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  • Holistic Record and Replay
  • Holistic Record
  • Environment variable configuration
  • Example of functionality
  • Holistic Replay
  • Example of functionality
  • Limitations

Holistic Record and Replay

To simplify development and later testing and debugging of your application, you can record and replay test data. This can be done without any changes to your code with the use of environmental variables and configuration files.Holistic record and replay works by recording data (messages) of source nodes used in an application (Camera and IMU) which can then be replayed as if the source nodes sent the same data again.

Holistic Record

Holistic record records enabled source node streams to a tar file. This can be enabled in code:
Python
C++

Python

Python
1with dai.Pipeline as pipeline:
2    config = dai.RecordConfig()
3    config.outputDir = "./recordings";
4    config.videoEncoding.enabled = True # Use video encoding
5    config.videoEncoding.profile = dai.VideoEncoderProperties.Profile.H264_MAIN
6
7    pipeline.enableHolisticRecord(config)
or by using the DEPTHAI_RECORD environment variable:
Command Line
1DEPTHAI_RECORD="./recordings" python3 application.py

Environment variable configuration

In the above example, the DEPTHAI_RECORD environment variable is set to the recording output directory. This enabled holistic recording with the default configuration options. If you want more control you set the variable to the path to a configuration file:
JSON
1{
2    "compressionLevel": 3,
3    "outputDir": "recordings/",
4    "videoEncoding": {
5	"enabled": true,
6        "bitrate": 0,
7        "lossless": false,
8        "profile": "MJPEG",
9        "quality": 80
10    }
11}
The configuration parameters are as follows:
  • compressionLevel configures the compression of the metadata. It ranges from 0 to 5 (inclusive) which corresponds to the following compression levels: NONE, FASTEST, FAST, DEFAULT, SLOW, SLOWEST
  • outputDir sets the output directory of the recording
  • videoEncoding configures the VideoEncoder that encodes the camera stream:
    • enabled enables the VideoEncoder. When false, the output of the Camera node is recorded which can decrease the device CPU usage while increasing bandwidth usage
    • profile sets the encoding profile
    • bitrate sets the VideoEncoder bitrate (when set to 0 it is determined automatically)
    • lossless determines whether the encoding should be lossles where applicable
    • quality determines the encoding quality where applicable

Example of functionality

Holistic Replay

Holistic replay replays recorded source streams. Similarly to holistic record it can be enabled in code:
Python
C++

Python

Python
1with dai.Pipeline as pipeline:
2    pipeline.enableHolisticReplay("./recordings/recording.tar")
or by using the DEPTHAI_REPLAY environment variable:
Command Line
1DEPTHAI_REPLAY="./recordings/recording.tar" python3 application.py

Example of functionality

Limitations

This functionality is a work in progress and comes with some limitations:
  • As it currently only records source node streams, replaying on a different device can produce unexpected results (e.g. as camera extrinsics are not recorded, StereoDepth can produce incorrect results if the calibration differs between the recording and replaying cameras)
  • At this point in time, only single device pipelines can be holistically recorded and replayed.