# 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 * [Bootloader](#Depthai%2520Examples-Bootloader) * [Calibration](#Depthai%2520Examples-Calibration) * [Camera](#Depthai%2520Examples-Camera) * [Cast](#Depthai%2520Examples-Cast) * [ColorCamera](#Depthai%2520Examples-ColorCamera) * [Crash report](#Depthai%2520Examples-Crash%2520report) * [EdgeDetector](#Depthai%2520Examples-EdgeDetector) * [FeatureTracker](#Depthai%2520Examples-FeatureTracker) * [Host side](#Depthai%2520Examples-Host%2520side) * [ImageAlign](#Depthai%2520Examples-ImageAlign) * [ImageManip](#Depthai%2520Examples-ImageManip) * [IMU](#Depthai%2520Examples-IMU) * [Mixed](#Depthai%2520Examples-Mixed) * [MobileNet](#Depthai%2520Examples-MobileNet) * [MonoCamera](#Depthai%2520Examples-MonoCamera) * [NeuralNetwork](#Depthai%2520Examples-NeuralNetwork) * [ObjectTracker](#Depthai%2520Examples-ObjectTracker) * [PointCloud](#Depthai%2520Examples-PointCloud) * [Script](#Depthai%2520Examples-Script) * [SpatialDetection](#Depthai%2520Examples-SpatialDetection) * [StereoDepth](#Depthai%2520Examples-StereoDepth) * [Sync Node](#Depthai%2520Examples-Sync%2520Node) * [SystemLogger](#Depthai%2520Examples-SystemLogger) * [ToF](#Depthai%2520Examples-ToF) * [VideoEncoder](#Depthai%2520Examples-VideoEncoder) * [Warp](#Depthai%2520Examples-Warp) * [UVC](#Depthai%2520Examples-UVC) * [Yolo](#Depthai%2520Examples-Yolo) More examples can be found in the [oak-examples](https://github.com/luxonis/oak-examples) repository. ## Bootloader * [Bootloader Config](https://docs.luxonis.com/software/depthai/examples/bootloader_config.md) - Read/Flash/Clear bootloader on the device * [Bootloader Version](https://docs.luxonis.com/software/depthai/examples/bootloader_version.md) - Retrieves Version of Bootloader on the device * [Flash Bootloader](https://docs.luxonis.com/software/depthai/examples/flash_bootloader.md) - Flash factory bootloader to the device * [Flash User Bootloader](https://docs.luxonis.com/software/depthai/examples/flash_user_bootloader.md) - Flash user bootloader to the device * [Flash USB Recovery Header](https://docs.luxonis.com/software/depthai/examples/flash_usb_recovery_header.md) - Flash USB recovery header to the device * [POE set IP](https://docs.luxonis.com/software/depthai/examples/poe_set_ip.md) - Sets IP of the POE device ## Calibration * [Calibration Flash v5](https://docs.luxonis.com/software/depthai/examples/calibration_flash_v5.md) - Flashes calibration data of version 5 (gen1 calibration data) to the device * [Calibration Flash](https://docs.luxonis.com/software/depthai/examples/calibration_flash.md) - Flashes calibration data of version 6 (gen2 calibration data) to the device * [Calibration Reader](https://docs.luxonis.com/software/depthai/examples/calibration_reader.md) - Reads calibration data stored on device over XLink * [Calibration Load](https://docs.luxonis.com/software/depthai/examples/calibration_load.md) - Loads and uses calibration data of version 6 (gen2 calibration data) in a pipeline ## Camera * [Undistort camera stream](https://docs.luxonis.com/software/depthai/examples/camera_undistort.md) - Showcases how Camera node undistorts camera streams * [Thermal Camera](https://docs.luxonis.com/software/depthai/examples/thermal_camera.md) - Thermal camera visualization ## Cast * [NN Blur Cast](https://docs.luxonis.com/software/depthai/examples/cast_blur.md) * [NN Concat Cast](https://docs.luxonis.com/software/depthai/examples/cast_concat.md) * [NN Subtract Cast](https://docs.luxonis.com/software/depthai/examples/cast_diff.md) ## ColorCamera * [Auto Exposure on ROI](https://docs.luxonis.com/software/depthai/examples/autoexposure_roi.md) - Demonstrates how to use auto exposure based on the selected ROI * [RGB Camera Control](https://docs.luxonis.com/software/depthai/examples/rgb_camera_control.md) - Demonstrates how to control the RGB camera (crop, focus, exposure, sensitivity) from the host * [RGB Preview](https://docs.luxonis.com/software/depthai/examples/rgb_preview.md) - Displays a small preview of the RGB camera * [RGB scene](https://docs.luxonis.com/software/depthai/examples/rgb_scene.md) - Shows how to select ColorCamera's scene and effect * [RGB video](https://docs.luxonis.com/software/depthai/examples/rgb_video.md) - Displays high resolution frames of the RGB camera ## Crash report * [Crash report](https://docs.luxonis.com/software/depthai/examples/crash_report.md) - In case of a firmware crash, example reads it from the device and saves it to a json file ## EdgeDetector * [Edge Detector](https://docs.luxonis.com/software/depthai/examples/edge_detector.md) - Performs edge detection on all camera streams ## FeatureTracker * [Feature Detector](https://docs.luxonis.com/software/depthai/examples/feature_detector.md) - Feature detection on input frame * [Feature Tracker](https://docs.luxonis.com/software/depthai/examples/feature_tracker.md) - Feature detection and tracking on input frame * [Feature Tracker with Motion Estimation](https://docs.luxonis.com/software/depthai/examples/feature_motion_estimation.md) - Camera movement estimation based on feature tracking ## Host side * [Latency measurement](https://docs.luxonis.com/software/depthai/examples/latency_measurement.md) - Measure frame latency from capturing to the host * [OpenCV support](https://docs.luxonis.com/software/depthai/examples/opencv_support.md) - Demonstrates how to retrieve an image frame as an OpenCV frame * [Device Queue Event](https://docs.luxonis.com/software/depthai/examples/device_queue_event.md) - Demonstrates how to use device queue events * [Queue add callback](https://docs.luxonis.com/software/depthai/examples/queue_add_callback.md) - Demonstrates how to use queue callbacks ## ImageAlign * [Aligning mono and color cameras](https://docs.luxonis.com/software/depthai/examples/image_align.md) - Aligns mono and color camera frames * [Thermal-RGB alignment](https://docs.luxonis.com/software/depthai/examples/thermal_align.md) - Aligns thermal and RGB frames * [ToF-RGB alignment](https://docs.luxonis.com/software/depthai/examples/tof_align.md) - Aligns ToF and RGB frames ## ImageManip * [RGB Rotate Warp](https://docs.luxonis.com/software/depthai/examples/rgb_rotate_warp.md) - Demonstrates how to rotate, mirror, flip or perform perspective transform on a frame * [ImageManip tiling](https://docs.luxonis.com/software/depthai/examples/image_manip_tiling.md) - Using ImageManip for frame tiling * [ImageManip rotate](https://docs.luxonis.com/software/depthai/examples/image_manip_rotate.md) - Using ImageManip to rotate color/mono frames ## IMU * [IMU Accelerometer & Gyroscope](https://docs.luxonis.com/software/depthai/examples/imu_accelerometer_gyroscope.md) - Accelerometer and gyroscope at 500hz rate * [IMU Rotation Vector](https://docs.luxonis.com/software/depthai/examples/imu_rotation_vector.md) - Rotation vector at 400 hz rate ## Mixed * [Mono & MobilenetSSD & Depth](https://docs.luxonis.com/software/depthai/examples/mono_depth_mobilenetssd.md) - Runs MobileNetSSD on mono frames and displays detections on mono/disparity frames * [Multiple Devices](https://docs.luxonis.com/software/depthai/examples/multiple_devices.md) - Run multiple OAK cameras from the same host computer * [RGB Encoding & MobilenetSSD](https://docs.luxonis.com/software/depthai/examples/rgb_encoding_mobilenet.md) - Runs MobileNetSSD on RGB frames and encodes FUll-HD RGB into .h265 and saves it on the host * [RGB Encoding & Mono & MobilenetSSD](https://docs.luxonis.com/software/depthai/examples/rgb_encoding_mono_mobilenet.md) - Runs MobileNetSSD on mono frames and displays detections on the frame + encodes RGB to .h265 * [RGB Encoding & Mono with MobilenetSSD & Depth](https://docs.luxonis.com/software/depthai/examples/rgb_encoding_mono_mobilenet_depth.md) - A combination of RGB Encoding and Mono & MobilenetSSD & Depth code samples * [Spatial detections on rotated OAK](https://docs.luxonis.com/software/depthai/examples/rotated_spatial_detections.md) - Spatial detections on upside down OAK camera ## MobileNet * [Mono & MobilenetSSD](https://docs.luxonis.com/software/depthai/examples/mono_mobilenet.md) - Runs MobileNetSSD on mono frames and displays detections on the frame * [Video & MobilenetSSD](https://docs.luxonis.com/software/depthai/examples/video_mobilenet.md) - Runs MobileNetSSD on the video from the host * [RGB & MobilenetSSD](https://docs.luxonis.com/software/depthai/examples/rgb_mobilenet.md) - Runs MobileNetSSD on RGB frames and displays detections on the frame * [RGB & MobileNetSSD @ 4K](https://docs.luxonis.com/software/depthai/examples/rgb_mobilenet_4k.md) - Runs MobileNetSSD on RGB frames and displays detections on both preview and 4k frames ## MonoCamera * [Mono Preview](https://docs.luxonis.com/software/depthai/examples/mono_preview.md) - Displays right/left mono cameras * [Mono Camera Control](https://docs.luxonis.com/software/depthai/examples/mono_camera_control.md) - Demonstrates how to control the mono camera (crop, exposure, sensitivity) from the host * [Mono preview - Alternate between dot projector and illumination LED](https://docs.luxonis.com/software/depthai/examples/mono_preview_alternate_pro.md) on OAK Pro devices * [Mono Full Resolution Saver](https://docs.luxonis.com/software/depthai/examples/mono_full_resolution_saver.md) - Saves mono (720P) images to the host (.png) ## NeuralNetwork * [Multi-Input Frame Concatenation](https://docs.luxonis.com/software/depthai/examples/multiple_devices.md) - Concat mono/rgb streams on the device with a custom model * [Frame Normalization](https://docs.luxonis.com/software/depthai/examples/normalization_multi_input.md) - Normalize the frame on the device with a custom model * [Thermal People Detection](https://docs.luxonis.com/software/depthai/examples/thermal_nn.md) - Detect people with NN utilizing thermal sensor ## ObjectTracker * [Object tracker on video](https://docs.luxonis.com/software/depthai/examples/object_tracker_video.md) - Performs object tracking from the video * [Object tracker on RGB](https://docs.luxonis.com/software/depthai/examples/object_tracker.md) - Performs object tracking from the RGB camera * [Spatial object tracker on RGB](https://docs.luxonis.com/software/depthai/examples/spatial_object_tracker.md) - Performs object tracking and also provides spatial coordinates ## PointCloud * [Point cloud visualization](https://docs.luxonis.com/software/depthai/examples/pointcloud_visualization.md) - Visualizes point cloud data from the device * [Point cloud control](https://docs.luxonis.com/software/depthai/examples/pointcloud_control.md) - Control point cloud visualization from the host ## Script * [Script camera control](https://docs.luxonis.com/software/depthai/examples/script_camera_control.md) - Controlling the camera with the Script node * [Script change pipeline flow](https://docs.luxonis.com/software/depthai/examples/script_change_pipeline_flow.md) - Change the flow of data inside your pipeline in runtime with Script node * [Script forward frames](https://docs.luxonis.com/software/depthai/examples/script_forward_frames.md) - Forward incoming image stream to two different output streams (demuxing) * [Script get local IP](https://docs.luxonis.com/software/depthai/examples/script_get_ip.md) - Get local IP of the device (only OAK-POE devices) * [Script HTTP client](https://docs.luxonis.com/software/depthai/examples/script_http_client.md) - Send HTTP request to a server (only OAK-POE devices) * [Script JSON communication](https://docs.luxonis.com/software/depthai/examples/script_json_communication.md) - 2-way JSON communication between Script <-> Host * [Script HTTP server](https://docs.luxonis.com/software/depthai/examples/script_http_server.md) - Serve still image over HTTP response (only OAK-POE devices) * [Script MJPEG server](https://docs.luxonis.com/software/depthai/examples/script_mjpeg_server.md) - Serve MJPEG video stream over HTTP response (only OAK-POE devices) * [Script NNData example](https://docs.luxonis.com/software/depthai/examples/script_nndata_example.md) - Constructs NNData in Script node and sends it to the host * [Script UART communication](https://docs.luxonis.com/software/depthai/examples/script_uart.md) - UART communication with Script node * [Script EMMC access](https://docs.luxonis.com/software/depthai/examples/script_emmc_access.md) - Access EMMC memory from the Script node ## SpatialDetection * [Spatial Calculator Multi-ROI](https://docs.luxonis.com/software/depthai/examples/spatial_calculator_multi_roi.md) - Selects multiple ROIs and calculates spatial coordinates for each of them * [Spatial location calculator](https://docs.luxonis.com/software/depthai/examples/spatial_location_calculator.md) - Demonstrates how to use the spatial location calculator * [RGB & MobilenetSSD with spatial data](https://docs.luxonis.com/software/depthai/examples/spatial_mobilenet.md) - Displays RGB frames with MobileNet detections and spatial coordinates on them * [Mono & MobilenetSSD with spatial data](https://docs.luxonis.com/software/depthai/examples/spatial_mobilenet_mono.md) - Displays mono frames with MobileNet detections and spatial coordinates on them * [RGB & TinyYolo with spatial data](https://docs.luxonis.com/software/depthai/examples/spatial_tiny_yolo.md) - Displays RGB frames with Yolo detections and spatial coordinates on them ## StereoDepth * [Depth Crop Control](https://docs.luxonis.com/software/depthai/examples/depth_crop_control.md) - Demonstrates how to control cropping of depth frames from the host * [Depth Post-Processing](https://docs.luxonis.com/software/depthai/examples/depth_post_processing.md) - Depth post-processing filters * [Depth Preview](https://docs.luxonis.com/software/depthai/examples/depth_preview.md) - Displays colorized stereo disparity * [Stereo Depth custom Mesh](https://docs.luxonis.com/software/depthai/examples/stereo_depth_custom_mesh.md) - Calculate and load custom mesh for stereo depth calculation * [Stereo Depth from host](https://docs.luxonis.com/software/depthai/examples/stereo_depth_from_host.md) - Generates stereo depth frame from a set of mono images from the host * [Stereo Depth Video](https://docs.luxonis.com/software/depthai/examples/stereo_depth_video.md) - An extended version of Depth Preview * [RGB Depth alignment](https://docs.luxonis.com/software/depthai/examples/rgb_depth_aligned.md) - Displays RGB depth aligned frames ## Sync Node * [Depth and Video Sync](https://docs.luxonis.com/software/depthai/examples/depth_video_sync.md) - Synchronizes depth and video streams for real-time processing and display. * [IMU and Video Sync](https://docs.luxonis.com/software/depthai/examples/imu_video_sync.md) - Aligns IMU data with video frames, showcasing real-time rotation vector display alongside video. * [Multiple Scripts Sync](https://docs.luxonis.com/software/depthai/examples/scripts_sync.md) - Demonstrates synchronization of data from two script nodes emitting data at different intervals. * [Demuxing Synchronized Script Outputs](https://docs.luxonis.com/software/depthai/examples/demux_message_group.md) - Features synchronization of script outputs followed by demultiplexing for distinct processing streams. ## SystemLogger * [System information](https://docs.luxonis.com/software/depthai/examples/system_information.md) - Displays device system information (memory/cpu usage, temperature) ## ToF * [ToF depth](https://docs.luxonis.com/software/depthai/examples/tof_depth.md) - Displays colorized ToF depth frames * [ToF-RGB alignment](https://docs.luxonis.com/software/depthai/examples/tof_align.md) - Aligns ToF and RGB frames ## VideoEncoder * [Disparity encoding](https://docs.luxonis.com/software/depthai/examples/disparity_encoding.md) - Encodes stereo disparity into .mjpeg * [RGB Encoding](https://docs.luxonis.com/software/depthai/examples/rgb_encoding.md) - Encodes RGB (1080P, 30FPS) into .h265 and saves it on the host * [RGB & Mono Encoding](https://docs.luxonis.com/software/depthai/examples/rgb_mono_encoding.md) - Encodes RGB (1080P, 30FPS) and both mono streams (720P, 30FPS) into .h265/.h264 and saves them on the host * [Encoding Max Limit](https://docs.luxonis.com/software/depthai/examples/encoding_max_limit.md) - Encodes RGB (4k 25FPS) and both mono streams (720P, 25FPS) into .h265/.h264 and saves them on the host * [RGB Full Resolution Saver](https://docs.luxonis.com/software/depthai/examples/rgb_full_resolution_saver.md) - Saves full resolution RGB images (4k) on the host (.jpeg) ## Warp * [Warp Mesh](https://docs.luxonis.com/software/depthai/examples/warp_mesh.md) - Displays an image warped with 2 different meshes * [Interactive Warp Mesh](https://docs.luxonis.com/software/depthai/examples/warp_mesh_interactive.md) - Interactively change the warp mesh ## UVC * [UVC & Color Camera](https://docs.luxonis.com/software/depthai/examples/uvc_rgb.md) - Displays RGB frames from a UVC camera * [UVC & Mono Camera](https://docs.luxonis.com/software/depthai/examples/uvc_mono.md) - Displays mono frames from a UVC camera * [UVC & Disparity](https://docs.luxonis.com/software/depthai/examples/uvc_disparity.md) - Displays disparity frames from a UVC camera ## Yolo * [RGB & Tiny YOLO](https://docs.luxonis.com/software/depthai/examples/tiny_yolo.md) - Runs Tiny YOLO on RGB frames and displays detections on the frame * [RGB & YOLOv8 Nano](https://docs.luxonis.com/software/depthai/examples/yolov8_nano.md) - Runs Yolov8 Nano on RGB frames and displays detections on the frame