Pipeline
Pipeline is a collection of Nodes and links between them. This flow provides an extensive flexibility that users get for their OAK device. When pipeline object is passed to the Device object, pipeline gets serialized to JSON and sent to the OAK device via XLink.Pipeline first steps
To get DepthAI up and running, you have to create a pipeline, populate it with nodes, configure the nodes and link them together. After that, the pipeline can be loaded onto the Device and be started.Python
1pipeline = depthai.pipeline()
2
3# If required, specify OpenVINO version
4pipeline.setOpenVINOVersion(depthai.OpenVINO.Version.VERSION_2021_4)
5
6# Create nodes, configure them and link them together
7
8# Upload the pipeline to the device
9with depthai.Device(pipeline) as device:
10 # Set input/output queues to configure device/host communication through the XLink...Specifying OpenVINO version
When using a NN blob that was not compiled with the latest OpenVINO (that DepthAI supports), you have to specify the OpenVINO version of the pipeline. The reason behind this is that OpenVINO doesn't provide version inside the blob.Python
1pipeline = depthai.pipeline()
2# Set the correct version:
3pipeline.setOpenVINOVersion(depthai.OpenVINO.Version.VERSION_2021_4)Using multiple devices
If user has multiple Luxonis' devices, each device can run a different pipeline or the same pipeline (demo here). To use different pipeline for each device, you can create multiple pipelines and pass the desired pipeline to the desired device on initialization. See Multi-device Setup for more information.How to place it
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1pipeline = dai.Pipeline()Reference
class
depthai.Pipeline
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__init__(self)Constructs a new pipeline
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getBoardConfig(self) -> BoardConfig: BoardConfigGets board configuration
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getCalibrationData(self) -> CalibrationHandler: CalibrationHandlergets the calibration data which is set through pipeline
Returns:
the calibrationHandler with calib data in the pipelinemethod
getConnectionMap(self) -> dict[int, set[Node.Connection]]: dict[int, set[Node.Connection]]Get a reference to internal connection representation
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getConnections(self) -> list[Node.Connection]: list[Node.Connection]Get all connections
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getDeviceConfig(self) -> Device.Config: Device.ConfigGet device configuration needed for this pipeline
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getGlobalProperties(self) -> GlobalProperties: GlobalPropertiesReturns:
Global properties of current pipelinemethod
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getNodeMap(self) -> dict[int, Node]: dict[int, Node]Get a reference to internal node map
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getOpenVINOVersion(self) -> OpenVINO.Version: OpenVINO.VersionGet possible OpenVINO version to run this pipeline
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getRequiredOpenVINOVersion(self) -> OpenVINO.Version|None: OpenVINO.Version|NoneGet required OpenVINO version to run this pipeline. Can be none
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link(self, arg0: Node.Output, arg1: Node.Input)Link output to an input. Both nodes must be on the same pipeline
Throws an error if they aren't or cannot be connected
Parameter ``out``:
Nodes output to connect from
Parameter ``in``:
Nodes input to connect tomethod
remove(self, node: Node)Removes a node from pipeline
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serializeToJson(self) -> json: jsonReturns whole pipeline represented as JSON
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setBoardConfig(self, arg0: BoardConfig)Sets board configuration
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setCalibrationData(self, calibrationDataHandler: CalibrationHandler)Sets the calibration in pipeline which overrides the calibration data in eeprom
Parameter ``calibrationDataHandler``:
CalibrationHandler object which is loaded with calibration information.method
setCameraTuningBlobPath(self, path: Path)Set a camera IQ (Image Quality) tuning blob, used for all cameras
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setOpenVINOVersion(self, version: OpenVINO.Version)Set a specific OpenVINO version to use with this pipeline
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setSippBufferSize(self, sizeBytes: int)SIPP (Signal Image Processing Pipeline) internal memory pool. SIPP is a framework used to schedule HW filters, e.g. ISP, Warp, Median filter etc. Changing the size of this pool is meant for advanced use cases, pushing the limits of the HW. By default memory is allocated in high speed CMX memory. Setting to 0 will allocate in DDR 256 kilobytes. Units are bytes.
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setSippDmaBufferSize(self, sizeBytes: int)SIPP (Signal Image Processing Pipeline) internal DMA memory pool. SIPP is a framework used to schedule HW filters, e.g. ISP, Warp, Median filter etc. Changing the size of this pool is meant for advanced use cases, pushing the limits of the HW. Memory is allocated in high speed CMX memory Units are bytes.
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setXLinkChunkSize(self, sizeBytes: int)Set chunk size for splitting device-sent XLink packets, in bytes. A larger value could increase performance, with 0 disabling chunking. A negative value won't modify the device defaults - configured per protocol, currently 64*1024 for both USB and Ethernet.
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unlink(self, arg0: Node.Output, arg1: Node.Input)Unlink output from an input.
Throws an error if link doesn't exists
Parameter ``out``:
Nodes output to unlink from
Parameter ``in``:
Nodes input to unlink to