DepthAI Library

DepthAI library for interfacing with Luxonis DepthAI hardware. It’s written in C++ and offers Python bindings out of the box.

Important — You’re viewing the v3.x.y branch.

• For production projects that still rely on v2, check out the v2_stable branch.
• Need to migrate? Follow the step-by-step v2 → v3 Porting Guide.

Documentation

Documentation is available over at Luxonis DepthAI API

Examples

Examples for both C++ and Python are available in the examples folder. To see how to build and run them see README.md for more information. To build the examples in C++ configure with the following option added:

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

Dependencies

• CMake >= 3.20
• C/C++17 compiler
• [Linux] libudev >= 1.0.0
• [optional] OpenCV 4 (required if building examples and for record and replay)
• [optional] PCL (required for point cloud example)

To install libudev on Debian based systems (Ubuntu, etc.): sudo apt install libudev-dev

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

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

Using Python bindings

Installing the latest pre-released version of the library can be done with:

python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-release-local/ --pre -U depthai

or by running:

python3 examples/python/install_requirements.py on the branch you want to install

For more specific information about Python bindings, see Python README.

Building

Make sure submodules are updated

git submodule update --init --recursive

Then configure and build

cmake -S . -B build
cmake --build build --parallel [num CPU cores]

On Windows it’s often required to specify the location of the OpenCV installation. In case you used chocolatey to install OpenCV, you can use the following command:

cmake -S . -B build -DOpenCV_DIR=C:/tools/opencv/build -DCMAKE_BUILD_TYPE=Release
cmake --build build --config Release --parallel [num CPU cores]

ℹ️ To speed up build times, use cmake --build build --parallel [num CPU cores].

Dynamic library

To build a dynamic version of the library configure with the following option added

cmake -S . -B build -D'BUILD_SHARED_LIBS=ON'
cmake --build build --parallel [num CPU cores]

Installation and Integration

Installation of the DepthAI library is currently only available as a dynamic library. To install the library, use the following command:

cmake -S . -B build -D'BUILD_SHARED_LIBS=ON' -D'CMAKE_INSTALL_PREFIX=[path/to/install/dir]'
cmake --build build --target install --parallel [num CPU cores]

ℹ️ Make sure to check out our template C++ project.

Verifying installation

To verify the installation works as expected, you can test if the integration project compiles and runs. This is done by running the following command:

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Changelog for package depthai

3.2.1 (2025-12-01)

## Bug fixes * [_RVC4] Fix a regression for IMX586 only working with the 4000x3000 sensor config at 30 FPS On the LuxonisOS 1.20.5 and newer, up to 240 FPS is now supported

3.2.0 (2025-12-01)

## Features * Extend [DetectionParser]{.title-ref} and [ImgDetections]{.title-ref} message with instance segmentation and keypoints parsing * Keypoints run on device for both RVC2 and RVC4 * Instance segmentation runs on device for RVC4 and on host for RVC2 * C++ examples [here](https://github.com/luxonis/depthai-core/tree/v3.2.0/examples/cpp/DetectionNetwork) and Python examples [here](https://github.com/luxonis/depthai-core/tree/v3.2.0/examples/python/DetectionNetwork) * Add support for the new Snaps&Events API: * Example for C++ [here](https://github.com/luxonis/depthai-core/tree/v3.2.0/examples/cpp/Events) and for Python [here](https://github.com/luxonis/depthai-core/tree/v3.2.0/examples/python/Events) * [_RVC4] Add NeuralDepth node supporting the neural depth running on device * Supported on Luxonis OS 1.20.4 and newer * Four sizes supported * LARGE -> 768x480 @ 10.8 FPS * MEDIUM -> 576x360 @ 25.5 FPS * SMALL -> 480x300 @ 42.5 FPS * NANO -> 384x240 @ 59.7 FPS * Examples for C++ [here](https://github.com/luxonis/depthai-core/tree/v3.2.0/examples/cpp/NeuralDepth) and for Python [here](https://github.com/luxonis/depthai-core/tree/v3.2.0/examples/python/NeuralDepth) * [_RVC4] Switch the front LED to green when DepthAI is running * [_RVC2] Add tuning for the IMX577 sensor, removing the previously present blue tint

## Bug fixes and stability * Fix an edge case for IPv4LL discovery on MacOS https://github.com/luxonis/XLink/pull/100 * [_RVC4] Fix a small memory leak on RVC4 happening in Camera node and in StereoDepth when extended mode is enabled * [_RVC2] Fix a rare issue of IMU preventing a device reboot * [_RVC2] Patch ToF calibration that caused a minor bump in readout values in the middle of the frame

3.1.0 (2025-11-05)

## Features * Automatically select the number of pools in Camera node * Improves the performance at high resolutions for OAK1-Max * Implement the maximum exposure cap in AE on RVC4 * Requires Luxonis OS v1.19.1 * Add setters to [PointCloudData]{.title-ref} message * C++ example [here](https://github.com/luxonis/depthai-core/blob/main/examples/cpp/RGBD/rgbd_pcl_processing.cpp) * Python example [here](https://github.com/luxonis/depthai-core/blob/main/examples/python/RGBD/rgbd_pcl_processing.py)

## Bug fixes * Address MacOS weak vtables issues causing deadlocks in the new [DynamicCalibration]{.title-ref} node * Turn on the watchdog early during discovery of RVC2 USB devices to avoid soft bricking the device along with handling the case where the device gets into that state to recover it on the next boot * Fix the usage of RVC2 devices inside Linux containers because of missing udev support * Fix undistortion on RVC4 for the chroma plane when [NV12]{.title-ref} type is requested * Use the correct [ImgTransformations]{.title-ref} in SpatialDetectionNetwork on RVC4 in case depth was not aligned to RGB * Stability fixes for rare case with IMU halting the destruction on RVC2 * Fix a timestamp overflow bug on the BNO08x IMU on RVC2

## Misc * Update [zoo_helper]{.title-ref} binary with better error handling * Reduce the number of symbols on Windows by performing more aggressive inlining * [DynamicCalibration]{.title-ref} input control now has a shorter API to send commands to the node * Add intrinsics metadata to thermal frames * Update the examples using [StereoDepth]{.title-ref} node with removing the explicit [NV12]{.title-ref} type request for better performance * Improve IMX678 support on RVC2 with better black level correction, improving brightness and color accuracy * [Python bindings] Add explicit [numpy]{.title-ref} requirement to the Python wheels * [Python bindings] Add missing bindings to set the filter order on the [StereoDepth]{.title-ref} node

3.0.0 (2025-07-31)

# DepthAI v3.0.0 release candidate is out :tada: We’re proud to announce a new major revision of the DepthAI library is now in release candidate stage and ready to be used.

## Simplified API We've simplified and unified the API to lower the barrier to entry and make development more intuitive. Core tasks like setting up camera streams, running neural networks, and building spatial pipelines are now streamlined with fewer lines of code.

We have removed many deprecated functions and simplified node constructors, creating a cleaner, more consistent, and easier-to-use library for newcomers as well as more experienced users.

## Refreshed nodes We've revisited some of the most fundamental nodes to make them more powerful and flexible.

• Camera
  • The [ColorCamera]{.title-ref} and [MonoCamera]{.title-ref} nodes have been replaced by a single, generic [Camera]{.title-ref} node that works across all platforms.
  • It supports a variable number of outputs, where each can have an

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