Python bindings for C++ depthai-core library

Important — You’re viewing the v2.x.y branch. For the v3.x.y version which adds support for RVC4 devices the DepthAI Python bindings have been integrated directly into the depthai-core repository.

Documentation is available over at Luxonis DepthAI API

Prebuilt wheels are available in Luxonis repository Make sure pip is upgraded

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

• cmake >= 3.4
• C++14 compiler (clang, gcc, msvc, ...)
• Python3

Along these, dependencies of depthai-core are also required See: depthai-core dependencies

The first time you build, the repository submodules need be initialized:

git submodule update --init --recursive # Tip: You can ask Git to do that automatically: git config submodule.recurse true 

Later submodules also need to be updated.

To build and install using pip:

python3 -m pip install . 

Add parameter -v to see the output of the building process.

To build a wheel, execute the following

python3 -m pip wheel . -w wheelhouse 

To build a shared library from source perform the following:

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]

cmake -H. -Bbuild cmake --build build 

To specify custom Python executable to build for, use cmake -H. -Bbuild -D PYTHON_EXECUTABLE=/full/path/to/python.

• Many build fails due to missing dependencies. This also happens when submodules are missing or outdated (git submodule update --recursive).
• If libraries and headers are not in standard places, or not on the search paths, CMake reports it cannot find what it needs (e.g. libusb). CMake can be hinted at where to look, for exmpale: CMAKE_LIBRARY_PATH=/opt/local/lib CMAKE_INCLUDE_PATH=/opt/local/include pip install .
• Some distribution installers may not get the desired library. For example, an install on a RaspberryPi failed, missing libusb, as the default installation with APT led to v0.1.3 at the time, whereas the library here required v1.0.

To run the tests build the library with the following options

git submodule update --init --recursive cmake -H. -Bbuild -D DEPTHAI_PYTHON_ENABLE_TESTS=ON -D DEPTHAI_PYTHON_ENABLE_EXAMPLES=ON -D DEPTHAI_PYTHON_TEST_EXAMPLES=ON cmake --build build 

Then navigate to build folder and run ctest

cd build ctest 

To test a specific example/test with a custom timeout (in seconds) use following:

TEST_TIMEOUT=0 ctest -R "01_rgb_preview" --verbose 

If TEST_TIMEOUT=0, the test will run until stopped or it ends.

• Windows 10, Windows 11
• Ubuntu 18.04, 20.04, 22.04;
• Raspbian 10;
• macOS 10.14.6, 10.15.4;

• Using Docker (with Docker Compose)

  cd docs sudo docker-compose build sudo docker-compose up 

  ℹ️ You can leave out the sudo if you have added your user to the docker group (or are using rootless docker). Then open http://localhost:8000.

  This docker container will watch changes in the docs/source directory and rebuild the docs automatically

• Linux

  First, please install the required dependencies

  Then run the following commands to build the docs website

  python3 -m pip install -U pip python3 -m pip install -r docs/requirements.txt cmake -H. -Bbuild -D DEPTHAI_BUILD_DOCS=ON -D DEPTHAI_PYTHON_BUILD_DOCS=ON cmake --build build --target sphinx python3 -m http.server --bind 0.0.0.0 8000 --directory build/docs/sphinx 

  Then open http://localhost:8000.

  This will build documentation based on current sources, so if some new changes will be made, run this command in a new terminal window to update the website source

  cmake --build build --target sphinx 

  Then refresh your page - it should load the updated website that was just built

Build failure on Ubuntu 18.04 ("relocation ..." link error) with gcc 7.4.0 (default) - issue #3

• the solution was to upgrade gcc to version 8:

  sudo apt install g++-8 sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 70 sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-8 70 

Hunter is a CMake-only dependency manager for C/C++ projects.

If you are stuck with error message which mentions external libraries (subdirectory of .hunter) like the following:

/usr/bin/ld: /home/[user]/.hunter/_Base/062a19a/ccfed35/a84a713/Install/lib/liblzma.a(stream_flags_decoder.c.o): warning: relocation against `lzma_footer_magic' in read-only section `.text' 

Try erasing the Huntercache folder.

Linux/MacOS:

rm -r ~/.hunter 

Windows:

del C:/.hunter 

or

del C:/[user]/.hunter 

If following message appears:

lto1: internal compiler error: in add_symbol_to_partition_1, at lto/lto-partition.c:152 Please submit a full bug report, with preprocessed source if appropriate. See <file:///usr/share/doc/gcc-10/README.Bugs> for instructions. lto-wrapper: fatal error: /usr/bin/c++ returned 1 exit status compilation terminated. /usr/bin/ld: error: lto-wrapper failed collect2: error: ld returned 1 exit status make[2]: *** [CMakeFiles/depthai.dir/build.make:227: depthai.cpython-38-x86_64-linux-gnu.so] Error 1 make[1]: *** [CMakeFiles/Makefile2:98: CMakeFiles/depthai.dir/all] Error 2 make: *** [Makefile:130: all] Error 2 

One fix is to update linker: (In case you are on Ubuntu 20.04: /usr/bin/ld --version: 2.30)

# Add to the end of /etc/apt/sources.list: echo "deb http://ro.archive.ubuntu.com/ubuntu groovy main" >> /etc/apt/sources.list # Replace ro with your countries local cache server (check the content of the file to find out which is) # Not mandatory, but faster sudo apt update sudo apt install binutils # Should upgrade to 2.35.1 # Check version: /usr/bin/ld --version # Output should be: GNU ld (GNU Binutils for Ubuntu) 2.35.1 # Revert /etc/apt/sources.list to previous state (comment out line) to prevent updating other packages. sudo apt update 

Another option is to use clang compiler:

sudo apt install clang-10 mkdir build && cd build CC=clang-10 CXX=clang++-10 cmake .. cmake --build . --parallel