DepthAI C++ Library

Core C++ library

Documentation

Documentation is available over at Luxonis DepthAI API

Disclaimer

DepthAI library doesn’t yet provide API stability guarantees. While we take care to properly deprecate old functions, some changes might still be breaking. We expect to provide API stability from version 3.0.0 onwards.

Dependencies

• CMake >= 3.10
• C/C++14 compiler
• [optional] OpenCV 4 (required if building examples)
• [optional] PCL (required for point cloud example)

To install OpenCV: MacOS: brew install opencv Linux: sudo apt install libopencv-dev

To install PCL: MacOS: brew install pcl Linux: sudo apt install libpcl-dev

ℹ️ On Linux distributions based on RPMs, you need to install perl-core required by OpenSSL dependency.

sudo yum install perl-core

Another option is to disable CURL support by setting DEPTHAI_ENABLE_CURL=OFF when configuring CMake.

cmake -S. -Bbuild -D'DEPTHAI_ENABLE_CURL=OFF'

Building

Make sure submodules are updated

git submodule update --init --recursive

Then configure and build

cmake -S. -Bbuild
cmake --build build

ℹ️ To speed up build times, use cmake --build build --parallel [num CPU cores] (CMake >= 3.12). For older versions use: Linux/macOS: cmake --build build -- -j[num CPU cores], MSVC: cmake --build build -- /MP[num CPU cores]

⚠️ If any CMake commands error with CMake Error: The source directory "" does not exist. replace argument -S with -H

Dynamic library

To build dynamic version of library configure with following option added

cmake -S. -Bbuild -D'BUILD_SHARED_LIBS=ON'
cmake --build build

Android

Android is supported to some extent but not actively pursued nor tested. PRs with any improvements are welcome.

Steps:

• Install Android NDK (for example via Android Studio).
• Set the NDK path:

export ANDROID_HOME=$HOME/.local/lib/Android
export PATH=$PATH:$ANDROID_HOME/emulator:$ANDROID_HOME/platform-tools
export NDK=$ANDROID_HOME/ndk/23.1.7779620/ # Check version

• Ensure a recent version of cmake (apt version is outdated, install snap install cmake –classic)
• Run cmake, set your ABI and Platform as needed:

cmake -S. -Bbuild -DCMAKE_TOOLCHAIN_FILE=$NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DANDROID_PLATFORM=android-25
cmake --build build

Running examples

To build the examples configure with following option added

cmake -S. -Bbuild -D'DEPTHAI_BUILD_EXAMPLES=ON'
cmake --build build

Then navigate to build/examples folder and run a preferred example

``` cd build/examples ./MobileNet/rgb_mobilenet

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Changelog for package depthai

2.30.0 (2025-03-18)

• Features
• Add RVC4 discovery to point users to v3 version of the library for OAK4 devices
• Add support for a new VCM enabling autofocus on new IMX378 CCMs
• Bug fixes
• Fix an edge case in ImageManip to make https://github.com/geaxgx/depthai_hand_tracker run in edge mode again
• Fix an edge case when sending MessageGroup from host to device and using more than 4 messages

2.29.0 (2024-11-26)

• Features

• Add the ability to change the calibration on the device in runtime with the new [dai::Device.setCalibration()]{.title-ref} method and to retrieve it with the [dai::Device.getCalibration()]{.title-ref}.

• New [StereoDepth]{.title-ref} presets:

  • [DEFAULT]{.title-ref}
  • [FACE]{.title-ref}
  • [HIGH_DETAIL]{.title-ref}
  • [ROBOTICS]{.title-ref}

• Multiple camera improvements (more details in https://github.com/luxonis/depthai-core/pull/972):

  • Expose more downsampling modes when picking a lower than native resolutions
  • Expose more binning modes when binning is picked on IMX582/586 ([sum]{.title-ref} and [avg]{.title-ref})
  • HDR on IMX582/586
  • Option to bypass 3A for having manual expose/ISO take effect faster
  • Initial support for new Sony 4K Starvis sensors: IMX678 and IMX715
  • Option to set the main camera to drive auto-exposure and auto-white-balance in multi-camera configurations

• Improved StereoDepth filtering and an option to use a set a custom order of filters

  • Disparity is first scaled to 13 bit before going through filtering, which results in filters being more effective.

• Misc

• Remove false reports on crashes that happened on device destruction

• Add [getWidth()]{.title-ref} and [getHeight()]{.title-ref} API to [EncodedFrame]{.title-ref}

2.28.0 (2024-08-21)

Features * Changed the automatic crashdump collection to always on unless DEPTHAI_DISABLE_CRASHDUMP_COLLECTION is set. * Added DEPTHAI_ENABLE_ANALYTICS_COLLECTION environment varialbe - when set, analytic data (pipeline schema) is sent to Luxonis which will be used to further improve the library. * Undistort both outputs of ToF by default. * Improved 3A syncing on OAK-D-LR * Added support for YoloV10 * Bug fixes * Fix Camera node to correctly allocate resources for undistortion * Fix StereoDepth node when decimation filter and depth alignment are used * Fix host timestamps of thermal frames to be synced * Misc * Updated XLink to support clangd and shared libraries on Windows: * luxonis/XLink#81 * luxonis/XLink#84 * Remove a custom assert to always produce a crash dump to improve the UX with the automatic crashdump collection * Increased watchdog priority on device side to improve stability during high load

2.26.1 (2024-06-12)

• Fix building shared libs (ROS only)

2.26.0 (2024-05-27)

• PointCloud node along with the PointCloudData message
• On device pointcloud generation
• Native conversion to PCL message type - similar to getCvFrame()
• Support for the OAK Thermal
• New setManualFocusRaw() API with more granularity for setting manual focus position
• New getStereoPairs() and getAvailableStereoPairs() API to allow more device agnostic programming
• Add the intensity output to the ToF node
• Add the crop sensor configs in getConnectedCameraFeatures() now contain how each of the resolutions is cropped from the native sensor resolution
• Added DeviceBootloader::getFlashedVersion to retrieve the bootloader version that is flashed on device.
• ImageAlign node

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