# Queue add callback

This example shows how to use queue callbacks. It sends both mono frames and color frames from the device to the host via one
XLinkOut node. In the callback function newFrame() we decode from which camera did the frame come from so we can later show the
frame with correct title to the user.

## Demo

## Setup

Please run the [install script](https://github.com/luxonis/depthai-python/blob/main/examples/install_requirements.py) to download
all required dependencies. Please note that this script must be ran from git context, so you have to download the
[depthai-python](https://github.com/luxonis/depthai-python) repository first and then run the script

```bash
git clone https://github.com/luxonis/depthai-python.git
cd depthai-python/examples
python3 install_requirements.py
```

For additional information, please follow the [installation guide](https://docs.luxonis.com/software/depthai/manual-install.md).

## Source code

#### Python

```python
#!/usr/bin/env python3
import cv2
import depthai as dai
import queue

# Create pipeline
pipeline = dai.Pipeline()

# Add all three cameras
camRgb = pipeline.create(dai.node.ColorCamera)
left = pipeline.create(dai.node.MonoCamera)
right = pipeline.create(dai.node.MonoCamera)

# Create XLink output
xout = pipeline.create(dai.node.XLinkOut)
xout.setStreamName("frames")

# Properties
camRgb.setPreviewSize(300, 300)
left.setCamera("left")
left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
right.setCamera("right")
right.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)

# Stream all the camera streams through the same XLink node
camRgb.preview.link(xout.input)
left.out.link(xout.input)
right.out.link(xout.input)

q = queue.Queue()

def newFrame(inFrame):
    global q
    # Get "stream name" from the instance number
    num = inFrame.getInstanceNum()
    name = "color" if num == 0 else "left" if num == 1 else "right"
    frame = inFrame.getCvFrame()
    # This is a different thread and you could use it to
    # run image processing algorithms here
    q.put({"name": name, "frame": frame})

# Connect to device and start pipeline
with dai.Device(pipeline) as device:

    # Add callback to the output queue "frames" for all newly arrived frames (color, left, right)
    device.getOutputQueue(name="frames", maxSize=4, blocking=False).addCallback(newFrame)

    while True:
        # You could also get the data as non-blocking (block=False)
        data = q.get(block=True)
        cv2.imshow(data["name"], data["frame"])

        if cv2.waitKey(1) == ord('q'):
            break
```

#### C++

```cpp
#include <iostream>
#include <queue>

// Includes common necessary includes for development using depthai library
#include "depthai/depthai.hpp"

struct callbackType {
    std::string name;
    cv::Mat frame;
};

int main() {
    // Create pipeline
    dai::Pipeline pipeline;

    // Add all three cameras
    auto camRgb = pipeline.create<dai::node::ColorCamera>();
    auto left = pipeline.create<dai::node::MonoCamera>();
    auto right = pipeline.create<dai::node::MonoCamera>();

    // Create XLink output
    auto xout = pipeline.create<dai::node::XLinkOut>();
    xout->setStreamName("frames");

    // Properties
    camRgb->setPreviewSize(300, 300);
    left->setCamera("left");
    left->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
    right->setCamera("right");
    right->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);

    // Stream all the camera streams through the same XLink node
    camRgb->preview.link(xout->input);
    left->out.link(xout->input);
    right->out.link(xout->input);

    auto queue = std::queue<callbackType>();
    std::mutex queueMtx;

    // Connect to device and start pipeline
    dai::Device device(pipeline);

    auto newFrame = [&queueMtx, &queue](std::shared_ptr<dai::ADatatype> callback) {
        if(dynamic_cast<dai::ImgFrame*>(callback.get()) != nullptr) {
            std::unique_lock<std::mutex> lock(queueMtx);
            callbackType cb;
            dai::ImgFrame* imgFrame = static_cast<dai::ImgFrame*>(callback.get());
            auto num = imgFrame->getInstanceNum();
            cb.name = num == 0 ? "color" : (num == 1 ? "left" : "right");
            cb.frame = imgFrame->getCvFrame();
            queue.push(cb);
        }
    };

    // Add callback to the output queue "frames" for all newly arrived frames (color, left, right)
    device.getOutputQueue("frames", 4, false)->addCallback(newFrame);

    while(true) {
        callbackType data;
        {
            std::unique_lock<std::mutex> lock(queueMtx);
            if(!queue.empty()) {
                data = queue.front();
                queue.pop();
            }
        }

        if(!data.frame.empty()) {
            cv::imshow(data.name.c_str(), data.frame);
        }

        int key = cv::waitKey(1);
        if(key == 'q' || key == 'Q') {
            return 0;
        }
    }
    return 0;
}
```

## Pipeline

### examples/queue_add_callback.pipeline.json

```json
{
  "pipeline": {
    "connections": [
      {
        "node1Id": 0,
        "node1Output": "preview",
        "node1OutputGroup": "",
        "node2Id": 3,
        "node2Input": "in",
        "node2InputGroup": ""
      },
      {
        "node1Id": 2,
        "node1Output": "out",
        "node1OutputGroup": "",
        "node2Id": 3,
        "node2Input": "in",
        "node2InputGroup": ""
      },
      {
        "node1Id": 1,
        "node1Output": "out",
        "node1OutputGroup": "",
        "node2Id": 3,
        "node2Input": "in",
        "node2InputGroup": ""
      }
    ],
    "globalProperties": {
      "calibData": null,
      "cameraTuningBlobSize": null,
      "cameraTuningBlobUri": "",
      "leonCssFrequencyHz": 700000000.0,
      "leonMssFrequencyHz": 700000000.0,
      "pipelineName": null,
      "pipelineVersion": null,
      "sippBufferSize": 18432,
      "sippDmaBufferSize": 16384,
      "xlinkChunkSize": -1
    },
    "nodes": [
      [
        0,
        {
          "id": 0,
          "ioInfo": [
            [
              [
                "",
                "inputConfig"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 1,
                "name": "inputConfig",
                "queueSize": 8,
                "type": 3,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "raw"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 6,
                "name": "raw",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "still"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 7,
                "name": "still",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "inputControl"
              ],
              {
                "blocking": true,
                "group": "",
                "id": 2,
                "name": "inputControl",
                "queueSize": 8,
                "type": 3,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "video"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 3,
                "name": "video",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "isp"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 4,
                "name": "isp",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "preview"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 5,
                "name": "preview",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "frameEvent"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 8,
                "name": "frameEvent",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ]
          ],
          "name": "ColorCamera",
          "properties": {
            "boardSocket": -1,
            "cameraName": "",
            "colorOrder": 0,
            "fp16": false,
            "fps": 30.0,
            "imageOrientation": -1,
            "initialControl": {
              "aeLockMode": false,
              "aeMaxExposureTimeUs": 0,
              "aeRegion": {
                "height": 0,
                "priority": 0,
                "width": 0,
                "x": 0,
                "y": 0
              },
              "afRegion": {
                "height": 0,
                "priority": 0,
                "width": 0,
                "x": 0,
                "y": 0
              },
              "antiBandingMode": 0,
              "autoFocusMode": 3,
              "awbLockMode": false,
              "awbMode": 0,
              "brightness": 0,
              "captureIntent": 0,
              "chromaDenoise": 0,
              "cmdMask": 0,
              "contrast": 0,
              "controlMode": 0,
              "effectMode": 0,
              "expCompensation": 0,
              "expManual": {
                "exposureTimeUs": 0,
                "frameDurationUs": 0,
                "sensitivityIso": 0
              },
              "frameSyncMode": 0,
              "lensPosAutoInfinity": 0,
              "lensPosAutoMacro": 0,
              "lensPosition": 0,
              "lensPositionRaw": 0.0,
              "lowPowerNumFramesBurst": 0,
              "lowPowerNumFramesDiscard": 0,
              "lumaDenoise": 0,
              "saturation": 0,
              "sceneMode": 0,
              "sharpness": 0,
              "strobeConfig": {
                "activeLevel": 0,
                "enable": 0,
                "gpioNumber": 0
              },
              "strobeTimings": {
                "durationUs": 0,
                "exposureBeginOffsetUs": 0,
                "exposureEndOffsetUs": 0
              },
              "wbColorTemp": 0
            },
            "interleaved": true,
            "isp3aFps": 0,
            "ispScale": {
              "horizDenominator": 0,
              "horizNumerator": 0,
              "vertDenominator": 0,
              "vertNumerator": 0
            },
            "numFramesPoolIsp": 3,
            "numFramesPoolPreview": 4,
            "numFramesPoolRaw": 3,
            "numFramesPoolStill": 4,
            "numFramesPoolVideo": 4,
            "previewHeight": 300,
            "previewKeepAspectRatio": true,
            "previewWidth": 300,
            "rawPacked": null,
            "resolution": 0,
            "sensorCropX": -1.0,
            "sensorCropY": -1.0,
            "stillHeight": -1,
            "stillWidth": -1,
            "videoHeight": -1,
            "videoWidth": -1
          }
        }
      ],
      [
        1,
        {
          "id": 1,
          "ioInfo": [
            [
              [
                "",
                "inputControl"
              ],
              {
                "blocking": true,
                "group": "",
                "id": 9,
                "name": "inputControl",
                "queueSize": 8,
                "type": 3,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "out"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 10,
                "name": "out",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "raw"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 11,
                "name": "raw",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "frameEvent"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 12,
                "name": "frameEvent",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ]
          ],
          "name": "MonoCamera",
          "properties": {
            "boardSocket": -1,
            "cameraName": "left",
            "fps": 30.0,
            "imageOrientation": -1,
            "initialControl": {
              "aeLockMode": false,
              "aeMaxExposureTimeUs": 0,
              "aeRegion": {
                "height": 0,
                "priority": 0,
                "width": 0,
                "x": 0,
                "y": 0
              },
              "afRegion": {
                "height": 0,
                "priority": 0,
                "width": 0,
                "x": 0,
                "y": 0
              },
              "antiBandingMode": 0,
              "autoFocusMode": 3,
              "awbLockMode": false,
              "awbMode": 0,
              "brightness": 0,
              "captureIntent": 0,
              "chromaDenoise": 0,
              "cmdMask": 0,
              "contrast": 0,
              "controlMode": 0,
              "effectMode": 0,
              "expCompensation": 0,
              "expManual": {
                "exposureTimeUs": 0,
                "frameDurationUs": 0,
                "sensitivityIso": 0
              },
              "frameSyncMode": 0,
              "lensPosAutoInfinity": 0,
              "lensPosAutoMacro": 0,
              "lensPosition": 0,
              "lensPositionRaw": 0.0,
              "lowPowerNumFramesBurst": 0,
              "lowPowerNumFramesDiscard": 0,
              "lumaDenoise": 0,
              "saturation": 0,
              "sceneMode": 0,
              "sharpness": 0,
              "strobeConfig": {
                "activeLevel": 0,
                "enable": 0,
                "gpioNumber": 0
              },
              "strobeTimings": {
                "durationUs": 0,
                "exposureBeginOffsetUs": 0,
                "exposureEndOffsetUs": 0
              },
              "wbColorTemp": 0
            },
            "isp3aFps": 0,
            "numFramesPool": 3,
            "numFramesPoolRaw": 3,
            "rawPacked": null,
            "resolution": 2
          }
        }
      ],
      [
        2,
        {
          "id": 2,
          "ioInfo": [
            [
              [
                "",
                "inputControl"
              ],
              {
                "blocking": true,
                "group": "",
                "id": 13,
                "name": "inputControl",
                "queueSize": 8,
                "type": 3,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "out"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 14,
                "name": "out",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "raw"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 15,
                "name": "raw",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ],
            [
              [
                "",
                "frameEvent"
              ],
              {
                "blocking": false,
                "group": "",
                "id": 16,
                "name": "frameEvent",
                "queueSize": 8,
                "type": 0,
                "waitForMessage": false
              }
            ]
          ],
          "name": "MonoCamera",
          "properties": {
            "boardSocket": -1,
            "cameraName": "right",
            "fps": 30.0,
            "imageOrientation": -1,
            "initialControl": {
              "aeLockMode": false,
              "aeMaxExposureTimeUs": 0,
              "aeRegion": {
                "height": 0,
                "priority": 0,
                "width": 0,
                "x": 0,
                "y": 0
              },
              "afRegion": {
                "height": 0,
                "priority": 0,
                "width": 0,
                "x": 0,
                "y": 0
              },
              "antiBandingMode": 0,
              "autoFocusMode": 3,
              "awbLockMode": false,
              "awbMode": 0,
              "brightness": 0,
              "captureIntent": 0,
              "chromaDenoise": 0,
              "cmdMask": 0,
              "contrast": 0,
              "controlMode": 0,
              "effectMode": 0,
              "expCompensation": 0,
              "expManual": {
                "exposureTimeUs": 0,
                "frameDurationUs": 0,
                "sensitivityIso": 0
              },
              "frameSyncMode": 0,
              "lensPosAutoInfinity": 0,
              "lensPosAutoMacro": 0,
              "lensPosition": 0,
              "lensPositionRaw": 0.0,
              "lowPowerNumFramesBurst": 0,
              "lowPowerNumFramesDiscard": 0,
              "lumaDenoise": 0,
              "saturation": 0,
              "sceneMode": 0,
              "sharpness": 0,
              "strobeConfig": {
                "activeLevel": 0,
                "enable": 0,
                "gpioNumber": 0
              },
              "strobeTimings": {
                "durationUs": 0,
                "exposureBeginOffsetUs": 0,
                "exposureEndOffsetUs": 0
              },
              "wbColorTemp": 0
            },
            "isp3aFps": 0,
            "numFramesPool": 3,
            "numFramesPoolRaw": 3,
            "rawPacked": null,
            "resolution": 2
          }
        }
      ],
      [
        3,
        {
          "id": 3,
          "ioInfo": [
            [
              [
                "",
                "in"
              ],
              {
                "blocking": true,
                "group": "",
                "id": 17,
                "name": "in",
                "queueSize": 8,
                "type": 3,
                "waitForMessage": true
              }
            ]
          ],
          "name": "XLinkOut",
          "properties": {
            "maxFpsLimit": -1.0,
            "metadataOnly": false,
            "streamName": "frames"
          }
        }
      ]
    ]
  }
}
```

### Need assistance?

Head over to [Discussion Forum](https://discuss.luxonis.com/) for technical support or any other questions you might have.