ImageManip remap - Use ImageManip to modify a frame and use the underlying transformation to remap a rectangle to match the modified frame.

IMU

• IMU accelerometer and gyroscope - Get accelerometer and gyroscope data from the IMU node

Neural Network

• Neural network - Create a simple pipeline with a camera and neural network node.
• Neural network multi-input - Run a neural network model that concatenates a camera frame with a static image using two input tensors.
• Neural network multi-input combined - Run a neural network model that combines two input images into a single output image.

Stereo Depth

• Stereo Depth - Visualize disparity depth from stereo camera.
• Stereo Depth Remap - Remap geometry from disparity depth <frame> to color frame.

Video Encoder

• Video Encode - Encode video frames on-device into MJPEG, H264, or H265 video codecs and save them to a file.

Warp

• Warp mesh - Warp the input image frame using a 3x3 mesh transformation to create perspective distortion effects.

ModelZoo

• Model Zoo - Download a model from zoo and unpack it.

RecordReplay

• Holistic Record - Record holistic pipeline data.
• Holistic Replay - Replay recorded holistic pipeline data.
• Video Record - Record video streams.
• Video Replay - Replay recorded video streams.

RGBD

• RGBD Point Cloud Visualization - Visualize colored point cloud data in three different visualizers.

Script

• Script Simple - Arguably the simplest script example ever.
• Script Switch All Cameras - Switch between all available cameras.

SpatialDetectionNetwork

• Spatial Detection - Run object detection with spatial (3D) coordinates

SpatialLocationCalculator

• Spatial Location Calculator - Calculate 3D spatial coordinates for specified points

Sync

• Sync - Synchronize two or more data streams.

SystemLogger

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

Visualizer

• Custom Services - Define custom visualizer services and callbacks.
• Custom Visualizations - Create custom visualizations and add them to the visualizer.
• Visualizer Encoded - Visualize encoded streams.
• Visualizer YOLO - Visualize YOLO detections.

RVC2-specific examples

Camera

• Camera undistort - Demonstate camera undistortion capabilities.

NNArchive

• NN Archive Superblob - Download a superblob model from the zoo and run it.

ObjectTracker

• Object Tracker - Track objects in 3D space using YOLOv6 detection and color histogram tracking.

Thermal

• Thermal - Display thermal camera feed with controls for brightness and shutter.
• Thermal Crosshair - Display thermal camera feed with temperature readout at mouse cursor position using crosshair overlay.

ToF

• ToF - Get depth frames from a ToF camera and visualize them using a colormap

VSLAM

• Basalt VIO - VIO example using stereo cameras and the IMU to estimate the device's motion.
• Basalt VIO RTAB-Map SLAM - VSLAM example
• RTAB-Map VIO - Yet another VIO example.
• RTAB-MAP VIO SLAM - Yet another VSLAM example.