.. _ai-yolox-detection-rgbd-example:

Streaming RGB-D detection
=========================

This example expects a corresponding RGB and depth topic pair. It streams RGB frames through YOLOX, parses any detection's bounding box and uses the :func:`olo.vision.sample_depth_region` helper to sample the distance to the object. Any detections are annotated on the frames and published to a ``/annotated`` topic.



.. tab-set::
    :sync-group: sdk-language

    .. tab-item:: Python
        :sync: python

        .. literalinclude:: scripts/ai-yolox-detection-rgbd.py
           :language: python

    .. tab-item:: TypeScript
        :sync: typescript

        .. literalinclude:: scripts/ai-yolox-detection-rgbd.ts
           :language: typescript