# Depthai Examples 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. ### DepthAI nodes * [AprilTags](#Depthai%2520Examples-AprilTags) * [Camera](#Depthai%2520Examples-Camera) * [Benchmark](#Depthai%2520Examples-Benchmark) * [DetectionNetwork](#Depthai%2520Examples-DetectionNetwork) * [Feature Tracker](#Depthai%2520Examples-Feature%2520Tracker) * [Host Nodes](#Depthai%2520Examples-Host%2520Nodes) * [Image Align](#Depthai%2520Examples-Image%2520Align) * [Image Manip](#Depthai%2520Examples-Image%2520Manip) * [IMU](#Depthai%2520Examples-IMU) * [Neural Depth](#Depthai%2520Examples-Neural%2520Depth) * [Neural Network](#Depthai%2520Examples-Neural%2520Network) * [Stereo Depth](#Depthai%2520Examples-Stereo%2520Depth) * [SystemLogger](#Depthai%2520Examples-RVC2-specific%2520examples-SystemLogger) * [Video Encoder](#Depthai%2520Examples-Video%2520Encoder) * [Warp](#Depthai%2520Examples-Warp) * [Object Tracker](#Depthai%2520Examples-Object%2520Tracker) More examples can be found in the [oak-examples (main branch)](https://github.com/luxonis/oak-examples/tree/main?tab=readme-ov-file#oak-examples). ## AprilTags * [AprilTags](https://docs.luxonis.com/software-v3/depthai/examples/april_tags/april_tags.md) - Run AprilTag marker detection on a 1080P camera stream. * [AprilTags 12MP](https://docs.luxonis.com/software-v3/depthai/examples/april_tags/april_tags_12mp.md) - Run AprilTag marker detection on a 12MP camera stream. * [AprilTags on image replay](https://docs.luxonis.com/software-v3/depthai/examples/april_tags/april_tags_replay.md) - Run AprilTag marker detection on an image replay. ## Benchmark * [Benchmark Simple](https://docs.luxonis.com/software-v3/depthai/examples/benchmark/benchmark_simple.md) - Measure the latency of a pipeline. * [Benchmark Camera](https://docs.luxonis.com/software-v3/depthai/examples/benchmark/benchmark_camera.md) - Measure the FPS and the latency of a camera stream. * [Benchmark NN](https://docs.luxonis.com/software-v3/depthai/examples/benchmark/benchmark_nn.md) - Measure the FPS and the latency of a neural network model. ## Camera * [Display all cameras](https://docs.luxonis.com/software-v3/depthai/examples/camera/camera_all.md) - Display the highest resolution streams of all available camera sensors. * [Camera output](https://docs.luxonis.com/software-v3/depthai/examples/camera/camera_output.md) - Request an output stream from the default camera and display it. * [Camera multiple outputs](https://docs.luxonis.com/software-v3/depthai/examples/camera/camera_multiple_outputs.md) - Request multiple output streams from a single camera using command line arguments. * [Camera raw output](https://docs.luxonis.com/software-v3/depthai/examples/camera/camera_raw.md) - Get raw image data from camera and display it. * [Camera ROI-based exposure and focus](https://docs.luxonis.com/software-v3/depthai/examples/camera/camera_roi_exposure_focus.md) - Set auto-exposure and auto-focus based on a user-selected ROI. * [Camera still image at max resolution](https://docs.luxonis.com/software-v3/depthai/examples/camera/camera_still_max_res.md) - Capture a still image at the maximum resolution. * [Camera video max resolution](https://docs.luxonis.com/software-v3/depthai/examples/camera/camera_max_resolution.md) - Stream video at the maximum resolution. * [Camera high frame rate (HFR)](https://docs.luxonis.com/software-v3/depthai/examples/camera/camera_hfr.md) - Run OAK4 IMX586 pipelines at 240/480 FPS, including neural inference and encoded streaming examples. * [Camera Undistort](https://docs.luxonis.com/software-v3/depthai/examples/camera/camera_undistort.md) - Undistort camera frames using intrinsic parameters. ## Calibration * [Calibration Dump](https://docs.luxonis.com/software-v3/depthai/examples/calibration/calibration_dump.md) - Dump the device calibration data. * [Calibration Load](https://docs.luxonis.com/software-v3/depthai/examples/calibration/calibration_load.md) - Load custom calibration data onto the device. * [Calibration Flash](https://docs.luxonis.com/software-v3/depthai/examples/calibration/calibration_flash.md) - Flash custom calibration data onto the device. * [Calibration Factory Reset](https://docs.luxonis.com/software-v3/depthai/examples/calibration/calibration_factory_reset.md) - Factory reset the device calibration data. ## DetectionNetwork * [Detection network](https://docs.luxonis.com/software-v3/depthai/examples/detection_network/detection_network.md) - Run a YOLOv6n object detection model and display results (bounding boxes) on a video stream. * [Detection network remap](https://docs.luxonis.com/software-v3/depthai/examples/detection_network/detection_network_remap.md) - Run a YOLOv6 object detection model and map the bounding boxes onto a depth frame. * [Detection network replay](https://docs.luxonis.com/software-v3/depthai/examples/detection_network/detection_network_replay.md) - Run a YOLOv6 object detection model on a replayed video stream, visualize detections in our custom-built visualizer. ## Events * [Events](https://docs.luxonis.com/software-v3/depthai/examples/events/events.md) - Handle events and set callbacks in DepthAI. ## Feature Tracker * [Feature tracker](https://docs.luxonis.com/software-v3/depthai/examples/feature_tracker/feature_tracker.md) - Detect features and track them between consecutive frames using optical flow. ## Host Nodes * [Display](https://docs.luxonis.com/software-v3/depthai/examples/host_nodes/display.md) - Create a custom host node that displays frames using OpenCV. * [Host Camera](https://docs.luxonis.com/software-v3/depthai/examples/host_nodes/host_camera.md) - Create a custom threaded host node to capture frames from the host machine's camera and send them to the pipeline. * [Threaded Host Nodes](https://docs.luxonis.com/software-v3/depthai/examples/host_nodes/threaded_host_nodes.md) - Create custom threaded host nodes and link them. ## Image Align * [Depth Align](https://docs.luxonis.com/software-v3/depthai/examples/image_align/depth_align.md) - Align and blend RGB and depth frames. ## Image Manip * [ImageManip all operations](https://docs.luxonis.com/software-v3/depthai/examples/image_manip/image_manip_all_ops.md) - 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](https://docs.luxonis.com/software-v3/depthai/examples/image_manip/image_manip_multi_ops.md) - Define a sequence of operations to be applied to an input frame, all in a single ImageManip node. * [ImageManip resize](https://docs.luxonis.com/software-v3/depthai/examples/image_manip/image_manip_resize.md) - Resize frame and display both original and resized images. * [ImageManip remap](https://docs.luxonis.com/software-v3/depthai/examples/image_manip/image_manip_remap.md) - 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](https://docs.luxonis.com/software-v3/depthai/examples/imu/imu_accelerometer_gyroscope.md) - Get accelerometer and gyroscope data from the IMU node ## Misc * [Device Information](https://docs.luxonis.com/software-v3/depthai/examples/misc/device_information.md) - Print device information such as name, serial number, and firmware version. * [Auto Reconnect](https://docs.luxonis.com/software-v3/depthai/examples/misc/auto_reconnect.md) - Demonstrates setting a reconnection callback and limited retry attempts on the device. * [Digital Zoom](https://docs.luxonis.com/software-v3/depthai/examples/misc/digital_zoom.md) - Crops and displays the largest detected person from the full-resolution RGB stream, and updates AE/AF regions to match the crop. * [Projectors](https://docs.luxonis.com/software-v3/depthai/examples/misc/projectors.md) - Control the dot projector and flood illuminator * [XLink Bridge](https://docs.luxonis.com/software-v3/depthai/examples/misc/xlink_bridge.md) - Access and tune the implicit XLink bridge for host-device streams. ## Neural Depth * [Neural Depth](https://docs.luxonis.com/software-v3/depthai/examples/neural_depth/neural_depth.md) - Run neural depth with runtime configuration controls. * [Neural Depth Minimal](https://docs.luxonis.com/software-v3/depthai/examples/neural_depth/neural_depth_minimal.md) - Basic neural depth disparity visualization. * [Neural Depth Align](https://docs.luxonis.com/software-v3/depthai/examples/neural_depth/neural_depth_align.md) - Align neural depth output to RGB camera. * [Neural Depth RGBD](https://docs.luxonis.com/software-v3/depthai/examples/neural_depth/neural_depth_rgbd.md) - Generate point cloud using neural depth and RGBD node. ## Neural Network * [Neural network](https://docs.luxonis.com/software-v3/depthai/examples/neural_network/neural_network.md) - Create a simple pipeline with a camera and neural network node. * [Neural network multi-input](https://docs.luxonis.com/software-v3/depthai/examples/neural_network/neural_network_multi_input.md) - Run a neural network model that concatenates a camera frame with a static image using two input tensors. * [Neural network multi-input combined](https://docs.luxonis.com/software-v3/depthai/examples/neural_network/neural_network_multi_input_combined.md) - Run a neural network model that combines two input images into a single output image. ## Object Tracker * [Object Tracker](https://docs.luxonis.com/software-v3/depthai/examples/object_tracker/object_tracker.md) - Track objects in 3D (XYZ in mm) using a YOLOv6 detector and the ObjectTracker node. * [Object Tracker Replay](https://docs.luxonis.com/software-v3/depthai/examples/object_tracker/object_tracker_replay.md) - Run object tracking on a replayed video file (or live camera), displaying track IDs and status (no XYZ). * [Object Tracker Remap](https://docs.luxonis.com/software-v3/depthai/examples/object_tracker/object_tracker_remap.md) - Track objects and remap bounding boxes onto a depth frame using transformation metadata for accurate alignment. ## Stereo Depth * [Stereo Depth](https://docs.luxonis.com/software-v3/depthai/examples/stereo_depth/stereo_depth.md) - Visualize disparity depth from stereo camera. * [Neural Assisted Stereo](https://docs.luxonis.com/software-v3/depthai/examples/stereo_depth/neural_assisted_stereo.md) - Fuse neural depth with classical stereo depth. * [Stereo Depth Remap](https://docs.luxonis.com/software-v3/depthai/examples/stereo_depth/stereo_depth_remap.md) - Remap geometry from disparity depth to color frame. * [Stereo Depth From Host](https://docs.luxonis.com/software-v3/depthai/examples/stereo_depth/stereo_depth_from_host.md) - Runs stereo disparity on-device using pre-rectified stereo images from the host. * [Stereo Depth Filters](https://docs.luxonis.com/software-v3/depthai/examples/stereo_depth/stereo_depth_filters.md) - Apply various filters to the stereo depth output. * [Stereo Depth Calibration Update](https://docs.luxonis.com/software-v3/depthai/examples/stereo_depth/stereo_depth_calibration_update.md) - Update stereo calibration parameters on-the-fly. ## Video Encoder * [Video Encode](https://docs.luxonis.com/software-v3/depthai/examples/video_encoder/video_encode.md) - Encode video frames on-device into MJPEG, H264, or H265 video codecs and save them to a file. ## Warp * [Warp mesh](https://docs.luxonis.com/software-v3/depthai/examples/warp/warp_mesh.md) - Warp the input image frame using a 3x3 mesh transformation to create perspective distortion effects. ## Model Zoo * [Model Zoo](https://docs.luxonis.com/software-v3/depthai/examples/model_zoo/model_zoo.md) - Download a model from zoo and unpack it. ## RecordReplay * [Holistic Record](https://docs.luxonis.com/software-v3/depthai/examples/record_replay/holistic_record.md) - Record holistic pipeline data. * [Holistic Replay](https://docs.luxonis.com/software-v3/depthai/examples/record_replay/holistic_replay.md) - Replay recorded holistic pipeline data. * [Video Record](https://docs.luxonis.com/software-v3/depthai/examples/record_replay/record_video.md) - Record video streams. * [Video Replay](https://docs.luxonis.com/software-v3/depthai/examples/record_replay/replay_video.md) - Replay recorded video streams. ## RGBD * [RGBD Point Cloud Visualization](https://docs.luxonis.com/software-v3/depthai/examples/rgbd/rgbd.md) - Visualize colored point cloud data in three different visualizers. * [RGBD Point Cloud Visualization (Autocreate)](https://docs.luxonis.com/software-v3/depthai/examples/rgbd/rgbd_autocreate.md) - Create an RGBD node with autocreate and visualize colored point cloud data. ## Script * [Script Simple](https://docs.luxonis.com/software-v3/depthai/examples/script/script_simple.md) - Arguably the simplest script example ever. * [Script Switch All Cameras](https://docs.luxonis.com/software-v3/depthai/examples/script/script_switch_all_cameras.md) - Switch between all available cameras. ## SpatialDetectionNetwork * [Spatial Detection](https://docs.luxonis.com/software-v3/depthai/examples/spatial_detection_network/spatial_detection.md) - Run object detection with spatial (3D) coordinates ## SpatialLocationCalculator * [Spatial Location Calculator](https://docs.luxonis.com/software-v3/depthai/examples/spatial_location_calculator/spatial_location_calculator.md) - Calculate 3D spatial coordinates for specified points ## Sync * [Sync](https://docs.luxonis.com/software-v3/depthai/examples/sync/sync.md) - Synchronize two or more data streams. ## Visualizer * [Visualizer Encoded](https://docs.luxonis.com/software-v3/depthai/examples/visualizer/visualizer_encoded.md) - Visualize encoded streams. * [Visualizer YOLO](https://docs.luxonis.com/software-v3/depthai/examples/visualizer/visualizer_yolo.md) - Visualize YOLO detections. * [Custom Visualizations](https://docs.luxonis.com/software-v3/depthai/examples/visualizer/custom_visualizations.md) - Create custom visualizations and add them to the visualizer. * [Custom Services](https://docs.luxonis.com/software-v3/depthai/examples/visualizer/custom_services.md) - Define custom visualizer services and callbacks. ## RVC2-specific examples Examples that are only supported on RVC2 platforms. ### EdgeDetector * [Edge Detector](https://docs.luxonis.com/software-v3/depthai/examples/rvc2/edge_detector/edge_detector.md) - Detects edges on 3 different inputs: left, right and RGB camera ### NNArchive * [NN Archive Superblob](https://docs.luxonis.com/software-v3/depthai/examples/rvc2/nn_archive/nn_archive_superblob.md) - Download a superblob model from the zoo and run it. ### SystemLogger * [System Information](https://docs.luxonis.com/software-v3/depthai/examples/rvc2/system_logger/system_information.md) - Displays device system information (memory/cpu usage, temperature). ### Thermal * [Thermal](https://docs.luxonis.com/software-v3/depthai/examples/rvc2/thermal/thermal.md) - Display thermal camera feed with controls for brightness and shutter. * [Thermal Crosshair](https://docs.luxonis.com/software-v3/depthai/examples/rvc2/thermal/thermal_crosshair.md) - Display thermal camera feed with temperature readout at mouse cursor position using crosshair overlay. ### ToF * [ToF](https://docs.luxonis.com/software-v3/depthai/examples/rvc2/tof/tof.md) - Get depth frames from a ToF camera and visualize them using a colormap ### VSLAM * [Basalt VIO](https://docs.luxonis.com/software-v3/depthai/examples/rvc2/vslam/basalt_vio.md) - VIO example using stereo cameras and the IMU to estimate the device's motion. * [Basalt VIO RTAB-Map SLAM](https://docs.luxonis.com/software-v3/depthai/examples/rvc2/vslam/basalt_vio_rtab.md) - VSLAM example * [RTAB-Map VIO](https://docs.luxonis.com/software-v3/depthai/examples/rvc2/vslam/rtab_map_vio.md) - Yet another VIO example. * [RTAB-MAP VIO SLAM](https://docs.luxonis.com/software-v3/depthai/examples/rvc2/vslam/rtab_map_vio_slam.md) - Yet another VSLAM example.